CN110259396B

CN110259396B - Intelligent workover rod pipe tripping process for realizing unmanned operation of oilfield wellhead

Info

Publication number: CN110259396B
Application number: CN201910593024.5A
Authority: CN
Inventors: 申忠玺; 侯树旺; 颜志强; 张雷; 杨怀成; 高启国; 宋其仓; 陶桂荣
Original assignee: Senior Ai Equipment Co ltd
Current assignee: Senior Ai Equipment Co ltd
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2020-10-13
Anticipated expiration: 2039-07-01
Also published as: CN110259396A

Abstract

The invention aims to provide an intelligent workover rod pipe tripping process for realizing unmanned operation of an oilfield wellhead, which is used for solving the technical problem of realizing unmanned disassembly and assembly of a workover rod pipe by using an intelligent means. The utility model provides a realize intelligent workover pole pipe tripping process of oil field well head unmanned operation, includes the last unloading step of pipe pole, the spacing detection step of pin during material loading, rotatory transfer location step and the dismouting step of pipe pole. The invention has the beneficial effects that: by the scheme, unmanned intelligent operation of the oil pipe and the sucker rod can be realized; the work efficiency is high, reduces the cost of labor.

Description

Intelligent workover rod pipe tripping process for realizing unmanned operation of oilfield wellhead

Technical Field

The invention relates to the technical field of oil well pipe rod dismounting and mounting processes, in particular to an intelligent workover pipe rod tripping process for realizing unmanned operation of an oil field wellhead.

Background

In the prior art, the disassembly and assembly of the oil field pipe rod basically realize mechanical operation. However, in some processes of pipe rod disassembly and assembly, manual assistance is still needed, unmanned intelligent operation cannot be completely realized, and the working efficiency still needs to be improved by one step. In addition, the disassembly and assembly of the oil pipe and the sucker rod usually need two sets of equipment to operate independently, and the operating cost is high undoubtedly.

Disclosure of Invention

The invention aims to provide an intelligent workover rod pipe tripping process for realizing unmanned operation of an oilfield wellhead, which is used for solving the technical problem of realizing unmanned disassembly and assembly of a workover rod pipe by using an intelligent means.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an intelligent workover tubing installation process for realizing unmanned operation of an oilfield wellhead comprises the following steps:

s1: oil pipe feeding

The lifting driving oil cylinder extends, and the lifting bracket supports the oil pipe; the lifting moving driving motor acts to drive the lifting moving frame provided with the lifting bracket upwards, and when the lifting proximity switch at the upper end of the lifting support frame detects the lifting moving frame, the lifting moving driving motor stops acting; the lifting driving oil cylinder retracts, and the lifting bracket places the oil pipe downwards;

s2: parallel transfer of oil pipe

After a transverse transfer proximity switch at the outer end of the transverse transfer support frame detects that the oil pipe is placed on the transverse transfer bracket, the transverse transfer driving oil cylinder retracts to drive the transverse transfer bracket to move inwards along the transverse transfer support frame; after a transverse transfer proximity switch at the inner end of the transverse transfer support frame detects the oil pipe, the transverse transfer driving oil cylinder stops working; meanwhile, the longitudinal transferring jacking oil cylinder drives the longitudinal transferring jacking frame to ascend; a longitudinal transfer jacking proximity switch is arranged at the upper end of the longitudinal transfer jacking frame, and after the longitudinal transfer roller is detected to jack the oil pipe, the longitudinal transfer driving motor drives the longitudinal transfer roller to rotate, so that the oil pipe moves to the oil pipe to the limit detection board;

s3: oil pipe male buckle in-place detection

After the oil pipe extrudes the limit detection plate by the oil pipe, the movable detection shaft arranged on the limit detection frame is pushed to move backwards, and after the limit detection switch detects the movable detection shaft, the male buckle drives the oil cylinder to extend and drives the limit detection frame to move backwards integrally, so that enough space is vacated for the manipulator device to grab the oil pipe;

s4: oil pipe rotating transfer positioning

After the limit detection switch triggers a signal, the large arm swinging oil cylinder stretches and retracts to drive the large arm frame body to swing towards the upper end of the vehicle device; in the swinging process of the large-arm frame body, the manipulator rotates the oil cylinder to act, the manipulator rotates the driving rack to be meshed with the manipulator rotating gear on the manipulator rotating shaft to drive, and the manipulator rotating shaft drives the manipulator to rotate so as to adjust the manipulator to be in a horizontal state; after the mechanical gripper reaches the position of the oil pipe, the oil pipe is gripped, then the large arm swinging oil cylinder and the manipulator rotating oil cylinder reversely act, and the manipulator rotationally moves to the front end of the vehicle device and is in a vertical state;

s5: installation of oil pipe

The elevator device is sleeved in from the upper end and clamps an oil pipe at the upper end, the frame body advances and retreats to drive the oil cylinder and the frame body height adjusting oil cylinder to act, and the hydraulic pipe tongs device is driven by the folding frame to reach the oil pipe; the elevator device moves downwards, the pipe rod is butted with the adjusting oil cylinder to extend, and the mechanical arm drives the upper oil pipe to insert the lower end of the upper oil pipe into the upper end coupling of the lower oil pipe through the guide mechanism; a rotary clamping tong above the hydraulic pipe tongs device clamps an upper oil pipe, and a fixed clamping tong below the hydraulic pipe tongs device clamps a lower oil pipe; the rotary clamping pliers drive the upper oil pipe to rotate, and the spiral butt joint of the upper oil pipe and the lower oil pipe is achieved.

Further, in step S4, when the oil tube carried by the manipulator arm rotates through the large arm frame, the light curtain sensor on the large arm frame detects the farthest end of the oil tube shielding light curtain signal; the length of the oil production pipe can be calculated according to the fact that the distance from the lower end of the oil pipe to the nearest end of the light curtain sensor is a fixed number.

Further, in step S5, the pipe rod butt joint adjusting cylinder is provided with a buffer spring damper to realize flexible butt joint between the upper oil pipe and the lower oil pipe.

Further, as an alternative to the step S1, the loading process of the oil pipe is implemented by a swing arm type up-down device;

the oil pipe is placed in a pipe rod bayonet at the front end of the swing arm, and the swing arm clamping oil cylinder retracts to clamp the oil pipe by using a bayonet fixing plate; the swing arm driving motor rotates to drive the swing arm to swing through the swing arm shaft, and then the oil pipe is moved to a vehicle device; then the swing arm clamping oil cylinder extends, the bayonet fixing plate loses the clamping effect on the oil pipe, and the oil pipe falls off from the bayonet of the pipe rod.

An intelligent workover tubing dismounting process for realizing unmanned operation of an oilfield wellhead comprises the following steps:

s1: disassembly of oil pipe

The elevator device is sleeved in from the upper end and clamps the oil pipe at the upper end, and the upper oil pipe is extracted from the oil well;

the frame body advances and retreats to drive the oil cylinder and the frame body height adjusting oil cylinder to act, the folding frame drives the hydraulic pipe wrench device to reach the oil pipe, and the oil pipe enters the hydraulic pipe wrench device; a rotary clamping tong above the hydraulic pipe tongs device clamps an upper oil pipe, and a fixed clamping tong below the hydraulic pipe tongs device clamps a lower oil pipe; the rotary clamping pliers drive the upper oil pipe to rotate, so that the upper oil pipe is spirally separated from the lower oil pipe; and the liquid in the upper oil pipe is prevented from splashing by the guide mechanism.

S2: oil pipe rotary transfer

After the spiral separation, the mechanical gripper clamps the fixed oil pipe, the pipe rod is butted with the adjusting oil cylinder to be shortened, the mechanical arm drives the upper oil pipe to lift, and then the lower end of the upper oil pipe is drawn out from the upper end coupling of the lower oil pipe;

the large arm swinging oil cylinder stretches and retracts to drive the large arm frame body to swing towards the upper end of the vehicle device, in the swinging process of the large arm frame body, the manipulator rotates the oil cylinder to act, the manipulator rotation driving rack is meshed with the manipulator rotating gear on the manipulator rotating shaft to drive, and the manipulator rotating shaft drives the manipulator to rotate so as to adjust the manipulator to be in a horizontal state; after the mechanical gripper reaches the position of the lifting transfer device, the mechanical gripper releases the clamping of the oil pipe, and the oil pipe is placed on the transverse transfer bracket;

s3: parallel transfer of oil pipe

After a transverse transfer proximity switch at the inner end of the transverse transfer support frame detects that the oil pipe is placed on the transverse transfer bracket, the transverse transfer driving oil cylinder extends to drive the transverse transfer bracket to move outwards along the transverse transfer support frame; after a transverse transfer proximity switch at the outer end of the transverse transfer support frame detects the oil pipe, the transverse transfer driving oil cylinder stops working;

s4: oil pipe blanking

The lifting driving oil cylinder extends, and the lifting bracket lifts the oil pipe on the transverse transfer bracket upwards; the lifting moving driving motor acts to drive the lifting moving frame provided with the lifting bracket downwards, and when the lifting proximity switch at the lower end of the lifting support frame detects the lifting moving frame, the lifting moving driving motor stops acting; the lifting driving oil cylinder retracts, and the lifting bracket places the oil pipe downwards.

The utility model provides a realize intelligent workover sucker rod mounting process of oil field well head unmanned operation, includes following step:

by utilizing the steps S1-S4 in the intelligent workover tubing installation process for realizing unmanned operation of the oil field well head, the steps of S1 sucker rod feeding, S2 sucker rod parallel transfer, S3 sucker rod male buckle in-place detection and S4 sucker rod rotation transfer positioning are realized;

step S5: installation of sucker rod

The sucker rod pipe wrench base drives the oil cylinder to push the sucker rod slips to the lower sucker rod, and the sucker rod slips oil cylinder drives the clamping block to close, so that the lower sucker rod is fixed and lifted;

the sucker rod elevator device rotationally fixes the upper sucker rod from the upper end; the pipe rod is butted with the adjusting oil cylinder to extend, and the mechanical arm drives the lower end of the upper sucker rod to be inserted into the upper end coupling of the lower sucker rod;

the pipe wrench clamping driving oil cylinder drives the pipe wrench assembly and the lower clamp to move to the position of the sucker rod, and the rotatable jaw of the pipe wrench assembly is clamped at the lower opening of the upper sucker rod; the lower clamp is clamped at the upper square opening of the lower sucker rod to fix the lower sucker rod; the pipe wrench assembly drives the upper sucker rod to rotate, and the upper sucker rod is connected with the lower sucker rod coupling in a spiral mode.

Further, as an alternative to the above step S5, the elevator device is sleeved into and clamps the sucker rod at the upper end from the upper end; the frame body advances and retreats to drive the oil cylinder and the frame body height adjusting oil cylinder to act, and the hydraulic pipe tongs device is driven by the folding frame to reach the sucker rod; the elevator device moves downwards, the pipe rod is butted with the adjusting oil cylinder to extend, and the mechanical arm drives the upper sucker rod to insert the lower end of the upper sucker rod into the upper coupling of the lower sucker rod through the guide mechanism; a rotary clamping tong above the hydraulic pipe tongs device clamps a lower port of an upper sucker rod by using an upper clamping block of the sucker rod, and a fixed clamping tong below the hydraulic pipe tongs device clamps an upper port of a lower sucker rod by using a lower clamping block of the sucker rod; the rotary clamping pliers drive the upper sucker rod to rotate, and the upper sucker rod is in spiral butt joint with the lower sucker rod.

The utility model provides a realize intelligent workover sucker rod dismantlement technology of oil field well head unmanned operation, includes following step:

s1: disassembling of sucker rod

The sucker rod elevator device rotationally fixes the upper sucker rod from the upper end, the sucker rod slip oil cylinder drives the clamping block to open, and the sucker rod elevator device lifts and pumps the upper sucker rod out of the oil well;

the clamping block is driven to close by the slip oil cylinder of the sucker rod so as to fix and lift the sucker rod below;

the sucker rod pipe wrench clamping driving oil cylinder drives the pipe wrench assembly and the V-shaped clamp to move to the sucker rod, and the pipe wrench assembly is clamped at the lower opening of the upper sucker rod; the fixed clamping pipe tongs drive the oil cylinder to extend, and the V-shaped tongs are clamped at the upper coupling of the lower sucker rod to fix the lower sucker rod; the pipe wrench assembly drives the upper sucker rod to rotate, and the upper sucker rod and the lower sucker rod coupling realize spiral separation;

the steps S2 to S4 in the intelligent well workover sucker rod disassembly process for realizing unmanned operation of the oil field well mouth are utilized to realize the steps of S2 sucker rod rotation transfer, S3 sucker rod parallel transfer and S4 sucker rod blanking.

The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:

by the scheme, unmanned intelligent operation of the oil pipe and the sucker rod can be realized; the work efficiency is high, reduces the cost of labor.

Drawings

FIG. 1 is an isometric illustration of an embodiment of the invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is another isometric illustration of an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

FIG. 5 is an isometric view of the upper and lower assemblies in an embodiment of the invention;

FIG. 6 is a schematic top view of the loading and unloading apparatus in an embodiment of the present invention;

FIG. 7 is an isometric view of an alternative orientation of the upper and lower assemblies in accordance with an embodiment of the present invention;

FIG. 8 is a schematic view of the upper and lower devices in another embodiment of the present invention;

FIG. 9 is a left side schematic view of FIG. 8;

FIG. 10 is an isometric illustration of an embodiment of the invention at a pin stop;

FIG. 11 is a front schematic view of FIG. 10;

FIG. 12 is a schematic cross-sectional view of the front end of the male buckle limiting device in an embodiment of the invention;

FIG. 13 is an isometric illustration of the relationship of the upper arm assembly and the robot assembly in accordance with an embodiment of the present invention;

FIG. 14 is an enlarged view of a portion of FIG. 13 at A;

FIG. 15 is a schematic side view of the embodiment of the present invention illustrating the engagement between the upper arm device and the robot device;

FIG. 16 is a schematic sectional view taken along line A-A of FIG. 15;

figure 17 is an isometric view of an alternative orientation of the boom assembly and robot assembly in accordance with an embodiment of the present invention;

FIG. 18 is an enlarged view of a portion of FIG. 17 at B;

FIG. 19 is a schematic side view of the embodiment of the present invention showing the engagement between the upper arm apparatus and the robot apparatus;

figure 20 is an isometric illustration of a robot apparatus according to an embodiment of the invention;

FIG. 21 is a side view of a robot apparatus according to an embodiment of the invention;

FIG. 22 is an isometric illustration at the hydraulic pipe wrench apparatus in an embodiment of the present invention;

FIG. 23 is a side view of FIG. 22;

FIG. 24 is a front schematic view of FIG. 22;

FIG. 25 is a schematic cross-sectional view of the hydraulic pipe wrench apparatus at the forward end;

FIG. 26 is an isometric illustration at a hydraulic pipe wrench apparatus according to another embodiment of the present invention;

FIG. 27 is a front schematic view of FIG. 26;

FIG. 28 is a side view of FIG. 26;

FIG. 29 is a schematic view of the application state of FIG. 26;

FIG. 30 is an isometric illustration of a hydraulic pipe wrench apparatus according to an embodiment of the present invention with a guide mechanism removed from the front end;

FIG. 31 is an isometric view of a hydraulic pipe wrench apparatus according to another embodiment of the present invention with a guide mechanism removed from the front end;

FIG. 32 is an isometric illustration of a power tong device in an embodiment of the present invention;

FIG. 33 is a schematic front view of a power tong device in accordance with an embodiment of the present invention;

FIG. 34 is an isometric illustration of an embodiment of the invention at the bottom of a sucker rod;

FIG. 35 is an isometric illustration of an embodiment of the invention at a support bracket on a sucker rod chassis;

FIG. 36 is an isometric illustration of an embodiment of the invention at the base of a sucker rod power tong;

FIG. 37 is another isometric illustration at the base of a sucker rod power tong in an embodiment of the present invention;

FIG. 38 is a schematic view of the height adjustment structure of the power tong on the base of the sucker rod power tong in the embodiment of the present invention;

FIG. 39 is an isometric illustration of an embodiment of the present invention at the power tong of a sucker rod;

FIG. 40 is an isometric illustration of the internal structure at the power tong of a sucker rod in an embodiment of the present invention;

FIG. 41 is an isometric view of the support base of the tong body of the sucker rod power tong according to an embodiment of the present invention;

FIG. 42 is a schematic view of a connection between an upper sucker rod clamping mechanism and an upper sucker rod rotating mechanism according to an embodiment of the present invention;

FIG. 43 is a cross-sectional schematic view of FIG. 42;

FIG. 44 is an isometric illustration of a sucker rod slip joint according to an embodiment of the present invention;

Detailed Description

In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and techniques are omitted so as to not unnecessarily limit the invention.

As shown in fig. 1 to 4, the device for realizing the intelligent workover tubular rod dismounting and mounting process of the unmanned operation of the oil field wellhead comprises a control system, a host and a power pipe wrench, wherein the host and the power pipe wrench are electrically connected with the control system; the main machine is mainly used for moving a pipe rod and dismounting the oil pipe in the process of dismounting the pipe rod (the oil pipe and the sucker rod); the power pipe tongs are used for realizing the disassembly and assembly of the sucker rod and are arranged on the platform above the oil well.

The main machine comprises a vehicle device 1, an up-down device 2, a lifting transfer device 3, a male buckle limiting device 4, a large arm device 5, a manipulator device 6 and a hydraulic pipe tongs device 7 which are arranged on the vehicle device 1. In the process of dismounting the oil pipe and the sucker rod, the up-down device 2 is used for realizing the switching of the pipe rod between the pipe rod rack and the lifting transfer device 3; the lifting transfer device 3 is used for lifting and transferring the pipe rod; when the pipe rod is installed, the male buckle limiting device 4 is used for detecting whether the pipe rod is transferred in place by the lifting transfer device 3 or not so as to facilitate the control system to open the large-arm device 5 and grasp the pipe rod by utilizing the manipulator device 6 movably installed on the large-arm device 5; in the pipe rod dismounting process, the large arm device 5 and the mechanical arm device 6 are matched to grab and rotate the transfer pipe rod, and the hydraulic pipe tongs device 7 is used for clamping an upper pipe rod and a lower pipe rod respectively so as to facilitate dismounting between the upper pipe rod and the lower pipe rod.

The vehicle device 1 is mainly used for realizing walking movement and the mounting and fixing effects on other functional components, and the vehicle device 1 adopts a crawler-type walking system; the two sides of the vehicle device 1 are provided with telescopic fixed hydraulic supporting leg mechanisms.

As shown in fig. 5 to 7, as an embodiment of the oil well workover automation equipment, the up-down device 2 adopts a lifting-moving type, and the lifting-moving type up-down device 2 is selectively installed on either of the left and right sides of the vehicle device 1; the up-down device 2 includes an elevating support frame 201, an elevating moving frame, an elevating bracket 203, an elevating driving cylinder 204, and an elevating driving motor 205. The upper end of the lifting support frame 201 is hinged with a connecting end lug 206, and the connecting end lug 206 is used for being connected with the side edge of the vehicle device 1; the connection end ear 206 can be connected to different height positions of the vehicle device 1 according to the requirement of the overall inclination of the upper and lower devices 2. The upper side of the lifting support frame 201 is longitudinally provided with a lifting moving guide rail 207, the lower part of the lifting moving frame body is a lifting moving plate 208, the lower side of the lifting moving plate 208 is provided with a lifting moving slider, and the lifting moving slider is slidably arranged on the lifting moving guide rail 207. The upper portion of the lifting moving frame body is a lifting guide frame 202, the two ends of the lifting guide frame 202 are provided with lifting guide cavities, and the middle of the lifting guide frame 202 is provided with a lifting driving cavity. The lower sides of the two ends of the lifting bracket 203 are provided with lifting guide rods 209, and the lifting guide rods 209 can be inserted into the lifting guide cavities in a vertically sliding manner; lifting hand grips 210 are arranged at two ends of the upper side of the lifting bracket 203, and the lifting hand grips 210 are used for lifting pipe rods. The lifting driving oil cylinder 204 is arranged on the lifting guide frame 202, and the power output end of the lifting driving oil cylinder 204 penetrates through the lifting driving cavity to be connected with the lower side of the lifting bracket 203. The lifting driving cylinder 204 drives the lifting bracket 203 to lift by stretching. The lifting and moving driving motor 205 is installed on the lifting and moving plate 208, and a lifting and moving driving gear 211 is arranged at the rotating power output end of the lifting and moving driving motor 205; the inner side of the lifting support frame 201 is longitudinally provided with a lifting movement driving rack 212, and the lifting movement driving gear 211 is meshed with the lifting movement driving rack 212 for driving. Driven by the lifting driving motor 205, the lifting frame is driven to move up and down along the lifting frame 201. The upper and lower ends of the lifting support frame 201 are respectively provided with a lifting proximity switch 213 for detecting whether the lifting moving frame moves to a designated position. In the pipe feeding process, after the lifting moving frame moves to the upper end designated position, the lifting bracket 203 descends, and the pipe rod falls on the lifting transfer device 3. Accordingly, in the process of lowering the pipe, the lifting transfer device 3 transfers the pipe rod to the upper side of the lifting bracket 203, the lifting bracket 203 is lifted, the pipe rod is separated from the lifting transfer device 3, and the pipe rod moves to the lower end of the upper and lower devices 2 along with the lifting moving frame.

As shown in fig. 8 and 9, as another embodiment of the oil well workover automation equipment, the up-down device adopts a swing arm type, the swing arm type up-down device is arranged on either side of the left side or the right side of the vehicle device 1, and the pipe rod is loaded and unloaded by a swing arm mode. The swing arm type up-down device comprises a swing arm frame 214, a swing arm driving motor 215, a swing arm 216 and a swing arm clamping and fixing oil cylinder 217. The rear end of the swing arm 216 is provided with a swing arm shaft 218, and two ends of the swing arm shaft 218 are rotatably mounted on the swing arm frame 214 through bearings. The swing arm driving motor 215 is installed on one side of the upper end of the swing arm frame 214, and the rotary power output end of the swing arm driving motor 215 is connected with the rotary power input end of the swing arm shaft 218 through a speed reduction motor. The front end of the swing arm 216 is provided with a tube rod bayonet 219, the lower end of the tube rod bayonet 219 is provided with a through bayonet fastening driving groove 220, and a bayonet fixing plate 221 is arranged in the bayonet fastening driving groove 220 and can move inside and outside. The swing arm clamping and fixing oil cylinder 217 is installed on the lower side of the front portion of the swing arm 216, and the telescopic power output end of the swing arm clamping and fixing oil cylinder 217 is connected with the lower end of the bayonet fixing plate 221. In the process of swinging the pipe rod, the swing arm clamping and fixing oil cylinder 217 drives the bayonet fixing plate 221 to move inwards to clamp the pipe rod; when the upper pipe rod and the lower pipe rod are unloaded, the swing arm clamping and fixing oil cylinder 217 drives the bayonet fixing plate 221 to move outwards, and the pipe rods are loosened.

As shown in fig. 1 to 3, the lifting and transferring device 3 is used in cooperation with the upper and lower devices 2 and the pin buckle limiting device 4, and is used for transferring a pipe rod carried by the upper and lower devices 2 to the pin buckle limiting device 4 in a feeding process; in the blanking process, the pipe rods unloaded by the mechanical arm device 6 are transferred to the upper and lower devices 2; the lift transfer device 3 includes a lateral transfer mechanism and a longitudinal transfer mechanism. The transverse transfer mechanism comprises a transverse transfer support frame 300, a transverse transfer driving oil cylinder 301, a transverse transfer bracket 302 and a transverse transfer proximity switch 303. The transverse transfer support frame 300 is transversely installed at the upper end of the vehicle device 1 in the transverse direction, and is provided with a transverse transfer guide groove in the transverse direction; the lower end of the transverse transfer bracket 302 is arranged in the transverse transfer guide groove in a transverse sliding mode through a sliding block, the transverse transfer driving oil cylinder 301 is transversely arranged below the transverse transfer guide groove, and the power output end of the transverse transfer driving oil cylinder 301 is connected with the lower end of the transverse transfer bracket 302. The lateral transfer proximity switches 303 are respectively installed at the front and rear ends of the upper side of the lateral transfer support frame 300, and the lateral transfer proximity switches 303 are used for detecting whether the tube rod moves to the front and rear positions of the lateral transfer support frame 300. When feeding, the longitudinal transfer mechanism is used for receiving the pipe rods from the transverse transfer mechanism and transferring the pipe rods to the male buckle limiting device 4; during blanking, the pipe rod is transferred to the transverse transfer mechanism; the longitudinal transfer mechanism comprises a longitudinal transfer jacking cylinder, a longitudinal transfer jacking frame 305, a longitudinal transfer driving motor 306, a longitudinal transfer roller 307 and a longitudinal transfer jacking proximity switch 308. The longitudinal transfer jacking cylinder is vertically installed at the upper end of the vehicle device 1 through a support frame, and the longitudinal transfer jacking frame 305 is installed at the upper end of the longitudinal transfer jacking cylinder. The longitudinal transfer roller 307 is rotatably arranged at the upper end of the longitudinal transfer jacking frame 305, and the longitudinal transfer driving motor 306 is arranged at one side of the upper end of the longitudinal transfer jacking frame 305; the rotational power output end of the longitudinal transfer drive motor 306 is connected to the rotational power input end of the longitudinal transfer roller 307. The longitudinal transfer jacking proximity switch 308 is installed at the upper end of the longitudinal transfer jacking frame 305, and is used for detecting whether a pipe rod moves to the longitudinal transfer roller 307.

As shown in fig. 1-3 and fig. 10-12, the male buckle limiting device 4 is arranged at the rear end of the vehicle device 1 and is used for detecting whether a pipe rod moves to the rear end position of the vehicle device 1 during the feeding process, so that the large arm device 5 drives the manipulator device 6 to grab the pipe rod; the pin thread limiting device 4 comprises a limiting support frame 401, a limiting detection frame 402, a limiting detection plate 403, a movable detection shaft 404, a limiting detection spring 405, a limiting detection switch 406 (photoelectric detection switch) and a pin thread driving oil cylinder 407. The inner end of the limiting support frame 401 is connected with the vehicle device 1 through a hinged limiting male buckle support, a male buckle moving guide rail 408 is arranged on the upper side of the outer end of the limiting support frame 401, and the lower end of the limiting detection frame 402 is arranged on the male buckle moving guide rail 408 in a sliding mode through a sliding block. The upper portion of the limiting support frame 401 is longitudinally provided with a limiting detection cavity 410, the rear portion of the limiting support frame 401 is transversely provided with a male buckle detection cavity 409, and the male buckle detection cavity 409 is communicated with the rear portion of the limiting detection cavity 410. The limit detection spring 405 is installed in the pin detection cavity 409, the movable detection shaft 404 can be sleeved in the pin detection cavity 409 in an inward-outward telescopic manner, and the outer side wall of the movable detection shaft 404 is connected with the limit detection spring 405; when the limit detection spring 405 is in a reset state, the outer end of the movable detection shaft 404 extends out of the pin detection cavity 409. The limiting detection plate 403 is arranged at the outer end of the movable detection shaft 404, the middle part of the limiting detection plate 403 is rectangular, and the two ends of the limiting detection plate are semicircular, so that the end parts of the oil pipe and the sucker rod can be matched to be pressed conveniently. The limit detection switch 406 is arranged in the pin thread detection cavity 409, when the pipe rod moves to the outer end to press the limit detection plate 403, the movable detection shaft 404 moves inwards, the pin thread detection cavity 409 is shielded by the rear end of the movable detection shaft, and the limit detection switch 406 can trigger a signal. The male buckle driving oil cylinder 407 is longitudinally arranged at the rear part of the limiting support frame 401, and the power output end of the male buckle driving oil cylinder 407 is connected with the lower end of the limiting detection frame 402. In the feeding process, when the limit detection switch 406 detects that the pipe rod is in place, the pin thread driving oil cylinder 407 drives the limit detection frame 402 to move backwards, so that enough space is reserved for the manipulator device 6 to grab the pipe rod; after the manipulator device 6 grabs the pipe rod, the male buckle driving oil cylinder 407 resets again.

As shown in fig. 13 to 19, when the limit detection switch 406 triggers a signal during installation of a pipe rod, the boom device 5 drives the manipulator device 6 to grab the pipe rod, and then drives the pipe rod to the hydraulic pipe wrench device 7 for installation. When the pipe rod is disassembled, the large arm device 5 drives the mechanical arm device 6 to grab the pipe rod, and then the pipe rod is placed on the lifting and transferring device 3. The boom device 5 is swingably connected to the front end of the vehicle device 1, and includes a boom frame 501, a boom swing cylinder 502, a manipulator rotation cylinder 503, a manipulator rotation drive rack 504, a manipulator rotation shaft 505, and a light curtain sensor 506. The large arm frame 501 is arranged at the transverse middle position of the vehicle device 1, and a large arm base 507 is hinged to the lower end of the large arm frame 501 and connected with the front end of the vehicle device 1; a manipulator rotating space is longitudinally arranged in the middle of the large arm frame 501 to meet the requirement that the up-down device 2 can load and unload materials from any side of the vehicle device 1. The mechanical large arm swing oil cylinder 502 adopts a displacement sensor oil cylinder, the lower end of the mechanical large arm swing oil cylinder 502 is hinged with the vehicle device 1 through a base, and the power output end of the mechanical large arm swing oil cylinder 502 is connected with the lower part of the large arm frame body 501. The manipulator rotating shaft 505 is rotatably arranged at the upper part of the large arm frame body 501, and the manipulator device 6 is arranged on the manipulator rotating shaft 505; the manipulator rotation shaft 505 is provided with a manipulator rotation gear 508. The manipulator rotating oil cylinder 503 is arranged on one side of the upper part of the large arm frame body 501, the manipulator rotating driving rack 504 is arranged on the power output end of the manipulator rotating oil cylinder 503, and the manipulator rotating driving rack 504 is meshed with the manipulator rotating gear 508 for driving; the manipulator rotation cylinder 503 is a displacement sensor cylinder. In the process of moving the pipe rod by the manipulator device 6, the large arm device 5 swings by itself and drives the manipulator device 6 to rotate, so that the moving direction of the pipe rod is adjusted, and the pipe rod is convenient to transfer. The light curtain sensor 506 is arranged on the inner side of the lower part of the large arm frame body 501 and is used for detecting the distance between the lower end of the pipe rod and the lower end of the large arm frame body 501 in the process of transferring the pipe rod by the manipulator device 6; so that the manipulator means 6 adjust the distance of movement of the pipe stick when it is being installed.

As shown in fig. 17-21, the manipulator device 6 is used to grasp a pipe stick and, when installing a pipe stick, to adjust the distance of the gripped pipe stick relative to the lower pipe stick. The manipulator device 6 comprises a manipulator 601, a manipulator support frame 602, a pipe rod butt joint adjusting oil cylinder 603, a pipe rod butt joint adjusting sliding groove 604, a buffer spring shock absorber 605 and a mechanical hand 606. The manipulator support frame 602 is rotatably mounted on the large-arm frame 501 through a manipulator rotating shaft 505, and a through pipe rod butt joint adjusting cavity is longitudinally arranged on the manipulator support frame 602; the mechanical arm 601 can be installed in the pipe rod butt joint adjusting cavity of the mechanical arm supporting frame 602 in a front-back sliding mode. The mechanical hand grips 606 are mounted at two ends of the mechanical arm 601 and used for gripping the pipe rod; the mechanical gripper 606 utilizes mechanisms known in the art (see published patent 201711403914.2 filed by the same company). The pipe rod butt joint adjusting oil cylinder 603 is installed on one side of the manipulator support frame 602, and a pipe rod butt joint adjusting slide block 607 is arranged at the power output end of the pipe rod butt joint adjusting oil cylinder 603. The pipe rod butt joint adjusting sliding groove 604 is fixedly installed on the mechanical arm 601, and the pipe rod butt joint adjusting sliding block 607 is arranged in the pipe rod butt joint adjusting sliding groove 604 in a front-back sliding manner. The buffer spring shock absorber 605 is fixedly mounted on the mechanical arm 601 through a base and is positioned at the rear end of the pipe rod butt joint adjusting sliding groove 604; the power input end of the buffer spring shock absorber 605 is connected with the power output end of the pipe rod butt joint adjusting oil cylinder 603. When the mechanical gripper 606 grips the upper end pipe rod and the lower end pipe rod to be butted, the pipe rod butting adjusting oil cylinder 603 extends, and the upper end pipe rod is driven to be spliced in the coupling of the lower end pipe rod through the mechanical arm 601. During the plugging process, the buffer spring damper 605 can perform a flexible buffer docking function due to a certain error range.

As shown in fig. 1 to 4 and fig. 22 to 25, as an embodiment of the oil well workover automation equipment, the hydraulic pipe wrench apparatus 7 is installed at the front end of the vehicle apparatus 1, and adopts an internal guide type. The internal guide type hydraulic pipe wrench device 7 comprises a well repairing power wrench (specially reaching XQ114/6B type in the prior art, and also being described in patent 201820448529.3 applied by the company), a pipe wrench clamping driving base mechanism and an internal guide mechanism; the workover power tong is arranged at the power output end of the pipe wrench clamping driving base mechanism and comprises an upper rotary clamping tong 701 and a lower fixed clamping tong 702; the inner guide mechanism is mounted between the rotating clamp 701 and the stationary clamp 702 and is coaxially disposed. In the process of loading and unloading pipe materials, the pipe wrench clamping driving base mechanism is used for driving the well repairing power wrench and the inner guide mechanism to be close to or far away from the pipe rod. The pipe wrench clamping driving base mechanism comprises a folding frame 703, a frame body advancing and retreating driving oil cylinder 704 and a frame body height adjusting oil cylinder 705. The lower end of the folding leg 703 is provided with a slider which is mounted on a guide rail on the vehicle device 1 so as to be slidable inward and outward. The frame body advancing/retreating driving cylinder 704 is disposed longitudinally, the rear end thereof is connected to the vehicle device 1, and the front end thereof is connected to the lower portion of the folding leg 703. The frame body height adjusting oil cylinder 705 is vertically and obliquely arranged, the lower end of the frame body height adjusting oil cylinder is hinged with the lower end of the folding frame 703 through a support, and the upper end of the frame body height adjusting oil cylinder is hinged with the upper end of the folding frame 703 through a support. The frame body advancing and retreating driving oil cylinder 704 is matched with the frame body height adjusting oil cylinder 705 to realize the outward extending type ascending or the inward retracting type descending of the hydraulic pipe wrench device 7. In the process of installing the pipe rod, the inner guide mechanism is used for guiding the pipe rod so as to facilitate the alignment of the upper pipe rod and the lower pipe rod; the pipe rod dismounting device is used for preventing liquid of the lower pipe rod from splashing outwards in the pipe rod dismounting process; the inner guide mechanism includes an inner guide support plate 706, an inner guide drive cylinder 707, an inner guide cylinder 708, and a guide block 709. The inner guide support plates 706 are vertically installed at both sides of the fixed clamp 702, and inner guide driving cavities are transversely arranged on the inner guide support plates 706. The inner guide cylinders 708 on the two sides are mounted on the inner guide support plate 706 through inner guide slide bars (the inner guide slide bars are sleeved on the inner guide driving cavity in an inner and outer sliding manner), the inner guide driving oil cylinders 707 on the two sides are mounted on the outer side of the inner guide support plate 706, and the telescopic power output ends of the inner guide driving oil cylinders 707 are connected with the inner guide cylinders 708. The guide blocks 709 are symmetrically arranged on the inner side of the inner guide cylinder 708, and the upper ends of the guide blocks are of a semicircular table cavity structure. An oil pipe clamping block 714 for clamping an oil pipe is arranged on the inner sides of the jaws of the upper rotary clamping forceps 701 and the lower fixed clamping forceps 702. When the oil pipe is installed, the upper oil pipe penetrates through the inner guide mechanism, and the lower end of the upper oil pipe is inserted into the upper end coupling of the lower oil pipe; the lower fixed clamp 702 clamps and fixes the lower oil pipe, and the upper rotary clamp 701 drives the upper oil pipe to rotate. When the oil pipe is disassembled, the process is similar to the above process and is not repeated.

As another embodiment of the oil well servicing automation equipment, as shown in fig. 29 to 31, a hydraulic pipe wrench apparatus is installed at the front end of the vehicle apparatus 1 in an externally guided type. The outer guide mechanism of the outer guide type hydraulic pipe wrench device comprises an outer guide support frame 710, an outer guide connecting rod 711, an outer guide oil cylinder 712 and an outer guide cylinder 713, wherein the outer guide support frame 710 is arranged at two sides of the outer part of the fixed clamping wrench 702, the outer guide cylinder 713 is positioned at the inner side of the outer guide support frame 710, and the upper end and the lower end of the outer guide cylinder 713 are respectively hinged with the outer guide support frame 710 through the outer guide connecting rod 711; the middle part of the outer guide cylinder 713 is hinged with the outer guide support frame 710 through an outer guide oil cylinder 712; the guide block 709 is installed inside the outer guide cylinder 713. In the process of clamping the sucker rod by the hydraulic pipe wrench device 7, the upper rotary clamping wrench 701 and the lower oil pipe clamping block 714 (fixedly connected by a pin) on the inner side of the jaw of the fixed clamping wrench 702 can be detached, then the upper sucker rod clamping block 715 is installed on the inner side of the rotary clamping wrench 701 to clamp the pipe wall of the upper sucker rod, and the lower sucker rod clamping block 716 is installed on the inner side of the jaw of the fixed clamping wrench 702 to clamp the square buckle of the upper end collar of the lower sucker rod.

As shown in fig. 32-44, the power tong includes a sucker rod chassis, a sucker rod power tong base, a sucker rod power tong, and a sucker rod slip, the sucker rod power tong base and the sucker rod slip are respectively installed on the sucker rod chassis, the sucker rod slip is located in front of the sucker rod power tong base, and the sucker rod power tong is installed on the sucker rod power tong base.

The sucker rod chassis comprises a chassis body 0211, a power tong moving platform 0212 and a pipe tong base driving oil cylinder 0213 which is horizontally placed, wherein the chassis body comprises supporting parts 2111 at two sides and a plurality of middle connecting parts 2112, the middle connecting parts 2112 are respectively connected with the supporting parts 2111 at two sides, the supporting parts at two sides are provided with guide rails 2113, the power tong moving platform 0212 comprises an upper supporting platform 2121, supporting frames 2122 at two sides and a supporting wheel 2123, one side of the upper supporting platform 2121 and the chassis body 0211 is provided with a notch 0217 for the vertical sucker rod to horizontally move, the upper supporting platform 2121 is connected with the upper part of the supporting frame 2122, the lower part of the supporting frame 2122 is connected with the supporting wheel 2123, the supporting wheel 2123 is matched with the guide rails 2113, the middle connecting part at the other side of the chassis body 0211 is provided with an oil cylinder supporting seat 0214, the pipe tong base driving oil cylinder 0213 is connected with the oil cylinder supporting seat, the outer end of a piston, each end of the supporting part 2111 on two sides is respectively provided with a limiting and buffering structure 0215, each limiting and buffering structure comprises a buffering block 2151 and a limiting column 2152, the buffering block 2151 is connected with the upper part of the limiting column 2152, the lower part of the limiting column 2152 is connected with the end of the chassis body 0211, and the buffering blocks correspond to the positions of two ends of the power tong moving platform.

The support parts on the two sides of the power tong moving platform 0212 are provided with anti-falling blocks 0216 which can prevent the power tong moving platform and the connecting part on the upper part from sliding relative to the chassis or even falling off in the transportation process, and the anti-falling blocks are connected with the chassis body 0211, so that the power tong moving platform and the chassis are fixedly connected together and are kept in a relatively static state, the problems that the power tong moving platform and the power tong on the upper part of the power tong moving platform fall off and are damaged due to relative movement are avoided, the safety accident is avoided, and the safe production is ensured.

The end surfaces of the support frames 2122 on two sides of the groove opening 0217 of the power tong moving platform 0212 are provided with mud scraping plates 0218 for scraping impurities such as sludge, the mud scraping plates 0218 comprise lower connecting parts and bending parts with the upper parts inclining outwards, the lower connecting parts are connected with the end parts of the support frames 2122, the sludge at the contact part of the lower connecting parts and the chassis body 0211 is shoveled by the lower parts of the lower connecting parts, more viscous sludge is accumulated upwards after being used for a long time, the bending parts break and remove the sludge, and the problems of low cleaning efficiency, inconvenience and insecurity caused by manual operation are solved.

The sucker rod power tong base comprises a pipe tong clamping and driving oil cylinder 0511, a power tong mounting seat 0515, a power tong fixing plate 0512, a coupling clamping mechanism and a lower sucker rod square diameter clamping mechanism, wherein the oil cylinder 0511 is connected with a mounting plate 0514 on one side through a fixing seat 0513, the mounting plate 0514 is connected with a power tong moving platform 0212 of a lower sucker rod chassis, the mounting plate moves along with the power tong moving platform, the pipe tong clamping and driving oil cylinder 0511 is connected with the outer end of a piston of the power tong mounting seat 0515, the upper part of the power tong mounting seat 0515 is connected with the power tong fixing plate 0512, the coupling clamping mechanism is connected with the lower part of the power tong fixing plate 0512, the lower sucker rod square diameter clamping mechanism is arranged on the lower part of the coupling clamping mechanism and is connected with the power tong fixing plate 0512, the coupling clamping position of the coupling clamping mechanism corresponds to the clamping groove of the lower sucker rod, a fixing plate avoiding groove 5121 for preventing the installation interference of the sucker rod is arranged on the upper side of the coupling clamping position of the coupling clamping mechanism of the power tong fixing plate;

the power tong moving platform is characterized in that upper supports are respectively arranged on two sides of the upper portion of the power tong moving platform, convex sliding blocks 0516 are arranged on the lower portions of two sides of the mounting plate 0514, guide pressing plates 0517 are arranged on the upper portions of the sliding blocks, the outer sides of the guide pressing plates are fixedly connected with the power tong moving platform, horizontal guide grooves 0518 are arranged on the lower portions of the inner sides of the guide pressing plates, the sliding blocks are matched with the horizontal grooves and move in the horizontal guide grooves, and the power tong moving platform is guided and positioned relative to the chassis in a moving mode through the horizontal.

Coupling clamping mechanism includes that two fixed cards hold two V type forceps holder 0520 of the both sides of breakout tongs drive cylinder 0519, relative setting, and two press from both sides tight cylinder and be connected with the both sides of power tong fixed plate 0512 respectively, two V type forceps holder 0520 be located the intermediate position, two the outside of V type forceps holder be connected with the piston outer end of one of them tight cylinder respectively, be equipped with direction briquetting 0521 on the power tong fixed plate 0512, the V type forceps holder passes through the direction briquetting and installs on power tong fixed plate 0512 and move along cylinder axis direction under the piston drive of hydro-cylinder and press from both sides tightly or loosen the coupling of sucker rod.

Lower part sucker rod square diameter chucking mechanism includes chucking hydro-cylinder, two sucker rod square diameter clamping jaws 0523, and the chucking hydro-cylinder is connected bottom power tong fixed plate 0512, and wherein the outside of every sucker rod square diameter clamping jaw is connected with the outer end of the piston rod of a chucking hydro-cylinder respectively, forms the lower calliper 0524 of centre gripping sucker rod between two sucker rod square diameter clamping jaws. The opening size of the lower caliper 0524 can be conveniently adjusted according to the different square diameter sizes of the sucker rod, and the universality of use are improved.

Lower part sucker rod square diameter chucking mechanism also can adopt following structure, including chucking hydro-cylinder, two connecting rods, wherein two sucker rod square diameter clamping jaws can be connected with connecting rod one end, and the connecting rod other end is the thread end, and the thread end cooperates with the nut, and the nut is connected with power tong fixed plate 0512 for calliper 0524 opening size can conveniently be adjusted according to the difference of sucker rod square diameter size down, has increased commonality and the universality of use.

A power tong height adjusting structure 0526 is arranged on the power tong mounting seat and close to the middle of the power tong mounting seat, the power tong height adjusting structure 0526 comprises a height adjusting oil cylinder 5261, a height adjusting base 5262 and an upper height adjusting connecting plate 5263, the height adjusting oil cylinder 5261 is connected with the lower height adjusting base 5262, the outer end of a piston rod of the height adjusting oil cylinder 5261 is connected with the height adjusting connecting plate 5263, and the height adjusting base 5262 is connected with a power tong fixing plate 0512; a counterweight 0525 is arranged at the upper side of the height adjusting cylinder 5261.

The sucker rod power tong comprises a tong body supporting frame 0311, a tong body supporting seat 0312, an upper sucker rod clamping mechanism for clamping the square diameter of an upper sucker rod, an upper sucker rod rotating mechanism for driving the upper sucker rod to rotate, the lower part of the tong body supporting seat is connected with a power tong fixing plate, the upper sucker rod rotating mechanism is connected with the pincer body supporting frame, the upper sucker rod clamping mechanism is arranged at the lower part of the upper sucker rod rotating mechanism, the upper sucker rod clamping mechanism is connected with the upper sucker rod rotating mechanism through a connecting piece 0317, the clamping jaws of the upper sucker rod clamping mechanism are matched with the square diameter of the upper sucker rod, the clamp body support frame 0311 comprises an upper connecting plate 3111 and a lower connecting plate 3112, the upper connecting plate is connected with the lower connecting plate through a plurality of supporting blocks 3113 arranged on the periphery of the upper connecting plate and the lower connecting plate, connecting plate open grooves 3114 for vertically guiding the upper sucker rods are arranged on the upper connecting plate and the lower connecting plate, and the lower connecting plate 3112 is connected with the upper part of the clamp body supporting seat.

Go up sucker rod rotary mechanism and include power tong hydraulic motor 0313, drive sucker rod fixture pivoted power gear 0314, the power take off end and the action wheel 0316 of power tong hydraulic motor lower extreme are connected, action wheel and intermediate gear 0315 meshing, intermediate gear and power gear meshing realize the speed reduction function through intermediate gear to obtain the required rotational speed of power gear and sucker rod. Because the sucker rod rotating mechanism is provided with the open slot, the power wheel forms an incomplete gear tooth structure with partial vacancy by arranging the corresponding gear open slot 3141 on the power gear, wherein two intermediate gears meshed with the power gear are arranged, the two intermediate gears are separately arranged on the clamp body supporting frame, the horizontal distance of the fixed shaft of the two intermediate gears is matched with the width of the open slot on the sucker rod rotating mechanism, at least one of the two intermediate gears can be matched with the power wheel when the power wheel rotates, the power can be reliably transmitted, and the running stability can be ensured.

The upper sucker rod clamping mechanism comprises a clamping jaw 0320, the clamping jaw is provided with a clamping groove 3201 matched with the square diameter of an upper sucker rod, two sides of the lower part of a connecting piece 0317 are provided with connecting plate guide rails 3173, two sides of the clamping jaw are provided with clamping jaw sliding blocks 3202 matched with the connecting plate guide rails, the clamping jaw sliding blocks are matched with the connecting plate guide rails, the lower parts of two sides of one end far away from a connecting plate open slot of the connecting piece 0317 are respectively provided with a connecting piece connecting block 3174, two sides of one end of the clamping groove of the clamping jaw are respectively provided with a clamping jaw connecting block 3203, the clamping jaw connecting block 3203 is connected with the connecting piece connecting block 3174 through a compression spring 3175, two sides of the end part of the connecting plate open slot of the connecting piece 0317 are respectively provided with a spring pre-tightening pressing plate 3176, the inner side of the spring, the spring pre-tightening pressing plate is characterized in that a rotating sleeve 3179 capable of rotating around the fixing shaft is arranged on the fixing shaft, the rotating sleeve is connected with one end of a connecting pin 3180, an external thread is arranged at the other end of the connecting pin, the external thread is matched with a butterfly nut 3181, open grooves 3182 are respectively formed in two sides of the spring pre-tightening pressing plate, one end, provided with the external thread, of the connecting pin can be clamped in the open grooves, and then the connecting pin is pressed tightly through the butterfly.

The clamp body supporting seat 0312 comprises a main supporting frame 3121, an adjusting spring 3122, a spring sleeve 3123, a spring cylinder shaft 3124, a spring cylinder lower cover 3125, and a spring cylinder upper cover 3126, the spring sleeve is connected with the horizontal part 3127 of the main supporting frame near the middle position, the bottoms of the two sides of the main supporting frame are connected with the main supporting frame, the lower cover of the spring cylinder is connected with the bottom end of the spring sleeve, the lower part of the adjusting spring is connected with the pretightening force adjusting pad, the middle of the lower cover of the spring cylinder is provided with an adjusting screw 3129, the adjusting screw is connected with the pretightening force adjusting pad 0328, the spring cylinder shaft is provided with a spring cylinder shaft boss near the middle position, the lower end of the adjusting spring is matched with the pretightening force adjusting pad, the upper end of the adjusting spring is matched with the boss of the spring cylinder shaft, the upper cover of the spring cylinder is connected with the upper end of the spring cylinder, the upper end of the spring cylinder shaft extends out of the upper cover of the spring cylinder, the upper end of the spring cylinder shaft is connected with a clamp body supporting frame 0311 of the sucker rod power clamp, and the specific connecting position is connected with a supporting body 3120 at the outer edge position of the lower connecting plate 3112. A height adjustment pad 3130 is provided between the upper portion of the horizontal portion 3127 and the boss of the spring sleeve 3123.

The sucker rod slip comprises a fixed seat 0411, two slip bodies 0412 and two slip clamping holding blocks 0413, wherein the fixed seat 0411 is provided with a connecting hole near the edge, the fixed seat 0411 is connected with a chassis at the lower part through a bolt assembly, a fixed seat through hole for the sucker rod to pass through is arranged in the middle of the fixed seat 0411, the inner side of each slip body 0412 is respectively provided with a slip body fixing groove 4121, one slip body is connected with the corresponding slip body fixing groove through a detachable structure such as a thread, slip through holes 4131 for the sucker rod to pass through are formed by matching the inner sides of the two slip bodies, the conical surface of the sucker rod is matched with the upper end surface 4132 of the outer edge of the slip through hole and is supported on the slip through the upper end surface, slip supporting blocks 0414 are arranged at the lower parts of the two slip bodies, the bottoms of the slip supporting blocks are connected with the fixed seat 0411, a supporting block through hole for the sucker rod to pass, the slip opening and closing rotating shaft is supported on the fixing seat 0411 through a bearing seat 0416, and the slip opening and closing rotating shaft is connected with a slip opening and closing power mechanism.

The slip opening and closing power mechanism comprises a slip driving oil cylinder 0420, two connecting rods 0421 and two rocker arms 0422, wherein the oil cylinder is vertically placed, the oil cylinder is connected with a vertical plate 0423, the lower portion of the vertical plate is connected with a fixed seat, the lower end of a piston rod of the oil cylinder is connected with a joint 0424, the lower ends of the two connecting rods are hinged with the two sides of the joint through pin shafts respectively, the upper end of each connecting rod is hinged with one end of one corresponding rocker arm through a pin shaft respectively, and the other end of each rocker arm is connected with the end portion of a corresponding slip opening and closing rotating shaft 041.

The outside of the caliper body adopts detachable construction such as screw thread to be connected with intermediate junction piece 0417, intermediate junction piece is connected with detachable construction such as slips opening and closing rotating shaft screw thread, because the outside of the caliper body is connected with intermediate junction piece, and intermediate junction piece and slips opening and closing rotating shaft to and individual caliper body passes through detachable construction such as screw thread with corresponding caliper body fixed slot and is connected, can change different caliper bodies, the caliper body according to the specification of the sucker rod of difference, perhaps can conveniently change and maintain when the caliper body, intermediate junction piece damage or wearing and tearing are serious, reduce use and maintenance cost, reduce operator's intensity of labour, improve and maintain work efficiency.

An intelligent workover tubing installation process for realizing unmanned operation of an oilfield wellhead comprises the following steps: oil pipe feeding, oil pipe parallel transfer, oil pipe male buckle in-place detection, oil pipe rotary transfer positioning and oil pipe installation.

Wherein the material loading of oil pipe is realized through upper and lower device 2, and oil pipe parallel transfer is through lifting transfer device 3, and the oil pipe pin is in place to be detected and is realized through pin stop device 4, and the rotatory transfer of oil pipe is realized through forearm device 5 and manipulator device 6, and the installation of oil pipe is realized through hydraulic pressure breakout tongs device 7 and elevator device 9.

As shown in fig. 1 to 7, S1: oil pipe feeding

The lifting driving oil cylinder 204 extends, and the lifting bracket 203 supports the oil pipe; the lifting and lowering driving motor 205 is operated to drive the lifting and lowering frame on which the lifting and lowering bracket 203 is mounted upward, and when the lifting and lowering proximity switch 213 at the upper end of the lifting and lowering support frame 201 detects the lifting and lowering frame, the lifting and lowering driving motor 205 stops operating; the lift drive cylinder 204 retracts and the lift bracket 203 places the tubing down.

As shown in fig. 1-3, S2: parallel transfer of oil pipe

After a transverse transfer proximity switch 303 at the outer end of the transverse transfer support frame 300 detects that the oil pipe is placed on the transverse transfer bracket 302, the transverse transfer driving oil cylinder 301 retracts to drive the transverse transfer bracket 302 to move inwards along the transverse transfer support frame 300; after a transverse transfer proximity switch 303 at the inner end of the transverse transfer support frame 300 detects an oil pipe, the transverse transfer driving oil cylinder 301 stops working, and meanwhile, the longitudinal transfer jacking oil cylinder drives the longitudinal transfer jacking frame 305 to ascend; the longitudinal transfer jacking proximity switch 308 installed at the upper end of the longitudinal transfer jacking frame 305 detects that the longitudinal transfer roller 307 jacks up the oil pipe, and then the longitudinal transfer driving motor 306 drives the longitudinal transfer roller 307 to rotate, so that the oil pipe moves to the rear end of the vehicle device 1.

As shown in fig. 1-3 and fig. 10-12, S3: oil pipe male buckle in-place detection

After the oil pipe extrudes the limit detection plate 403, the movable detection shaft 404 mounted on the limit detection frame 402 is pushed to move backwards, and after the limit detection switch 406 detects the movable detection shaft 404, the male buckle driving oil cylinder 407 extends out and drives the limit detection frame 402 to move backwards integrally, so that enough space is reserved for the mechanical arm device 6 to grab the oil pipe.

As shown in fig. 1 to 5 and fig. 13 to 21, S4: oil pipe rotating transfer positioning

After the limit detection switch 406 triggers a signal, the boom swing cylinder 502 stretches and retracts to drive the boom frame 501 to swing towards the upper end of the vehicle device 1; in the swinging process of the large-arm frame body 501, the manipulator rotating oil cylinder 503 acts, the manipulator rotating driving rack 504 is meshed with the manipulator rotating gear 508 on the manipulator rotating shaft 505 for driving, and the manipulator 601 is driven to rotate through the manipulator rotating shaft 505 so as to adjust the manipulator 601 to be in a horizontal state; after the mechanical hand 606 reaches the oil pipe position, the oil pipe is grabbed, then the large arm swing oil cylinder 502 and the manipulator rotation oil cylinder 503 reversely move, and the manipulator 601 rotationally moves to the front end of the vehicle device 1 and is in a vertical state.

Preferably, when the oil pipe carried by the manipulator 601 rotates through the large arm frame 501, the light curtain sensor 506 on the large arm frame 501 detects the distance from the lower end of the oil pipe to the lower end of the large arm frame 501; so that the manipulator device 6 adjusts the moving distance to the pipe stick when installing the oil pipe.

As shown in fig. 1 to 5 and fig. 22 to 25, S5: installation of oil pipe

The elevator device 9 rotates and fixes the oil pipe from the upper end, the frame body advance and retreat driving oil cylinder 704 and the frame body height adjusting oil cylinder 705 act, and the folding frame 703 drives the hydraulic pipe tongs device 7 to reach the oil pipe; a rotary clamping tong 701 above the hydraulic pipe tongs device 7 clamps an upper oil pipe, and a fixed clamping tong 702 below the hydraulic pipe tongs device 7 clamps a lower oil pipe;

the elevator device 9 moves downwards, and the upper oil pipe is aligned with the lower oil pipe through the guide mechanism; the pipe rod butt joint adjusting oil cylinder 603 extends, and the mechanical arm 601 drives the lower end of the upper oil pipe to be inserted into the upper end coupling of the lower oil pipe; the rotary clamping tongs 701 drive the upper oil pipe to rotate, and the upper oil pipe and the lower oil pipe are in spiral butt joint.

Preferably, the pipe rod is butted with a buffer spring shock absorber 605 arranged on the adjusting oil cylinder 603 so as to realize flexible butt joint of the upper oil pipe and the lower oil pipe.

As an intelligent workover oil pipe installation process for realizing unmanned operation of an oilfield wellhead, the loading process of an oil pipe is realized through a swing arm type loading and unloading device.

As shown in fig. 8 and 9, S1: an alternative technical scheme for loading the oil pipe comprises

The oil pipe is placed in a pipe rod bayonet 219 at the front end of the swing arm 216, and the swing arm clamping oil cylinder 217 retracts to clamp the oil pipe by using a bayonet fixing plate 221; the swing arm driving motor 215 rotates to drive the swing arm 216 to swing through the swing arm shaft 218, and then the oil pipe is moved to the vehicle device 1; then the swing arm clamping oil cylinder 217 extends, the bayonet fixing plate 221 loses the clamping effect on the oil pipe, and the oil pipe falls off from the pipe rod bayonet 219.

An intelligent workover tubing dismounting process for realizing unmanned operation of an oilfield wellhead comprises the following steps: disassembling the oil pipe, rotationally transferring the oil pipe, parallelly transferring the oil pipe and blanking the oil pipe.

The disassembly of the oil pipe is realized through a hydraulic pipe tongs device 7 and an elevator device 9, the rotation transfer of the oil pipe is realized through a large arm device 5 and a manipulator device 6, the parallel transfer of the oil pipe is realized through a lifting transfer device 3, and the blanking of the oil pipe is realized through an upper device 2 and a lower device 2.

As shown in fig. 1 to 5 and fig. 22 to 25, S1: disassembly of oil pipe

The elevator device 9 rotationally fixes the upper oil pipe from the upper end and pumps the upper oil pipe out of the oil well (the upper part of the lower oil pipe is also pumped out of the oil well);

the frame body advancing and retreating driving oil cylinder 704 and the frame body height adjusting oil cylinder 705 act to drive the hydraulic pipe wrench device 7 to reach an oil pipe through the folding frame 703, and the oil pipe enters the hydraulic pipe wrench device 7 through the guide mechanism (so that the liquid below is prevented from splashing when the oil pipe is separated); a rotary clamping tong 701 above the hydraulic pipe tongs device 7 clamps an upper oil pipe, and a fixed clamping tong 702 below the hydraulic pipe tongs device 7 clamps a lower oil pipe; the rotary clamping tongs 701 drive the upper oil pipe to rotate, and the upper oil pipe and the lower oil pipe are spirally separated.

As shown in fig. 1 to 5 and fig. 13 to 21, S2: oil pipe rotary transfer

The mechanical gripper 606 clamps and fixes the oil pipe, and the elevator device 9 releases the clamping of the upper end of the oil pipe; the pipe rod butt joint adjusting oil cylinder 603 is shortened, the mechanical arm 601 drives the upper oil pipe to lift, and then the lower end of the upper oil pipe is drawn out from the upper end coupling of the lower oil pipe;

the large arm swing cylinder 502 stretches and retracts to drive the large arm frame body 501 to swing towards the upper end of the vehicle device 1, in the swinging process of the large arm frame body 501, the manipulator rotating cylinder 503 acts, the manipulator rotating driving rack 504 is meshed with a manipulator rotating gear 508 on the manipulator rotating shaft 505 to drive, and the manipulator rotating shaft 505 drives the manipulator 601 to rotate so as to adjust the manipulator 601 to be in a horizontal state; after the mechanical gripper 606 reaches the position of the lifting transfer device 3, the mechanical gripper 606 releases the clamping of the oil pipe, and the oil pipe is placed on the transverse transfer bracket 302.

As shown in fig. 1-3, S3: parallel transfer of oil pipe

After a transverse transfer proximity switch 303 at the inner end of the transverse transfer support frame 300 detects that an oil pipe is placed on the transverse transfer bracket 302, a transverse transfer driving oil cylinder 301 extends to drive the transverse transfer bracket 302 to move outwards along the transverse transfer support frame 300; after a transverse transfer proximity switch 303 at the outer end of the transverse transfer support frame 300 detects an oil pipe, the transverse transfer driving oil cylinder 301 stops working.

As shown in fig. 1 to 7, S4: oil pipe blanking

The lifting driving oil cylinder 204 extends, and the lifting bracket 203 lifts the oil pipe on the transverse transfer bracket 302 upwards; the lifting/lowering driving motor 205 operates to drive the lifting/lowering frame on which the lifting/lowering bracket 203 is mounted downward, and when the lifting/lowering proximity switch 213 at the lower end of the lifting/lowering support frame 201 detects the lifting/lowering frame, the lifting/lowering driving motor 205 stops operating; the lift drive cylinder 204 retracts and the lift bracket 203 places the tubing down.

The utility model provides a realize intelligent workover sucker rod mounting process of oil field well head unmanned operation, includes following step: sucker rod material loading, the parallel transfer of sucker rod, the detection that the sucker rod pin thread targets in place, the rotatory location that shifts of sucker rod and the installation of sucker rod.

Wherein the feeding of the sucker rod is realized by the upper and lower devices 2, the parallel transfer of the sucker rod is realized by the lifting transfer device 3, the in-place detection of the male buckle of the sucker rod is realized by the male buckle limiting device 4, the rotary transfer of the sucker rod is realized by the large arm device 5 and the mechanical hand device 6, the installation of the sucker rod is realized by the power pipe tongs device 8 and the elevator device 9 which are arranged on the platform,

as shown in fig. 1 to 9, S1: sucker rod feeding

The lifting driving oil cylinder 204 extends, and the lifting bracket 203 supports the sucker rod; the lifting and lowering driving motor 205 is operated to drive the lifting and lowering frame on which the lifting and lowering bracket 203 is mounted upward, and when the lifting and lowering proximity switch 213 at the upper end of the lifting and lowering support frame 201 detects the lifting and lowering frame, the lifting and lowering driving motor 205 stops operating; the lift drive cylinder 204 retracts and the lift bracket 203 places the sucker rod down.

As shown in fig. 1-3, S2: parallel transfer of sucker rods

After a transverse transfer proximity switch 303 at the outer end of the transverse transfer support frame 300 detects that the sucker rod is placed on the transverse transfer bracket 302, the transverse transfer driving oil cylinder 301 retracts to drive the transverse transfer bracket 302 to move inwards along the transverse transfer support frame 300; after a transverse transfer proximity switch 303 at the inner end of the transverse transfer support frame 300 detects a sucker rod, the transverse transfer driving oil cylinder 301 stops working, and meanwhile, the longitudinal transfer jacking oil cylinder drives the longitudinal transfer jacking frame 305 to ascend; the longitudinal transfer jacking approach switch 308 installed at the upper end of the longitudinal transfer jacking frame 305 detects that the longitudinal transfer roller 307 jacks up the sucker rod, and the longitudinal transfer driving motor 306 drives the longitudinal transfer roller 307 to rotate, so that the sucker rod moves to the rear end of the vehicle.

As shown in fig. 1-3 and fig. 10-12, S3: sucker rod male buckle in-place detection

After the sucker rod extrudes the limit detection plate 403, the movable detection shaft 404 installed on the limit detection frame 402 is pushed to move backwards, and after the limit detection switch 406 detects the movable detection shaft 404, the male buckle driving oil cylinder 407 extends out and drives the limit detection frame 402 to move backwards integrally, so that enough space is reserved for the mechanical arm device 6 to grab the sucker rod.

As shown in fig. 1 to 5 and fig. 13 to 21, S4: rotary transfer positioning of sucker rod

After the limit detection switch 406 triggers a signal, the boom swing cylinder 502 stretches and retracts to drive the boom frame 501 to swing towards the upper end of the vehicle device 1; in the swinging process of the large-arm frame body 501, the manipulator rotating oil cylinder 503 acts, the manipulator rotating driving rack 504 is meshed with the manipulator rotating gear 508 on the manipulator rotating shaft 505 for driving, and the manipulator 601 is driven to rotate through the manipulator rotating shaft 505 so as to adjust the manipulator 601 to be in a horizontal state; after the mechanical hand 606 reaches the position of the sucker rod, the sucker rod is grabbed, then the large arm swing oil cylinder 502 and the manipulator rotation oil cylinder 503 reversely act, and the manipulator 601 rotationally moves to the front end of the vehicle device 1 and is in a vertical state.

Preferably, when the manipulator 601 rotates the sucker rod through the large arm frame 501 while carrying the sucker rod, the light curtain sensor 506 on the large arm frame 501 detects the distance from the lower end of the sucker rod to the lower end of the large arm frame 501; so that the manipulator device 6 adjusts the moving distance of the pipe rod when the sucker rod is installed.

As shown in fig. 1 to 5 and fig. 28 to 31, step S5: installation of sucker rod

The pipe wrench base driving oil cylinder 0213 pushes the tile clamp to the lower sucker rod, and the tile clamp driving oil cylinder 0420 drives the tile clamp clamping block 0413 to fix the lower end of the upper square opening of the lower sucker rod so as to lift the lower sucker rod;

the elevator device 9 rotationally fixes the upper sucker rod from the upper end; the pipe rod butt joint adjusting oil cylinder 603 extends, and the mechanical arm 601 drives the lower end of the upper sucker rod to be inserted into the upper end coupling of the lower sucker rod;

the pipe wrench clamping driving oil cylinder 0512 drives the pipe wrench assembly and the lower clamp 0524 to move to the sucker rod, and the pipe wrench assembly 83 is rotatably clamped at the lower opening of the upper sucker rod; the lower calipers are clamped at the upper square opening of the lower sucker rod to fix the lower sucker rod; the pipe wrench assembly drives the upper sucker rod to rotate, and the upper sucker rod is in spiral connection with the lower sucker rod.

Preferably, the pipe rod is connected with a buffer spring damper 605 arranged on the adjusting oil cylinder 603, so as to realize flexible connection between the upper sucker rod and the lower sucker rod.

As another implementation of the intelligent workover sucker rod installation process for realizing unmanned operation of the oil field well head,

the installation of the sucker rod is realized through the hydraulic pipe tongs device 7 and the elevator device 9, the inner side surface of the rotary clamping tongs 701 above the hydraulic pipe tongs device 7 is provided with an upper sucker rod clamping block 715, and the inner side surface of the fixed clamping tongs 702 below the hydraulic pipe tongs device 7 is provided with a lower sucker rod clamping block 716.

As shown in fig. 1 to 5 and fig. 26 to 27, the step S5: the installation of the sucker rod can be replaced by adopting the following scheme

The elevator device 9 fixes the sucker rod from the upper end in a rotating way, the frame body advances and retreats to drive the oil cylinder 704 and the frame body height adjusting oil cylinder 705 to act, and the folding frame 703 drives the hydraulic pipe tongs device 7 to reach the sucker rod; a rotary clamping tong 701 above the hydraulic pipe wrench device 7 clamps the lower port of the upper sucker rod by using an upper sucker rod clamping block 715, and a fixed clamping tong 702 below the hydraulic pipe wrench device 7 clamps the upper port of the lower sucker rod by using a lower sucker rod clamping block 716;

the elevator device 9 moves downwards, and the upper sucker rod is aligned with the lower sucker rod through the guide mechanism; the pipe rod butt joint adjusting oil cylinder 603 extends, and the mechanical arm 601 drives the lower end of the upper sucker rod to be inserted into the upper end coupling of the lower sucker rod; the rotary clamping tongs 701 drives the upper sucker rod to rotate, and the upper sucker rod and the lower sucker rod are in spiral butt joint.

The utility model provides a realize intelligent workover sucker rod dismantlement technology of oil field well head unmanned operation, includes following step: the disassembly of the sucker rod, the rotary transfer of the sucker rod, the parallel transfer of the sucker rod and the blanking of the sucker rod.

The dismantlement of sucker rod is realized through power breakout tongs device 8 and the elevator device 9 of installing on the platform, and the rotatory transfer of sucker rod is realized through forearm device 5 and manipulator device 6, and the parallel transfer of sucker rod is realized through lifting transfer device 3, and the unloading of sucker rod is realized through upper and lower device 2.

As shown in fig. 1 to 5 and fig. 28 to 31, S1: disassembling of sucker rod

The elevator device 9 fixes the upper sucker rod from the upper end in a rotating way and pumps the upper sucker rod out of the oil well (the upper part of the lower sucker rod also pumps out the oil well);

the pipe wrench base driving oil cylinder 0213 pushes the tile clamp to the lower sucker rod, and the tile clamp driving oil cylinder 0420 drives the tile clamp clamping block 0413 to fix the lower part of the upper square opening of the lower sucker rod so as to lift the lower sucker rod;

the pipe wrench clamping driving oil cylinder 0512 drives the pipe wrench assembly and the V-shaped clamp 0520 to move to the sucker rod, and the pipe wrench assembly is clamped at the lower opening of the upper sucker rod; the fixed clamping pipe wrench drives the oil cylinder 0511 to extend, the V-shaped clamp 0520 is clamped at the upper coupling of the lower sucker rod, and the lower sucker rod is fixed; the pipe wrench assembly drives the upper sucker rod to rotate, and the upper sucker rod is spirally separated from the lower sucker rod.

As shown in fig. 1 to 5 and fig. 26 to 27, the step S1: the sucker rod can be disassembled and replaced by adopting the following scheme

The sucker rod is disassembled through the hydraulic pipe wrench device 7 and the elevator device 9, the inner side surface of the rotary clamping tongs 701 above the hydraulic pipe wrench device 7 is provided with an upper sucker rod clamping block 715, and the inner side surface of the fixed clamping tongs 702 below the hydraulic pipe wrench device 7 is provided with a lower sucker rod clamping block 716.

the frame body driving oil cylinder 704 and the frame body height adjusting oil cylinder 705 move, the folding frame 703 drives the hydraulic pipe wrench device 7 to reach the position of the sucker rod, and the sucker rod enters the hydraulic pipe wrench device 7 through the guide mechanism (the splashing of the liquid below is prevented when the sucker rod is separated); a rotary clamping tong 701 above the hydraulic pipe wrench device 7 clamps the upper sucker rod, and a fixed clamping tong 702 below the hydraulic pipe wrench device 7 clamps the lower sucker rod; the rotary clamping tongs 701 drives the upper sucker rod to rotate, and the upper sucker rod and the lower sucker rod are spirally separated.

As shown in fig. 1 to 5 and fig. 13 to 21, S2: sucker rod rotary transfer

The mechanical gripper 606 clamps and fixes the sucker rod, and the elevator device 9 loosens the clamping of the upper end of the sucker rod; the pipe rod butt joint adjusting oil cylinder 603 is shortened, the mechanical arm 601 drives the upper sucker rod to lift up, and then the lower end of the upper sucker rod is drawn out from the upper end coupling of the lower sucker rod;

the large arm swing cylinder 502 stretches and retracts to drive the large arm frame body 501 to swing towards the upper end of the vehicle device 1, in the swinging process of the large arm frame body 501, the manipulator rotating cylinder 503 acts, the manipulator rotating driving rack 504 is meshed with a manipulator rotating gear 508 on the manipulator rotating shaft 505 to drive, and the manipulator rotating shaft 505 drives the manipulator 601 to rotate so as to adjust the manipulator 601 to be in a horizontal state; after the mechanical gripper 606 reaches the position of the lifting transfer device 3, the mechanical gripper 606 releases the clamping of the sucker rod, and the sucker rod is placed on the transverse transfer bracket 302.

As shown in fig. 1-3, S3: parallel transfer of sucker rods

After a transverse transfer proximity switch 303 at the inner end of the transverse transfer support frame 300 detects that the sucker rod is placed on the transverse transfer bracket 302, a transverse transfer driving oil cylinder 301 extends to drive the transverse transfer bracket 302 to move outwards along the transverse transfer support frame 300; after the sucker rod is detected by a transverse transfer proximity switch 303 at the outer end of the transverse transfer support frame 300, the transverse transfer driving oil cylinder 301 stops working.

As shown in fig. 1 to 9, S4: sucker rod unloading

The lifting driving oil cylinder 204 extends, and the lifting bracket 203 lifts the sucker rod on the transverse transfer bracket 302 upwards; the lifting/lowering driving motor 205 operates to drive the lifting/lowering frame on which the lifting/lowering bracket 203 is mounted downward, and when the lifting/lowering proximity switch 213 at the lower end of the lifting/lowering support frame 201 detects the lifting/lowering frame, the lifting/lowering driving motor 205 stops operating; the lift drive cylinder 204 retracts and the lift bracket 203 places the sucker rod down.

In addition to the technical features described in the specification, the technology is known to those skilled in the art.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and various modifications and variations can be made by those skilled in the art without inventive efforts based on the technical solution of the present invention.

Claims

1. An intelligent workover tubing installation process for realizing unmanned operation of an oilfield wellhead is characterized by comprising the following steps:

s1 oil pipe feeding

s2 parallel transfer of oil pipes

s3 oil pipe pin in-place detection

s4 oil pipe rotation transfer positioning

s5 oil pipe installation

2. The installation process of the intelligent workover tubing for realizing unmanned operation of the wellhead of the oil field according to claim 1,

in the step S4, when the oil tube carried by the manipulator arm rotates through the large arm frame, the light curtain sensor on the large arm frame detects the farthest end of the light curtain signal blocked by the oil tube; the length of the oil production pipe can be calculated according to the fact that the distance from the lower end of the oil pipe to the nearest end of the light curtain sensor is a fixed number.

3. The installation process of the intelligent workover tubing for unmanned operation of oilfield wellhead as claimed in claim 1, wherein in step S5, the tubing rod butt joint adjusting cylinder is provided with a buffer spring damper to realize flexible butt joint of the upper tubing and the lower tubing.

4. The installation process of the intelligent workover tubing for unmanned operation of oilfield wellhead as claimed in claim 1, wherein as an alternative to the step S1, the loading process of the tubing is performed by a swing arm type up-down device;

5. An intelligent workover tubing dismounting process for realizing unmanned operation of an oilfield wellhead is characterized by comprising the following steps:

disassembly of S1 tubing

The elevator device is sleeved in and clamps the upper section of oil pipe from the upper end and extracts the upper section of oil pipe from the oil well;

the frame body advances and retreats to drive the oil cylinder and the frame body height adjusting oil cylinder to act, the folding frame drives the hydraulic pipe wrench device to reach the oil pipe, and the oil pipe enters the hydraulic pipe wrench device; a rotary clamping tong above the hydraulic pipe tongs device clamps an upper oil pipe, and a fixed clamping tong below the hydraulic pipe tongs device clamps a lower oil pipe; the rotary clamping pliers drive the upper oil pipe to rotate, so that the upper oil pipe is spirally separated from the lower oil pipe; and the liquid in the upper oil pipe is prevented from splashing by the guide mechanism;

s2 oil pipe rotation transfer

The mechanical gripper clamps and fixes the oil pipe, and the elevator device loosens the clamping of the upper end of the oil pipe; the pipe rod butt joint adjusting oil cylinder is shortened, the mechanical arm drives the upper oil pipe to lift, and then the lower end of the upper oil pipe is drawn out from the upper end coupling of the lower oil pipe;

s3 parallel transfer of oil pipes

s4 oil pipe blanking

6. The utility model provides a realize intelligent workover sucker rod mounting process of oil field well head unmanned operation, characterized by includes following step:

the installation process of the intelligent workover tubing for realizing unmanned operation of the oil field wellhead comprises the steps S1 to S4 of the installation process of the intelligent workover tubing for realizing unmanned operation of the oil field wellhead, wherein the steps S8926 are used for realizing feeding of an S1 sucker rod, parallel transfer of an S2 sucker rod, in-place detection of an S3 sucker rod male buckle and rotary transfer positioning of an S4 sucker rod;

step S5 installation of sucker rod

7. The process of claim 6, wherein as an alternative to step S5, the elevator device is inserted into and clamps the sucker rod at the upper end; the frame body advances and retreats to drive the oil cylinder and the frame body height adjusting oil cylinder to act, and the hydraulic pipe tongs device is driven by the folding frame to reach the sucker rod; a rotary clamping tong above the hydraulic pipe tongs device clamps a lower port of an upper sucker rod by using an upper clamping block of the sucker rod, and a fixed clamping tong below the hydraulic pipe tongs device clamps an upper port of a lower sucker rod by using a lower clamping block of the sucker rod;

the elevator device moves downwards, and the upper sucker rod is aligned with the lower sucker rod through the guide mechanism; the pipe rod is butted with the adjusting oil cylinder to extend, and the mechanical arm drives the lower end of the upper sucker rod to be inserted into the upper end coupling of the lower sucker rod; the rotary clamping pliers drive the upper sucker rod to rotate, and the upper sucker rod is in spiral butt joint with the lower sucker rod.

8. The utility model provides a realize intelligent workover sucker rod dismantlement technology of oil field well head unmanned operation, characterized by includes following step:

s1: disassembling of sucker rod

the intelligent well workover sucker rod dismounting process for realizing unmanned operation of an oilfield wellhead, which is disclosed by the claim 5, comprises the steps of S2 to S4, S2 sucker rod rotation transfer, S3 sucker rod parallel transfer and S4 sucker rod blanking.