CN110485939A - A kind of automatic petroleum well workover machine people - Google Patents

Abstract

The invention discloses an automatic petroleum workover robot, which comprises a base, a large arm device, a pipe grasping manipulator, a three-axis moving platform of pipe wrench, an oil pipe down guiding and clamping device, and a hydraulic control system. The base is a rectangular parallelepiped frame structure, The boom device is installed at the front of the base; the boom device is a three-dimensional frame composed of two sets of parallelograms, and a lifting cylinder is installed on the base close to the boom device; On the mobile platform, it can move forward, backward, left, and right; the three-axis mobile platform of the pipe wrench is set on the base, and the three-axis mobile platform of the pipe wrench includes an upper bracket, a pipe wrench platform and a lower bracket. On the upper bracket, the pipe wrench is installed on the lower bracket, and the three-axis moving platform of the pipe wrench can move in X, Y, and Z directions through slide rails. The invention has the advantages of high operating efficiency, strong site adaptability, strong controllability of the operating process, stable lifting speed and the like.

Description

An automatic oil workover robot

technical field

The invention relates to an automatic petroleum workover robot, which belongs to the technical field of petroleum workover robots.

Background technique

In the process of oil field production, some oil well failures often occur. In order to restore the oil well to normal production as soon as possible, measures must be taken to eliminate the failure. The workover efficiency of existing wellhead operations is low, which is likely to cause environmental pollution; there are also equipment for workover operations in the prior art, but the degree of automation is low, most of the work links need manual assistance, the equipment occupies a large area, and the transportation is not easy. Convenience, complex workflow, low operating efficiency and other deficiencies.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic oil workover robot for the defects in the prior art.

In order to solve this technical problem, the present invention provides an automatic petroleum workover robot, which includes a base, a boom device, a pipe grasping manipulator, a three-axis moving platform of pipe wrench, an oil pipe down guiding and clamping device, and a hydraulic control system. The base is a cuboid frame structure, and the boom device is installed on the front of the base through a hinge seat; the boom device is a three-dimensional frame composed of two groups of parallelograms, and a lifting cylinder is arranged on the base close to the boom device. The boom device can realize 15-90° swing under the drive of the lifting cylinder; the top of the boom device is equipped with a mobile platform, and the pipe grabbing manipulator is installed on the mobile platform through a telescopic link, which can move forward, backward, left, and right; The three-axis moving platform of the pipe wrench is set on the base and located on the front side of the boom device. The three-axis moving platform of the pipe wrench includes an upper bracket, a pipe wrench platform and a lower bracket. The tongs are installed on the lower bracket, and the three-axis moving platform of the pipe wrench can realize the movement in the X, Y, and Z directions through the X, Y, and Z direction slide rails arranged on the base.

The base includes an underframe, hydraulic outriggers, oil pipe conveying device, traveling device and hydraulic station, and two sets of oil pipe conveying devices are arranged on both sides of the underframe; the hydraulic outriggers are installed on the underframe through beams and hinged seats The front and rear ends on both sides can be folded at 90° around the hinge axis; the walking device is installed at the bottom of the beam, and the hydraulic station is installed at the tail of the chassis.

The oil pipe conveying device includes a support seat, a mechanical arm and a roller. The support seat is in a concave structure, with a mechanical arm in the middle and rollers on the top of both sides; the two sides of the mechanical arm are inclined, and the front end is provided with a stopper. Plate, the hydraulic cylinder drives the mechanical arm to achieve 0-90° swing, and the oil pipe can be transported to the roller on the top.

The boom device includes a boom bracket, a mobile platform and a hydraulic cylinder, the boom bracket is a three-dimensional frame structure, and the three-dimensional frame structure is formed by two parallelograms arranged in parallel and connecting rods connected by hinges; The bottom of the arm support is installed on the base through the hinge seat; a hydraulic cylinder is arranged on the base close to the arm support, one end of the hydraulic cylinder is fixed on the base, and the other end is connected with the arm support, and the arm support is lifted by the action of the hydraulic cylinder. Realize 0-90° swing; the mobile platform is installed on the top of the boom support and keeps horizontal when swinging with it.

The mobile platform includes a rectangular frame structure, the bottom of the frame structure is hinged to the top of the boom bracket through a hinge shaft; slide rails are provided on both sides of the upper part of the mobile platform, and telescopic slide bars are arranged perpendicular to the slide rails. Can move longitudinally along the slide rail.

The pipe grasping manipulator includes a manipulator, a large bracket, a turning hydraulic cylinder, and a slide rail. The manipulator is arranged at both ends of the big support; the big support is installed on the back of the slide rail through a hinged seat, and one end of the turning hydraulic cylinder is fixed on the slide rail. On the back, the other end is connected with the big bracket, driven by the flip hydraulic cylinder, the big bracket together with the manipulator can realize flip swing.

The pipe wrench three-axis mobile platform includes a pipe wrench platform, a lower bracket, an upper bracket and a moving guide rail, the pipe wrench platform is arranged on the lower bracket, the upper bracket is arranged on the pipe wrench platform, the pipe wrench is installed on the pipe wrench platform, The oil pipe downward guiding clamp device is installed on the upper bracket; the three-axis moving platform of the pipe clamp can move along the X, Y, and Z slide rails through the oil cylinder to realize the movement in the X, Y, and Z directions.

The down guiding and clamping device of the oil pipe comprises a left bracket, a right bracket, a left jaw and a right jaw. A left hydraulic cylinder and a right hydraulic cylinder, the left jaw and the right jaw are respectively connected with the left support and the right support through hinge shafts; The hydraulic cylinder is hinged, and the other ends of the left hydraulic cylinder and the right hydraulic cylinder are respectively fixed on the left bracket and the right bracket; the left hydraulic cylinder and the right hydraulic cylinder respectively drive the left jaw and the right jaw to swing relative to each other to realize the action of clamping the oil pipe.

The automatic oil workover man also includes a length measuring device, which is arranged at the tail of the base device, and the length measuring device includes a front length measuring device and a rear side length device.

Beneficial effects: compared with the prior art, the present invention adopts a three-dimensional frame type boom, and the operation is stable. The equipment can lift and unload oil pipes on both sides, which improves the site adaptability of the equipment. Both the manipulator and the power tongs can move laterally, making the placement of the equipment more flexible on the well site. It has the advantages of high operating efficiency, strong adaptability to the site, strong controllability of the operating process, and stable lifting speed.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of base of the present invention;

Fig. 3 is the structural representation of boom of the present invention;

Fig. 4 is the structural representation of the manipulator of grasping pipe of the present invention;

Fig. 5 is a structural schematic diagram of the three-axis movement of the pipe wrench of the present invention;

Fig. 6 is a structural schematic diagram of the downpipe guiding clamp device of the present invention;

Fig. 7 is a schematic structural view of the oil pipe delivery device of the present invention.

In the figure: I base, II boom device, III pipe grasping manipulator, IV pipe wrench three-axis mobile platform, V oil pipe lower guiding and clamping device, VI length measuring device; 1 articulated seat 1, 2 lifting cylinder, 3 moving Platform, 4 telescopic connecting rods; 11 underframe, 12 hydraulic outriggers, 13 oil pipe conveying device, 14 traveling device, 15 hydraulic station, 16 beam, 17 support seat, 18 mechanical arm, 19 roller; 21 boom support, 22 mobile Platform, 23 hydraulic cylinder, 24 hinge seat 2, 25 slide rail, 26 telescopic slide rod; 31 manipulator, 32 large bracket, 33 flip hydraulic cylinder, 34 slide rail, 35 hinge seat 3; 41 pipe wrench platform, 42 lower bracket, 43 upper support, 44 moving guide rail, 45 pipe wrench; 51 left support, 52 right support, 53 left jaw, 54 right jaw, 55 left hydraulic cylinder, 56 right hydraulic cylinder.

Detailed ways

The present invention will be specifically described below in conjunction with the accompanying drawings and embodiments.

Figure 1 is a schematic structural view of the present invention.

The invention provides an automatic petroleum workover robot, which comprises a base I, a large arm device II, a pipe grasping manipulator III, a pipe wrench three-axis mobile platform IV, an oil pipe down guiding and clamping device V, and a hydraulic control system. I is a rectangular parallelepiped frame structure, and the boom device II is installed on the front part of the base I through a hinged seat-1; the boom device II is a three-dimensional frame composed of two groups of parallelograms, and is arranged on the base I close to the boom device II There is a lifting cylinder 2, and the boom device II can realize a 15-90° swing under the drive of the lifting cylinder 2; On the platform 3, it can move forward, backward, left, and right; the pipe wrench three-axis mobile platform IV is arranged on the base I and is located on the front side of the boom device II, and the pipe wrench three-axis mobile platform IV includes an upper bracket 43, a pipe wrench platform 41 and the lower bracket 42, the oil pipe lower guiding and clamping device V is installed on the upper bracket 43, the pipe wrench 45 is installed on the lower bracket 42, and the three-axis mobile platform IV of the pipe wrench passes through the X, Y, The Z-direction slide rail can realize the movement in X, Y and Z directions.

FIG. 2 is a schematic structural view of the base of the present invention.

Described base 1 comprises underframe 11, hydraulic support leg 12, oil pipe conveying device 13, traveling device 14 and hydraulic station 15, and described underframe 11 two sides are respectively provided with two groups of oil pipe conveying device 13; Described hydraulic support leg 12 The crossbeam 16 and the hinged seat 17 are installed on the front and rear ends of both sides of the chassis 11, and can be folded around the hinge axis to achieve 90°;

FIG. 3 is a schematic structural view of the boom of the present invention.

The boom device II includes a boom support 21, a mobile platform 22 and a hydraulic cylinder 23. The boom support 21 is a three-dimensional frame structure, which is formed by two parallelograms arranged in parallel and connecting rods through hinged connections. The bottom of the boom bracket 21 is installed on the base through the hinge seat 24; a hydraulic cylinder 23 is arranged on the base close to the boom bracket, and one end of the hydraulic cylinder 23 is fixed on the base, and the other end is connected with the boom bracket 21 , the boom support 21 realizes the swing of 0-90° through the action of the hydraulic cylinder 23; the mobile platform 22 is installed on the top of the boom support 21 and remains horizontal when swinging with it.

Described mobile platform 22 comprises rectangular frame structure, and the bottom of this frame structure is hinged with the top of boom support 21 by hinge shaft; The rod 26 and the telescopic sliding rod 26 can move longitudinally along the slide rail 25 .

FIG. 4 is a schematic structural view of the pipe-grabbing manipulator of the present invention.

The pipe grasping manipulator III includes a manipulator 31, a large support 32, a turning hydraulic cylinder 33, and a slide rail 34. The manipulator 31 is arranged at both ends of the large support 32; Above, one end of the overturning hydraulic cylinder 33 is fixed on the back of the slide rail 34, and the other end is connected with the large support 32. Driven by the overturning hydraulic cylinder 33, the large support 32 and the manipulator 31 can realize overturning and swinging.

FIG. 5 is a structural schematic diagram of the three-axis movement of the pipe wrench of the present invention.

The pipe wrench three-axis mobile platform IV includes a pipe wrench platform 41, a lower bracket 42, an upper bracket 43 and a moving guide rail 44, the pipe wrench platform 41 is arranged on the lower bracket 42, and the upper bracket 43 is arranged on the pipe wrench platform 41, The pipe wrench 45 is installed on the pipe wrench platform 41, and the oil pipe lower guiding clamp device V is installed on the upper bracket 43; the three-axis moving platform (III) of the pipe wrench can slide along the X, Y, and Z directions through the drive of the oil cylinder. The rail realizes the movement in the X, Y, and Z directions.

FIG. 6 is a schematic structural view of the oil pipe down-guiding clamp device of the present invention.

The down guiding and clamping device (V) of the oil pipe comprises a left bracket 51 , a right bracket 52 , a left jaw 53 and a right jaw 54 . Left hydraulic cylinder 55 and right hydraulic cylinder 56, described left jaw 53 and right jaw 54 are connected with left support 51 and right support 52 by hinge shaft respectively; Described left jaw 53 and right jaw 54 inner sides are opposite, and The outer sides are respectively hinged with the left hydraulic cylinder 55 and the right hydraulic cylinder 56, and the other ends of the left hydraulic cylinder 55 and the right hydraulic cylinder 56 are respectively fixed on the left support 51 and the right support 52; the left hydraulic cylinder 55 and the right hydraulic cylinder 56 respectively drive the left clamp The mouth 53 and the right jaw 54 relatively swing to realize the action of clamping the oil pipe.

FIG. 7 is a schematic structural view of the oil pipe delivery device of the present invention.

The oil pipe delivery device 13 includes a support base 17, a mechanical arm 18 and a roller 19. The support base 17 is a concave structure, the middle part is a mechanical arm 18, and the tops of both sides are provided with rollers 19; It is inclined, and its front end is provided with a baffle, and the hydraulic cylinder drives the mechanical arm 18 to realize 0-90° swing, and can transport the oil pipe to the roller 19 on the top.

The automatic oil workover man also includes a length measuring device VI, which is arranged at the tail of the base device II, and the length measuring device VI includes a front length measuring device and a rear side length device.

Working process of the present invention:

initial preparation work

1. The workover robot transport vehicle transports it to the working position near the wellhead, unloads the vehicle, and adjusts the position;

2. Install slips and elevators;

3. Determine the position of the wellhead in the Y-axis direction of the pipe wrench platform and the Y-axis direction of the manipulator platform;

oil pipe

1. The elevator lifts the pipe string and lifts it;

2. After the pipe string is hoisted to the second tubing coupling to the position of the slips, the slips clamp the pipe string;

3. The pipe wrench stretches out and breaks the buckle;

4. The guide clamp clamps the upper oil pipe and lifts it to make the upper oil pipe break away from the coupling;

5. The manipulator stretches out and grabs the tubing;

6. The elevator is disengaged and the pipe wrench is returned;

7. The manipulator drops the oil pipe onto the oil pipe roller table in the lifting state;

8. The roller table descends;

9. The tubing falls onto the stinger;

10. Repeat the above steps;

11. When the stinger oil pipe is full, remove the oil pipe.

Down the tubing

1. Put the tubing on the stinger;

2. The stinger rises (at this time, the roller table drops to the lowest point) to be higher than the roller table, and then the stinger lowers, so that the front end oil pipe rolls into the V-shaped groove roller table;

3. The length measuring device measures the length of the tubing;

4. The length measuring device locates the position of the rear end of the tubing;

5. The roller table rises to the highest point;

6. The manipulator grabs the tubing and lifts the tubing to the top of the wellhead;

7. The pipe wrench platform extends out, the lower guide clamp clamps the end of the oil pipe, the upper guide device of the manipulator clamps the oil pipe, and the manipulator releases;

8. The elevator is inserted into and stuck on the oil pipe coupling;

9. The upper guide is loosened, and the guide clamp sends the oil pipe to the position of the lower oil pipe coupling;

10. Buckle up the pipe wrench;

11. When the elevator falls, the pipe string is handed over to the slips; the elevator returns to the top.

12. Repeat the above steps.

Compared with the prior art, the present invention adopts a three-dimensional frame type boom, and the operation is stable. The equipment can lift and unload oil pipes on both sides, which improves the site adaptability of the equipment. Both the manipulator and the power tongs can move laterally, making the placement of the equipment more flexible on the well site. It has the advantages of high operating efficiency, strong adaptability to the site, strong controllability of the operating process, and stable lifting speed.

The above-mentioned embodiments of the present invention are just examples, not the only ones, and all changes within the scope of the present invention or equivalent to the scope of the present invention are embraced by the present invention.

Claims (9)

1. An automatic oil well workover robot, characterized in that it comprises a base (I), a large arm device (II), a pipe grasping manipulator (III), a pipe wrench three-axis mobile platform (IV), and a guiding and clamping machine under the oil pipe. device (V) and hydraulic control system, the base (I) is a cuboid frame structure, the boom device (II) is installed on the front part of the base (I) through a hinged seat one (1); the boom device (II) It is a three-dimensional frame composed of two sets of parallelograms, a lifting cylinder (2) is arranged on the base (I) close to the boom device (II), and the boom device (II) is driven by the lifting cylinder (2) Can realize 15-90° swing; the top of the boom device (II) is equipped with a mobile platform (3), and the pipe grasping manipulator (III) is installed on the mobile platform (3) through a telescopic link (4), which can realize front, rear, left, and right Move; the pipe wrench three-axis mobile platform (IV) is arranged on the base (I) and is located at the front side of the boom device (II), and the pipe wrench three-axis mobile platform (IV) includes an upper bracket (43), a tube The clamp platform (41) and the lower bracket (42), the oil pipe lower guiding clamping device (V) is installed on the upper bracket (43), the pipe wrench (45) is installed on the lower bracket (42), and the pipe wrench is triaxial The mobile platform (IV) can move in the X, Y, and Z directions through the slide rails in the X, Y, and Z directions arranged on the base (I). 2. automatic oil workover robot according to claim 1, is characterized in that: described base (1) comprises underframe (11), hydraulic support leg (12), tubing delivery device (13), walking device (14 ) and hydraulic station (15), two sets of oil pipe conveying devices (13) are respectively provided on both sides of the underframe (11); the hydraulic support legs (12) are installed on the The front and rear ends on both sides of the underframe (11) can be folded around the hinge axis at 90°; the running gear (14) is installed on the bottom of the beam (16), and the hydraulic station (15) is installed on the afterbody of the underframe (11). 3. The automatic oil workover robot according to claim 2, characterized in that: the oil pipe delivery device (13) comprises a support base (17), a mechanical arm (18) and a roller (19), and the support base ( 17) It has a concave structure, the middle part is a mechanical arm (18), and rollers (19) are arranged on the top of both sides; the two sides of the mechanical arm (18) are inclined, and the front end is provided with a baffle, and the hydraulic cylinder drives the mechanical arm (18) realize 0～90 ° of swings, oil pipe can be transported on the roller (19) of top. 4. The automatic oil well workover robot according to claim 1, characterized in that: the boom device (II) comprises a boom support (21), a mobile platform (22) and a hydraulic cylinder (23), and the big The arm bracket (21) is a three-dimensional frame structure, and the three-dimensional frame structure is formed by connecting two parallelograms arranged in parallel and connecting rods through hinges; the bottom of the boom bracket (21) is installed on the base through a hinge seat (24) ; A hydraulic cylinder (23) is arranged on the base close to the boom support, one end of the hydraulic cylinder (23) is fixed on the base, and the other end is connected with the boom support (21), and the boom support (21) passes through the hydraulic cylinder ( 23) to achieve 0-90° swing; the mobile platform (22) is installed on the top of the boom support (21) and remains horizontal when swinging with it. 5. automatic oil workover robot according to claim 4, is characterized in that: described mobile platform (22) comprises rectangular frame structure, and the bottom of this frame structure is hinged with the top of boom support (21) by hinge shaft; Described mobile platform (22) top two sides are provided with slide rail (25), and perpendicular to slide rail (25) is provided with telescopic slide bar (26), and telescopic slide bar (26) can longitudinally move along slide rail (25). 6. The automatic oil well workover robot according to claim 1, characterized in that: the pipe grabbing manipulator (III) includes a manipulator (31), a large support (32), a turning hydraulic cylinder (33), a slide rail (34 ), the manipulator (31) is arranged at both ends of the large support (32); the large support (32) is installed on the back side of the slide rail (34) through the hinged seat (35), and one end of the overturning hydraulic cylinder (33) is fixed on Slide rail (34) back side, the other end is connected with large support (32), under the drive of overturning hydraulic cylinder (33), large support (32) can realize overturning swing together with manipulator (31). 7. The automatic oil well workover robot according to claim 1, characterized in that: comprising a pipe wrench platform (41), a lower support (42), an upper support (43) and a moving guide rail (44), the pipe wrench platform (41) is arranged on the lower bracket (42), the upper bracket (43) is arranged on the pipe wrench platform (41), the pipe wrench (45) is installed on the pipe wrench platform (41), and the oil pipe guides the clamp device (V ) is installed on the upper bracket (43); the three-axis moving platform (III) of the pipe wrench can be driven by the oil cylinder along the slide rails in the X, Y, and Z directions to move in the X, Y, and Z directions. 8. The automatic oil well workover robot according to claim 1, characterized in that: the downpipe guiding and clamping device (V) comprises a left bracket (51), a right bracket (52), a left jaw (53) , Right jaw (54). Left hydraulic cylinder (55) and right hydraulic cylinder (56), described left jaw (53) and right jaw (54) are connected with left support (51) and right support (52) by hinge shaft respectively; Jaw (53) and right jaw (54) inner side are opposite, and its outer side is respectively hinged with left hydraulic cylinder (55) and right hydraulic cylinder (56), and the other end of left hydraulic cylinder (55) and right hydraulic cylinder (56) respectively fixed on the left bracket (51) and the right bracket (52); the left hydraulic cylinder (55) and the right hydraulic cylinder (56) respectively drive the left jaw (53) and the right jaw (54) to swing relative to each other to realize the clamping of the oil pipe Actions. 9. The automatic oil workover robot according to any one of claims 1-8, characterized in that: it also includes a length measuring device (VI), and the length measuring device (VI) is arranged on the tail of the base device (II) , the length measuring device (VI) includes a front length measuring device and a rear side length device.