CN117108218A

CN117108218A - Oil pipe and oil rod carrying and grabbing device for workover treatment

Info

Publication number: CN117108218A
Application number: CN202210566499.7A
Authority: CN
Inventors: 谭雪开
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2023-11-24

Abstract

The invention relates to a workover oil pipe and oil rod carrying and grabbing device, which comprises a longitudinal driving mechanism, a transverse driving mechanism and a manipulator, wherein: the longitudinal driving mechanism comprises a base, a lifting cylinder, a lifting flat rod, pulleys and vertical arms, wherein the two vertical arms are vertically arranged on the base, the two pulleys are respectively arranged on the two vertical arms, the two pulleys are connected through the lifting flat rod, the bottom end of the lifting cylinder is connected with the base, and the top end of the lifting cylinder is connected with the lifting flat rod; the transverse driving mechanism comprises a horizontal arm, a swing arm and a swing arm cylinder, wherein two ends of the rear side of the horizontal arm are connected with two pulleys, two ends of the front side of the horizontal arm are hinged with the swing arm, and the body of the swing arm cylinder is hinged with the middle cross beam of the horizontal arm, and the telescopic end of the swing arm cylinder is hinged with the middle part of the swing arm; the two manipulators are arranged on two sides of the suspension end of the swing arm. Compared with the prior art, the invention has the characteristics of essential explosion prevention, quick action, high efficiency, long stroke, large holding power, convenient use, convenient maintenance, convenient transportation, reliability and durability, easy manufacture, low cost and the like.

Description

Oil pipe and oil rod carrying and grabbing device for workover treatment

Technical Field

The invention relates to the field of well workover robot technology, in particular to a handling and grabbing device for an oil pipe and an oil rod of well workover.

Background

Well repair work is one of the most dirty, bitter, tired and dangerous works accepted by the petroleum industry as the just-needed industry of the petroleum industry. The workover site in the petroleum industry has remained largely manually completed for decades. When workover is carried out, an oil pipe or an oil rod with the length of nearly ten meters is required to be lifted and detached frequently, and when the workover is lifted and detached, a plurality of people are required to lift the oil pipe or the oil rod and remove the oil pipe or the oil rod, so that time and labor are wasted, the operation difficulty is high, and the workover is easy to be injured.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the oil pipe and oil rod conveying and grabbing device for well repair operation, so that the convenience and safety of conveying the oil pipe and oil rod are improved.

The aim of the invention can be achieved by the following technical scheme:

the utility model provides a workover oil pipe oil pole transport grabbing device, includes vertical actuating mechanism, horizontal actuating mechanism and manipulator, wherein:

the longitudinal driving mechanism comprises a base, a lifting cylinder, a lifting flat rod, pulleys and vertical arms, wherein the two vertical arms are vertically arranged on the base, the two pulleys are respectively arranged on the two vertical arms and can slide up and down along the vertical arms, the two pulleys are connected through the lifting flat rod, and the bottom end of the lifting cylinder is connected with the base and the top end of the lifting cylinder is connected with the lifting flat rod;

the transverse driving mechanism comprises a horizontal arm, a swing arm and a swing arm cylinder, wherein the horizontal arm is of an H-shaped structure, two ends of the rear side are connected with two pulleys, two ends of the front side are hinged with the swing arm, the body of the swing arm cylinder is hinged with a middle cross beam of the horizontal arm, and the telescopic end of the swing arm cylinder is hinged with the middle part of the swing arm;

the two manipulators are arranged on two sides of the suspension end of the swing arm side by side.

Further, the base comprises two support pipes, the vertical arms are inserted into the support pipes to form a telescopic structure, and the vertical arms and the support pipes can be fixed in relative positions through bolts.

Further, a docking unit is arranged on the base, and the device is detachably fixed on the external mobile equipment through the docking unit.

Further, the top of the vertical arm is provided with a bending end, and the bending direction of the vertical arm is far away from the transverse driving mechanism.

Further, be equipped with the cylinder connecting seat on the base, be equipped with the cylinder connector on the lift flat bar, lift cylinder one end articulates the cylinder connector, and the other end articulates the cylinder connector.

Further, the manipulator includes mount pad, tongs cylinder, jib, head rod, second connecting rod, first claw piece and second claw piece, the one end top of mount pad sets up first articulated seat for connect the swing arm, the other end below is provided with the second articulated seat, the lower extreme of tongs cylinder is fixed in the mount pad middle part, the top of tongs cylinder is connected at the top of jib, and head rod and second connecting rod are articulated to the bottom of jib, head rod articulates first claw piece, second connecting rod articulates second claw piece to the middle part of first claw piece and second claw piece is crisscross each other, articulates the second articulated seat through the pivot.

Further, the grabbing ends of the first claw sheet and the second claw sheet are semicircular arc sheets.

Further, the swing arm includes horizontal pole and vertical pole, vertical pole sets up in horizontal pole both ends perpendicularly to two vertical poles are parallel to each other, and the one end of every vertical pole articulates the horizontal arm, and the manipulator is connected to the other end, the flexible end hinge horizontal pole of swing arm cylinder.

Further, the pulley comprises two fixing plates and a plurality of rollers, the wheel shafts of the rollers are fixed between the two fixing plates, and the vertical arms penetrate through the two fixing plates, so that at least two rollers are hooped on two sides of the vertical arms.

Further, the pulley comprises two U-shaped rollers which are distributed on two sides of the vertical arm in a diagonal manner.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has simple design, and can drive the manipulator to quickly grasp the oil rod of the oil pipe through the cooperation of the longitudinal driving mechanism and the transverse driving mechanism, thereby realizing lifting and unloading and releasing manpower. The transverse driving mechanism adopts a swing arm structure, and has a downward and backward movement process in the movement process, so that the grabbing action is rapid and the reaction is sensitive; the manipulator adopts two tongs of synchronous discrete formula, improves the snatch stability of oil pipe sucker rod.

2. The vertical arm and the support pipe form a telescopic structure, the vertical arm can be contracted in a non-use state, the whole height space is reduced, the storage and the transportation are convenient, and the use is more flexible.

3. The whole butt joint unit on the accessible base of device detachable connects current travelling bogie, and the practicality is strong.

4. The top of standing arm is equipped with the bending part of keeping away from transverse driving mechanism, can receive spacingly when the coaster rises to the standing arm top, also has a backward, ascending slope trend simultaneously, can make the cantilever break through its ascending limit, and the short distance improves the height of manipulator, keeps away the barrier in the transportation, and application scope is wider.

5. The mechanical arm adopts a suspended scissor type structure, and the first claw piece and the second claw piece are under the action of gravity of the mechanical arm, so that the opening and closing surfaces of the first claw piece and the second claw piece are always kept downward without auxiliary guiding, and an oil pipe and an oil rod on the ground can be conveniently grabbed. Meanwhile, the manipulator is driven by a gripper cylinder, is essentially explosion-proof, and is particularly suitable for well repair operation of oil and gas well sites needing strict explosion prevention, and the gripping force is stable and reliable.

6. The invention has simple integral structure and manufacturing process, no need of large factory and large equipment, and can be manufactured by common small workshops, thus having low manufacturing cost.

Drawings

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

Fig. 2 is a schematic view of another angle structure of the present invention.

Fig. 3 is a schematic structural view of the manipulator.

Reference numerals:

1. the vertical driving mechanism comprises a vertical driving mechanism 11, a base 111, a support pipe 112, a cylinder connecting seat 12, a lifting cylinder 13, a lifting flat rod 131, a cylinder connecting seat 14, a pulley 141, a fixed plate 142, a roller 15, a vertical arm 151 and a bending end;

2. the horizontal driving mechanism 21, the horizontal arm 22, the swing arm 221, the horizontal rod 222, the vertical rod 23 and the swing arm cylinder;

3. manipulator, 31, mount pad, 32, grab hand cylinder, 33, jib, 34, head rod, 35, second connecting rod, 36, first claw piece, 37, second claw piece, 38, first articulated seat, 39, second articulated seat.

Detailed Description

The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.

As shown in fig. 1, the embodiment provides a workover oil pipe and oil rod handling and grabbing device, which comprises a longitudinal driving mechanism 1, a transverse driving mechanism 2 and a manipulator 3. The specific development is as follows:

the longitudinal driving mechanism 1 comprises a base 11, a lifting cylinder 12, a lifting flat rod 13, a pulley 14 and a vertical arm 15. The two vertical arms 15 are vertically arranged on the base 11, the two pulleys 14 are respectively arranged on the two vertical arms 15 and can slide up and down along the vertical arms 15, and the two pulleys 14 are connected through the lifting flat rod 13. The lifting cylinders 12 are arranged between the vertical arms 15 side by side, the bottom ends of the lifting cylinders 12 are connected with the base 11, and the top ends of the lifting cylinders are connected with the lifting flat rods 13. In this embodiment, two lifting cylinders 12 are preferably used.

The base 11 includes two support pipes 111, and the upper ends of the support pipes 111 are opened, and the vertical arms 15 are inserted into the support pipes 111 to form a telescopic structure. The support tube 111 is further provided with a socket, and the vertical arm 15 is provided with a through hole, so that the vertical arm 15 and the support tube 111 can be fixed in relative positions by inserting a bolt through the socket and the through hole. In the use state, the vertical arm 15 is extended upwards and fixed by a bolt; the vertical arm 15 can be contracted in a non-use state, so that the whole height space of the device is reduced, the storage is convenient, and the device is more flexible to use. A docking unit is arranged in the middle of the base 11, and the device is detachably fixed on the existing travelling car through the docking unit. The specific structure of the butt joint unit is not limited, and the butt joint unit can be a bolt type connecting structure and a clamping type connecting structure, and only the device and the movable trolley are required to be fixed.

The pulley 14 includes two fixing plates 141 and a plurality of rollers 142, and axles of the rollers 142 are fixed between the two fixing plates 141. One of the anchor plates 141 of one of the pulleys 14 is removed for clarity of illustration in the drawings of this embodiment. The vertical arm 15 passes through the space between the two fixing plates 141, so that at least two rollers 142 are hooped on two sides of the vertical arm 15. In this embodiment, the roller 142 is a U-shaped roller, and the middle portion of the rolling surface is slightly concave, so that the roller 142 can be better engaged on the vertical arm 15. Meanwhile, in the present embodiment, both stability and structural simplicity are achieved, and two rollers 142 are provided and are diagonally distributed on both sides of the vertical arm 15.

As shown in fig. 2, the lateral drive mechanism 2 includes a horizontal arm 21, a swing arm 22, and a swing arm cylinder 23. The horizontal arm 21 has an H-shaped structure, two ends of the rear side of the horizontal arm are fixedly connected with two pulleys 14, and two ends of the front side of the horizontal arm are hinged with swing arms 22. The swing arm 22 includes a horizontal bar 221 and a vertical bar 222. The horizontal rod 221 may have a plurality of parallel rods 222 vertically disposed at both ends of the horizontal rod 221, and the two vertical rods 222 are parallel to each other, and one end of each vertical rod 222 is hinged to the horizontal arm 21, and the other end is connected to the manipulator 3. The telescopic end of the swing arm cylinder 23 is hinged with the lifting flat rod 13, and the body of the swing arm cylinder 23 is hinged with the middle cross beam of the horizontal arm 21. The present embodiment employs two side-by-side swing arm cylinders 23 to increase the gripping force of the device. The two manipulators 3 are arranged side by side on both sides of the free end of the swing arm 22. Therefore, under the drive of the swing arm cylinder 23, the swing arm 22 can swing rapidly, so that the manipulator 3 on the swing arm 22 can grab the oil rod and the oil pipe rapidly.

As shown in fig. 3, the manipulator 3 includes a mount 31, a gripper cylinder 32, a boom 33, first and second connecting rods 34 and 35 having the same length, and first and second claw pieces 36 and 37 having the same length. A first hinge seat 38 is disposed above one end of the mounting seat 31 and is used for hinging the swing arm 22, and a second hinge seat 39 is disposed below the other end. The lower end of the gripper cylinder 32 is rotatably fixed to the middle of the mounting seat 31. The suspender 33 is L-shaped, the top of the suspender 33 is connected with the top end of the handle cylinder 32, and the bottom of the suspender 33 is hinged with a first connecting rod 34 and a second connecting rod 35. The first connection rod 34 is further hinged to the first jaw 36, the second connection rod 35 is further hinged to the second jaw 37, and intermediate portions of the first jaw 36 and the second jaw 37 are mutually cross-hinged, and a rotation shaft of the first jaw 36 and the second jaw 37, which are mutually hinged, is mounted on the second hinge seat 39. Thus, the first connecting rod 34, the second connecting rod 35, the first claw piece 36 and the second claw piece 37 form a free quadrilateral. Through this structure, manipulator 3 has formed unsettled scissors type structure, and first claw piece 36 and second claw piece 37 receive self gravity's effect under natural state, can remain both opening and shutting face down all the time, need not supplementary guide, can laminate subaerial oil pipe and oily pole conveniently. When the gripper cylinder 32 is started, the boom 33 is driven to move upwards, the boom 33 drives the hinge position of the first connecting rod 34 and the second connecting rod 35 to move upwards, and the hinge position of the first claw piece 36 and the second claw piece 37 is limited by the second hinge seat 39. Thereby, the quadrangle becomes vertically elongated, and the gripping ends below the first claw piece 36 and the second claw piece 37 are mutually closed, so that the gripping of the oil pipe and the oil rod can be firmly and stably realized. In this embodiment, the gripping ends of the first claw 36 and the second claw 37 are semicircular sheets for better fitting the outer diameters of the oil rod and the oil pipe.

The working process of the embodiment is as follows: the handling gripping device is moved to a position where it is necessary to lift the oil pipe or the oil rod, and the swing arm 22 thereof is moved to an appropriate height by operating the lifting cylinder 12. The swing arm cylinder 23 is then operated to move the robot arm 3 until the claw contacts the oil pipe or the oil rod. The gripper cylinder 32 is activated and the two manipulators 3 firmly lock the tubing or wand. Next, the lifting cylinder 12 is started again to lift or lower the oil pipe or the oil rod, the swing arm cylinder 23 is operated to move the grabbed oil pipe or the oil rod to a required position for lowering, the short-distance movement is realized, and the oil pipe or the oil rod can be carried in the operation field along with the carrying grabbing device transportation trolley.

In another embodiment, as shown in fig. 1, the top of the standing arm 15 may also be provided with a curved end 151, which is curved in a direction away from the lateral drive mechanism 2. When the pulley 14 rises to the top end of the vertical arm 15, the pulley is limited, and meanwhile, a backward and upward inclination trend exists, so that the cantilever can break through the upward limit of the cantilever, the height of the manipulator 3 is increased by a short distance, namely the height of a grabbed oil rod or oil pipe is avoided in the moving process, and the application range is wider. In order to match the structure of the bending end 151, in this embodiment, the base 11 is provided with a cylinder connecting seat 112, the lifting flat rod 13 is provided with a cylinder connecting head 131, one end of the lifting cylinder 12 is hinged with the cylinder connecting seat 112, and the other end is hinged with the cylinder connecting head 131, so that when the pulley 14 enters the bending end 151, the lifting cylinder 12 is not limited. Meanwhile, the structure can enable the lifting cylinder 12 to automatically adapt to the position in the working process, and the precision and difficulty of equipment installation are reduced.

In summary, the present embodiment has the following advantages:

the device has pneumatic power and is essentially explosion-proof, and is particularly suitable for well repair operation of oil and gas well sites needing strict explosion prevention. The device has simple integral structure, adopts the structure of three main shafts and four auxiliary shafts of the handle, and has simple control and quick speed. The device has long travel, can reach more than 2.4 meters, has large holding power, can reach more than 100 kilograms, and is stable and reliable in pipe holding. The device can adopt remote wireless remote control or AI intelligent unmanned automatic control, reduces manpower consumption, and realizes intrinsically safe movement of oil pipes and oil rods in well sites of well workover. The device has the advantages of convenient sources of raw materials, very simple manufacturing process, no need of large equipment in large factories and common small workshops, and very low manufacturing cost.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims

1. The utility model provides a workover oil pipe oil pole transport grabbing device which characterized in that, includes vertical actuating mechanism (1), horizontal actuating mechanism (2) and manipulator (3), wherein:

the vertical driving mechanism (1) comprises a base (11), a lifting cylinder (12), a lifting flat rod (13), pulleys (14) and vertical arms (15), wherein the two vertical arms (15) are vertically arranged on the base (11), the two pulleys (14) are respectively arranged on the two vertical arms (15) and can slide up and down along the vertical arms (15), the two pulleys (14) are connected through the lifting flat rod (13), and the bottom end of the lifting cylinder (12) is connected with the base (11) and the top end of the lifting cylinder is connected with the lifting flat rod (13);

the transverse driving mechanism (2) comprises a horizontal arm (21), a swing arm (22) and a swing arm cylinder (23), wherein the horizontal arm (21) is of an H-shaped structure, two ends of the rear side are connected with two pulleys (14), two ends of the front side are hinged with the swing arm (22), the body of the swing arm cylinder (23) is hinged with a middle cross beam of the horizontal arm (21), and the telescopic end of the swing arm cylinder (23) is hinged with the middle part of the swing arm (22);

the two manipulators (3) are arranged on two sides of the suspension end of the swing arm (22) side by side.

2. A workover oil pipe and oil rod handling and grabbing device according to claim 1, wherein the base (11) comprises two support pipes (111), the vertical arms (15) are inserted into the support pipes (111) to form a telescopic structure, and the vertical arms (15) and the support pipes (111) can be fixed in relative positions through bolts.

3. The workover oil pipe and oil rod handling and grabbing device according to claim 1, wherein a docking unit is arranged on the base (11), and the device is detachably fixed on external mobile equipment through the docking unit.

4. A workover oil pipe and oil rod handling and grabbing device according to claim 1, characterized in that the top of the vertical arm (15) is provided with a bending end (151) which is bent in a direction away from the transverse driving mechanism (2).

5. The workover oil pipe and oil rod handling and grabbing device according to claim 1 or 4, wherein the base (11) is provided with an air cylinder connecting seat (112), the lifting flat rod (13) is provided with an air cylinder connecting head (131), one end of the lifting air cylinder (12) is hinged to the air cylinder connecting head (131), and the other end of the lifting air cylinder is hinged to the air cylinder connecting head (131).

6. The workover oil pipe and oil rod carrying and grabbing device according to claim 1, wherein the manipulator (3) comprises a mounting seat (31), a gripper cylinder (32), a boom (33), a first connecting rod (34), a second connecting rod (35), a first claw piece (36) and a second claw piece (37), a first hinging seat (38) is arranged above one end of the mounting seat (31) and used for being connected with a swinging arm (22), a second hinging seat (39) is arranged below the other end of the mounting seat, the lower end of the gripper cylinder (32) is fixed in the middle of the mounting seat (31), the top of the boom (33) is connected with the top end of the gripper cylinder (32), the bottom of the boom (33) is hinged with the first connecting rod (34) and the second connecting rod (35), the first connecting rod (34) is hinged with the first claw piece (36), the second connecting rod (35) is hinged with the second claw piece (37), and the middle parts of the first claw piece (36) and the second claw piece (37) are mutually intersected, and the middle part of the first claw piece and the second claw piece (37) is hinged with the second seat (39) through a rotating shaft.

7. A workover oil pipe and oil rod handling and grabbing device according to claim 6, wherein the grabbing ends of the first claw piece (36) and the second claw piece (37) are semi-circular arc pieces.

8. The workover oil pipe and oil rod carrying and grabbing device according to claim 1, wherein the swing arm (22) comprises a horizontal rod (221) and vertical rods (222), the vertical rods (222) are vertically arranged at two ends of the horizontal rod (221), the two vertical rods (222) are parallel to each other, one end of each vertical rod (222) is hinged to the horizontal arm (21), the other end of each vertical rod is connected with the manipulator (3), and the telescopic end of the swing arm cylinder (23) is hinged to the horizontal rod (221).

9. The workover oil pipe and oil rod handling and grabbing device according to claim 1, wherein the pulley (14) comprises two fixing plates (141) and a plurality of rollers (142), axles of the rollers (142) are fixed between the two fixing plates (141), and the vertical arm (15) penetrates through the two fixing plates (141) so that at least two rollers (142) are hooped on two sides of the vertical arm (15).

10. A workover oil pipe and stem handling and gripping device according to claim 9, wherein the trolley (14) comprises two rollers (142) diagonally distributed on both sides of the vertical arm (15).