CN120251114B - An automated tubing loading and positioning system and integrated workover rig - Google Patents

Abstract

The invention discloses an automatic oil pipe feeding and positioning system and an integrated workover rig, and mainly relates to the field of workover equipment. The lifting module comprises a mast stand column arranged on one side of a derrick, an elevator mechanism arranged on the mast stand column and provided with a lifting stroke, a wellhead positioning module comprises a bar frame arranged on one side of the derrick, a large-arm truss with a rotating stroke is arranged on the bar frame in a lifting manner, a small-arm truss is rotatably arranged on one side of the large-arm truss, and a mechanical gripper is arranged on the small-arm truss. The automatic oil pipe feeding and positioning device has the beneficial effects that the structure is simple, the device is installed and used on a vehicle, the actions of each link are tightly and smoothly connected, and the feeding and positioning of the oil pipe in the automatic well repairing operation can be completed.

Description

Automatic change oil pipe material loading positioning system and integrated workover rig

Technical Field

The invention relates to the field of well repair equipment, in particular to an automatic oil pipe feeding and positioning system and an integrated well repair machine.

Background

In workover operations, tubing transport and positioning are one of the key links. In the process of conveying and positioning an oil pipe from the ground to the upper part of a wellhead, the traditional well repairing equipment mainly adopts lifting equipment of a well repairing machine, and manual assistance and feeding are needed. Not only has high labor intensity, but also is easy to damage oil pipes or cause safety accidents due to improper manual operation. In addition, in the feeding process, an effective stable supporting and accurate positioning mechanism is lacked, so that the oil pipe is easy to shake and deviate in the conveying process, the subsequent lifting and positioning operation is affected, and the operation time and difficulty are increased.

With the continuous development of automatic well repair equipment in recent years, automatic oil pipe feeding and conveying equipment is layered endlessly, various catwalk structures and centralizing equipment exist, but some defects exist, including:

the whole automation degree of the existing well repairing equipment is low, and the collaborative operation capability among all modules is insufficient. In the conveying and positioning process of the oil pipe, manual frequent intervention and operation are needed, so that the labor cost is increased, and the safety and reliability of well repair operation are easily affected due to misoperation caused by human factors. In addition, the problem of connection between the conveying and transferring actions also affects the high efficiency of continuous operation, and further reduces the overall efficiency of well repair operation.

Secondly, the structure of the lifting module is not flexible enough, and the oil pipe lifting module cannot adapt to the change of the gesture in the lifting process well. When the oil pipe is lifted to be in a vertical state from a horizontal state, the oil pipe is easy to collide with equipment in the lifting process, so that the surface of the oil pipe is scratched or deformed, and the service life of the oil pipe and the subsequent well descending operation quality are influenced.

Furthermore, the existing equipment requires additional installation and removal steps, which increases maintenance costs and operating time of the equipment. The equipment is huge, the structure is complex, the occupied area is large, the requirement on ground leveling is high, the equipment is difficult to adapt to the complex outdoor well workover operation environment, the starting cost is high, the operation difficulty is high, and a high threshold is formed.

In summary, the existing well repairing equipment has various problems and defects in oil pipe conveying and positioning, so that the efficiency and quality of well repairing operation are seriously limited, and a barrier for limiting the realization of a full-automatic process of the well repairing operation is formed.

Disclosure of Invention

The invention aims to provide an automatic oil pipe feeding and positioning system and an integrated workover rig, which are simple in structure, are installed and used on a vehicle, are tightly and smoothly connected in actions, and can finish oil pipe feeding and positioning in automatic workover operation.

The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:

An automated oil pipe loading positioning system, comprising:

The second-order feeding module is arranged on one side of the chassis of the workover rig and comprises a supporting upright post with a lifting stroke, a supporting rod with the lifting stroke is arranged on the supporting upright post, a groove frame horizontally extending along the length direction of the workover rig is arranged at the top end of the supporting upright post, and the groove frame has a horizontal follow-up stroke along the length direction of the groove frame;

The hoisting module comprises a mast upright post arranged on one side of the derrick, and an elevator mechanism with a lifting stroke is arranged on the mast upright post and used for clamping a section hoop of an oil pipe on the tank frame;

the wellhead positioning module comprises a bar frame arranged on one side of a derrick, a big arm truss with a rotation stroke is arranged on the bar frame in a lifting manner, a small arm truss is rotatably arranged on one side, away from the bar frame, of the big arm truss, a mechanical gripper is arranged on the small arm truss, the big arm truss is in rotation linkage with the small arm truss, and the large arm truss is in rotation 180 degrees relative to the big arm truss in linkage when the big arm truss rotates by 90 degrees.

The second-order feeding module further comprises a plurality of fixed horizontal rails which are horizontally arranged in parallel, the fixed horizontal rails are fixedly arranged on one side of the corresponding workover rig, the fixed horizontal rails are slidably matched with a sliding frame along the length direction of the fixed horizontal rails, one end of the sliding frame is fixedly provided with a bearing seat, the bottom ends of the supporting upright posts are arranged on the bearing seat, one side of each supporting upright post, far away from the bearing seat, is provided with a first-order guide rail in a lifting mode, two supporting upright posts are arranged on each supporting upright post and vertically extend in parallel, the first-order guide rail is slidably matched with a first-order sliding block, the first-order sliding block is fixed on the bearing seat, a first-order motor is arranged on the bearing seat, a first-order gear driven based on the first-order motor is rotatably arranged on the bearing seat, one side of the first-order guide rail is parallelly provided with a first-order rack fixed on the supporting upright posts, and the first-order gear is meshed with the first-order rack;

The support stand is kept away from one side fixed mounting that bears seat and first order guide rail has two vertical second order guide rails that set up side by side, sliding fit has the second order slider on the second order guide rail, the die-pin is fixed on the second order slider, the both sides of second order slider are equipped with respectively with two second order guide rail sliding fit's second order spout, rotatable install the second order gear on the second order slider, still be fixed with the second order motor of drive second order gear on the second order slider, install the second order rack of vertical extension on the support stand, second order rack and second order gear engagement.

The upper side of cell frame is equipped with V type groove, V type groove is the logical groove that runs through along cell frame length direction, when the die-pin rises to its stroke upper end, the bottom of die-pin corresponds with the adjacent mouth edge of V type groove, one side mouth edge that the V type groove is close to the die-pin is less than one side mouth edge that the V type groove is kept away from the die-pin.

Be equipped with a plurality of guide bars on the cell frame along its length direction, the bottom and the cell frame of guide bar are articulated, the guide bar has the swing stroke that axial and cell frame length direction correspond, makes the guide bar erect or the time of lying down, when the guide bar erects, the guide bar is close to the die-pin that is located the lift stroke top, when the guide bar is lying down, the guide bar is located V type groove below, the bottom of guide bar articulates in the cell frame one side that is close to the die-pin, the cell frame corresponds the articulated little hydro-cylinder that has of guide bar position department, the top telescopic fit of little hydro-cylinder has little jar pole, the top of little jar pole articulates the bottom at the guide bar.

The tail frame is fixed with at one end of cell frame, be fixed with on the tail frame with the pushing ram of cell frame syntropy setting, the one end that pushing ram is close to the cell frame is flexible to be cooperated to have pushing ram pole, the end of pushing ram pole is equipped with the ejector pad, the ejector pad is located V type inslot.

The top rotatable of support post installs the guide pulley, the axial of guide pulley is level and relative cell frame length direction is perpendicular, is equipped with many and its syntropy extension's bar mouth in the bottom of cell frame, bar mouth corresponds every guide pulley setting, thereby the guide pulley runs through the bar mouth that corresponds and with bar mouth notch cooperation guide the follow-up stroke of cell frame, the rotatable follow-up gear based on motor drive of installing in support post's top, install with gear engagement's follow-up rack in the bottom of cell frame, the length direction and the cell frame syntropy of follow-up rack.

The lifting module further comprises a hinge seat and a fixed sleeve which are fixedly arranged on the derrick, the fixed sleeve is horizontally fixed on one side, close to the vehicle body, of the derrick, the hinge seat is located above the fixed sleeve and is close to one end of the fixed sleeve, a swinging seat is rotatably arranged on the hinge seat, a swinging rod which is in sliding connection with the hinge seat is penetrated in the swinging seat, one end, close to the fixed sleeve, of the swinging rod is fixedly provided with a follow-up sleeve which is perpendicular to the swinging rod, the follow-up sleeve and the fixed sleeve are arranged in an up-down parallel manner, one end of the follow-up sleeve is provided with an upper telescopic rod which is in telescopic fit with the follow-up sleeve, one end of the fixed sleeve is provided with a lower telescopic rod which is in telescopic fit with the fixed sleeve, and the tail ends of the upper telescopic rod and the lower telescopic rod are respectively hinged on a mast upright.

The elevator mechanism comprises a lifting seat capable of lifting along a mast upright post, the lifting seat adopts a lifting structure based on a steel wire rope, a swinging shaft is rotatably installed on the lifting seat, one end of the swinging shaft, which is far away from the lifting seat, is fixedly provided with a matching plate perpendicular to the swinging shaft, one side of the matching plate is vertically fixedly provided with a limiting plate, the bottom side of the limiting plate is provided with a door-shaped groove, the notch of the door-shaped groove is arranged on the bottom side, the top end of the door-shaped groove is provided with a semicircular groove bottom, the width of the door-shaped groove and the diameter of the groove bottom are both matched with the diameter of an oil pipe, two clamping blocks parallel to the limiting plate are arranged on one side of the limiting plate, arc clamping grooves are arranged on the adjacent side edges of the clamping blocks, and the arc clamping grooves are symmetrically arranged relative to the groove bottom of the door-shaped groove, and the two clamping blocks are in clamping actions which are close to or far away from each other.

The wellhead positioning module comprises an upper sliding rail and a lower sliding rail which are fixedly arranged on the same side of the derrick, the upper sliding rail and the lower sliding rail are horizontally fixedly arranged, an upper sliding block is connected to the upper sliding rail in a sliding manner, a rotating shaft is fixed to the upper sliding block, a lower sliding block is connected to the lower sliding rail in a sliding manner, a pin shaft is fixed to the lower sliding block, a shaft hole which is rotationally connected with the rotating shaft is formed in the top end of the bar frame, a bar hole which is penetrated by the pin shaft and matched with a notch of the pin shaft is formed in the bottom end of the bar frame, lifting sliding rails which extend in the same direction are fixed to the bar frame, 2 or more lifting sliding blocks are connected to the lifting sliding rails in a sliding manner, and a transfer piece is fixed to the lifting sliding block.

The top and the bottom of big arm truss symmetry respectively are fixed with the board that the level extends, the board is close to the fixed mounting that runs through from top to bottom of bar frame has the interior axle, the rotatable installation of interior axle is on the adaptor, be equipped with on the board to interior axle driven rocking arm motor, about interior axle relative inner installs big sprocket, the board is kept away from the rotation that the one end of lift slide rail runs through from top to bottom and installs the outer axle, and two upper and lower outer relative one ends are fixed with little sprocket, the winding has the chain between big sprocket and the little sprocket, and the transmission ratio between big sprocket and the little sprocket is 1:2.

An automatic workover rig comprises a chassis, wherein a derrick is arranged at the tail of the chassis, a second-order feeding module is arranged on one side of the chassis, and a lifting module and a wellhead positioning module are arranged on the derrick.

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

The system completes full-automatic operation of positioning the oil pipe from the ground to the wellhead through the cooperation of multiple modules, is accurate in switching and positioning, smooth in action connection, concise and stable in structure and lower in configuration cost, and each module is installed on the workover rig, so that the workover rig is convenient to move and unfold for use, complicated disassembly and installation steps are not needed before and after use, and the system is more practical and efficient.

Drawings

Fig. 1 is a schematic overall side view of the present invention.

Fig. 2 is a schematic diagram of the overall structure of the present invention.

Fig. 3 is an enlarged view of the portion D of fig. 2 in accordance with the present invention.

Fig. 4 is a schematic diagram of one end of the second-order feeding module of the present invention.

Fig. 5 is a partial schematic view of a second order loading module according to the present invention.

FIG. 6 is a schematic diagram of the tail of the second order loading module of the present invention.

Fig. 7 is an overall schematic diagram of a second-order loading module according to the present invention.

Fig. 8 is a schematic view of a lifting module of the present invention.

Fig. 9 is a schematic diagram of the operation of the lifting module of the present invention (tubing lifted to half).

Fig. 10 is an enlarged view of the portion E of fig. 9 in accordance with the present invention.

FIG. 11 is a schematic illustration of the operation of the wellhead positioning module of the present invention.

FIG. 12 is a schematic top view of the operation of the wellhead positioning module of the present invention.

FIG. 13 is a schematic view of a wellhead positioning module of the present invention retrieving a vehicle.

The reference numbers shown in the drawings:

1. Fixing the lying rail; 2, carriage, 3, bearing seat, 4, support column, 5, first order guide rail, 6, second order guide rail, 7, second order slide block, 8, support rod, 9, loading surface, 10, groove frame, 11, bar port, 12, guide rod, 13, support seat, 14, guide pulley, 15, reinforcement frame, 16, pushing cylinder, 17, pushing block, 18, mast column, 19, fixed sleeve, 20, lower telescopic rod, 21, hinging seat, 22, swinging seat, 23, swinging rod, 24, stopper, 25, follow-up sleeve, 26, upper telescopic rod, 27, guide wheel frame, 28, wire rope, 29, lifting motor, 30, lifting seat, 31, connecting piece, 32, rotating seat, 33, swinging shaft, 34, matching plate, 35, limiting plate, 36, door type groove, 37, clamping block, 38, installation seat, 39, double-headed cylinder, 40, upper sliding rail, 41, upper sliding block, 42, rotating shaft, 43, lower sliding rail, 44, lower sliding block, 45, pin shaft, 46, hole, 47, 27, guiding wheel frame, 28, bar carrier, 9, bar carrier, 50, lifting arm, 58, truss, 50, truss, arm, 55, truss, and small truss.

Detailed Description

The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Further, it will be understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the application, and equivalents thereof fall within the scope of the application as defined by the claims.

Example 1

The main improvement part in this example is automatic oil pipe material loading positioning system, and the system adopts the linking operation of whole automation, including second order material loading module, lifting by crane module, well head positioning module, and the installation that above module is all integrated is on derrick or workover rig chassis to obtain a complete automatic workover rig product. For ease of description, the workover rig will be briefly described in this example as follows:

Workover rigs (also known as workover trucks) are key equipment used in oilfield operations for well maintenance, repair, and stimulation operations, and their main structure includes:

1. Chassis system

The special heavy chassis, which is usually a truck or trailer chassis (two-class chassis), has high bearing capacity and off-road performance, and is suitable for complex topography of oil fields. The chassis is provided with a power transmission system, which comprises an engine, a gearbox, a transfer case and a drive axle, and provides power for the movement and operation of the whole vehicle. Part of vehicle models are provided with auxiliary generators to provide independent power for hydraulic and electric systems. Preferably, an energy storage battery system can be provided as power to realize the automatic well repair operation of new energy sources.

2. Derrick system

The telescopic derrick is made of high-strength steel, is generally used for inclined installation and is generally 18-30 m in height and is used for supporting a lifting system. A crown block is mounted on the top of the derrick, and a pulley system is formed by the crown block and a travelling block (travelling block) to perform tubular column lifting operation in cooperation with a steel wire rope 28.

The side of the derrick close to the wellhead is a working side, namely a front side, the side close to the vehicle body is a rear side, and the other two side surfaces are left and right side surfaces.

3. Winch system

The main winch controls the retraction and the release of the steel wire rope 28 through a roller and a brake system and is used for lifting or lowering down-hole tools and pipe columns.

Auxiliary winch is used for auxiliary operation (such as hoisting equipment).

4. Hydraulic system

The hydraulic pump station is driven by the main engine to provide hydraulic power.

Hydraulic control valve group: controlling the lifting of the derrick, leveling the supporting legs winch action, etc.

And the hydraulic cylinder and the motor execute the actions of derrick extension, supporting legs and the like.

5. Operation control system

Driller control room equipped with instrument panel, operating handle, monitoring screen, etc. to control the winch, derrick and hydraulic system.

And the electronic monitoring system displays parameters such as load, speed, pressure and the like in real time, so that the operation safety is ensured.

6. Oil pipe feeding positioning system

6.1 Second order material loading module

The module is used for lifting the oil pipe to a certain height from the ground and preparing materials for lifting.

6.1.1 Scalable bearing mechanism

Including the fixed rail 1 that crouches that is used for fixed installation, fixed rail 1 is used for fixing on the chassis of workover rig, fixed rail 1 just to install in one side of chassis (generally for the left side towards the locomotive, not limited to this example, install and be equally suitable on the right side), the length direction of fixed rail 1 is the transversal of relative workover rig, fixed rail 1 top sliding fit has the balladeur train 2 rather than the syntropy extension, the one end top of balladeur train 2 is fixed with bears seat 3. When the carriage 2 is started to slide, the bearing seat 3 can be pushed out to the outer side of the chassis, so that the whole mechanism is suspended, and therefore, the feeding below is convenient, and the carriage is matched with an oil pipe positioned below, and the lifting and feeding actions are completed.

The hydraulic power can be used in the aspect of power, a pushing oil cylinder is arranged at one end of the fixed horizontal rail 1 far away from the bearing seat 3, a pushing cylinder rod is telescopically matched with one end of the pushing oil cylinder close to the bearing seat 3, and the tail end of the pushing cylinder rod is fixed on the sliding frame 2, so that the sliding stroke of the sliding frame 2 is controlled, and the sliding frame 2 protrudes out of the body of the workover vehicle or is retracted into the chassis range of the workover vehicle.

The bearing seat 3 is used for realizing bearing of the whole feeding module, a lower mounting plate is arranged at the bottom of the bearing seat 3, a horizontal mounting surface is arranged on the bottom surface of the lower mounting plate, an upper mounting plate is arranged on the upper portion of the bearing seat 3, and the upper mounting plate is vertically arranged and provided with a vertical mounting surface on the side face.

6.1.2 Second-order feeding mechanism

The device is used for lifting the oil pipe on the ground upwards, so that the first-step preparation action for feeding the workover rig is completed.

The lifting type lifting device comprises 2 supporting columns 4 which are arranged in parallel left and right, wherein the two supporting columns 4 are respectively arranged corresponding to two groups of bearing seats 3, and are respectively arranged on the bearing seats 3 on the same side in a lifting mode.

The support stand 4 is close to and bears and is fixed with first order guide rail 5 on the side facade of seat 3, first order guide rail 5 sets up two and parallel vertical extension on every support stand 4, sliding fit has first order slider on the first order guide rail 5, first order slider is fixed on the installation face of upper mounting panel, first order slider is 2 groups or 4 groups, and two rows are fixed on the installation face about, improve the stability of going up and down.

The bearing seat 3 is provided with a first-order motor, the bearing seat 3 is also rotatably provided with a first-order gear driven by the first-order motor, one side of the first-order guide rail 5 is provided with a first-order rack fixed on the support upright 4 in parallel, and the first-order gear and the first-order rack are meshed to realize driving control of lifting of the whole support upright 4 relative to the bearing seat 3.

Two second-order guide rails 6 which are vertically arranged in parallel are fixedly arranged on one side, far away from the bearing seat 3 and the first-order guide rails 5, of the supporting upright post 4, a second-order sliding block 7 is arranged between the two second-order guide rails 6 on the same supporting upright post 4, two second-order sliding grooves which are in sliding fit with the two second-order guide rails 6 are respectively arranged on two sides of the second-order sliding block 7, so that the two second-order sliding grooves are simultaneously in vertical sliding fit with the two guide rails, and stability is improved in bearing lifting of the small assembly.

The top of second order slider 7 is equipped with die-pin 8, the center at second order slider 7 topside is fixed to the one end of die-pin 8, the other end of die-pin 8 upwards inclines to the direction that keeps away from support stand 4 and extends, constitutes the support material structure of slope. For convenience of the following description, the top surface of the supporting rod 8 is defined as a feeding surface 9, and the feeding surface 9 is an inclined surface with an upward inclined outer end.

When the second-order sliding block 7 moves upwards, an included angle is formed between the supporting rod 8 and the second-order guide rail 6, and the oil pipe can be well restrained in the included angle space.

In the aspect of power, the same gear transmission as the first step is adopted, a second-order gear is rotatably arranged on the second-order sliding block 7, a second-order motor for driving the second-order gear is also fixed on the second-order sliding block 7, and a vertically extending second-order rack is arranged on the support upright post 4 and meshed with the second-order gear.

6.1.3 Transfer mechanism

The transfer mechanism is used for temporarily supporting the oil pipe between the ground and the upper part of the wellhead, and is used for linking the lifting action of lifting the oil pipe to the groove frame 10 from the ground and the lifting action of lifting the oil pipe to the vertical state from the horizontal.

The transfer mechanism comprises a supporting seat 13, a groove frame 10, a guide rod 12 and a reinforcing frame 15;

The tank bracket 10 is a component for realizing horizontal bearing of an oil pipe, a V-shaped tank structure is arranged above the tank bracket 10, the V-shaped tank comprises a first tank surface (far away from one surface of a vehicle body) and a second tank surface which are in a V shape, the inner ends of the first tank surface and the second tank surface are connected to form a V shape, the outer side of the first tank surface and the outer side of the second tank surface form a notch of the V-shaped tank, and the outer side of the first tank surface is lower than the outer side of the second tank surface, so that the notch of the V-shaped tank is not generally high, is lower near one side of the supporting rod 8, forms a fit with the supporting rod 8, and prevents the oil pipe from rolling off during transfer.

When the second-order sliding block 7 is positioned at the top end of the stroke, the feeding surface 9 of the supporting rod 8 is coplanar with the first groove surface, so that the oil pipe positioned on the supporting rod 8 can naturally roll into the V-shaped groove based on gravity.

The number of the guide rods 12 is at least 2, but can be a plurality of other numbers, the bottom ends of the guide rods 12 are hinged on one side of the groove frame 10 close to the supporting rods 8, and the guide rods 12 have swinging strokes based on the hinged structure.

The small oil cylinder is hinged at the position of the groove frame 10 corresponding to the guide rod 12, a small cylinder rod is telescopically matched at the top end of the small oil cylinder, and the top end of the small cylinder rod is hinged at the bottom of the guide rod 12, so that the swing of the guide rod 12 is driven and controlled.

Based on the swinging travel of the guide rod 12, the guide rod 12 can change states between standing and falling, when the guide rod 12 is in a standing state, the guide rod 12 is close to the supporting rod 8 (positioned at the top end), and an included angle is formed between the guide rod 12 and the supporting rod 8, so that an oil pipe is prevented from being placed on the supporting rod 8, and cannot fall into a V-shaped groove. When the small oil cylinder is started, the guide rod 12 can be driven to slowly fall until the guide rod 12 is positioned below the V-shaped groove, and in the process, the oil pipe gradually moves and is supported on the guide rod 12 based on gravity, so that slow descent is realized. Therefore, based on the control and the guide of the guide rod 12, the controllable blanking can be realized, the oil pipe is kept to wait above the V-shaped groove, and the blanking is performed after the signal is triggered. More importantly, the slow descent is realized, the oil pipe is protected, and meanwhile, the danger that the gravitational potential energy of the oil pipe rolls violently and is separated from the V-shaped groove is prevented.

The supporting seat 13 is a mounting piece for supporting the groove frame 10 and guiding the movement of the groove frame 10, the bottom of the supporting seat 13 is fixedly arranged at the top end of the supporting upright post 4 through a bolt assembly, the top of the supporting seat 13 is rotatably provided with a guide pulley 14, and the axial direction of the guide pulley 14 is horizontal and vertical relative to the groove frame 10.

The bottom of the groove frame 10 is provided with a plurality of strip-shaped openings 11 extending in the same direction as the length direction of the strip-shaped openings 11, each support seat 13 is arranged corresponding to each strip-shaped opening 11, the guide pulley 14 penetrates through the corresponding strip-shaped opening 11 and is matched with the notch of the strip-shaped opening 11, the outer end or two ends of the guide pulley 14 are provided with round baffle plates, the guide pulley 14 is in an I-shaped structure, the diameter of the guide pulley 14 is matched with the width of the strip-shaped opening, and the baffle plates are larger than the width of the strip-shaped opening 11, so the groove frame 10 is restrained at the top of a support piece based on the limit of the baffle plates at the two ends of the guide pulley 14, and the opposite support piece has a front-back follow-up stroke corresponding to the length direction of the groove frame 10. The lifting device is used for being matched with the lifting action, providing follow-up adaptation on the horizontal direction for the change of the bottom end position when the oil pipe is lifted, assisting in horizontally conveying the oil pipe to the derrick direction, and stabilizing the lifting process.

Based on the fact that the tubing is to be moved laterally on the cradle 10 towards the wellhead, its weight will be transferred mainly on the support uprights 4 close to the wellhead. Therefore, in order to improve the strength of the support, the reinforcing frame 15 is fixed on the support upright post 4 close to the wellhead, the reinforcing frame 15 is a pair of right-angled triangular trusses, one upright right-angled side of each triangular truss is fixed on two sides of the support upright post 4 close to the parking space, the outer end of each triangular truss is also fixed with the support base 13, the guide assembly is further added, and the stabilizing trough frame 10 acts.

6.1.4 Pushing mechanism

Install the one end that is close to the locomotive at cell tower 10, including flexible complex pushing cylinder 16 and pushing cylinder pole, be fixed with the tailstock in the one end that cell tower 10 kept away from strengthening frame 15, pushing cylinder 16 is fixed on the tailstock, supports pushing cylinder 16 through the tailstock, pushing cylinder 16 can adopt multistage flexible hydro-cylinder, pushing cylinder 16 is close to the horizontal flexible cooperation of one end of cell tower 10 has pushing cylinder pole, pushing cylinder pole's end is equipped with pusher 17, pusher 17 is located V type inslot, realizes pushing to lifting direction oil pipe in the V type inslot based on flexible, makes tube head festival hoop expose V type inslot, makes things convenient for the snatching and lifting of elevator mechanism, realizes feeding to the position, makes things convenient for the pick up of lifting action.

6.2 Lifting Module

The module is used for lifting the oil pipe from a horizontal state to a vertical state, and providing preparation on the posture for subsequent wellhead positioning.

Structurally comprises a vehicle collecting mechanism, a lifting mechanism and an elevator mechanism.

6.2.1 Vehicle collecting mechanism

The vertical ground state mast comprises a mast upright 18 which is kept in a vertical ground state during operation, the mast upright 18 is arranged on one side of a derrick, an upper hinge shaft is arranged at the top of the mast upright 18, a lower hinge shaft is arranged at the lower part of the mast upright 18, and the upper hinge shaft and the lower hinge shaft are arranged on one side, close to the derrick, of the mast upright 18.

The device is characterized by further comprising a hinging seat 21 and a fixed sleeve 19 which are fixedly arranged on the derrick, wherein the hinging seat 21 and the fixed sleeve 19 are arranged up and down, a swinging seat 22 is rotatably arranged on the hinging seat 21, the swinging seat 22 is of a hollow sleeve type structure, a swinging rod 23 which is in sliding connection with the swinging seat 22 is penetrated in the swinging seat 22, one end of the swinging rod 23, which is close to the derrick, is provided with a stop block 24, the swinging seat 22 cannot be prevented from slipping through the stop block 24, one end of the swinging rod 23, which is far away from the derrick, is fixedly provided with a follow-up sleeve 25 which is vertically and fixedly connected with the swinging rod 23, one side, which is relatively close to the derrick, of the follow-up sleeve 25 is parallel, one end of the swinging rod 23 is fixed at the edge of one end of the follow-up sleeve 25, so that the follow-up sleeve 25 can be positioned on one side of the derrick and is not obviously protruded out of the derrick range, the end, which is close to the derrick after the derrick is favorable, one end of the follow-up sleeve 25, which is close to the connecting part is provided with an upper telescopic rod 26 which is in telescopic sliding fit with the swinging rod 23, and one end, which is far from the end of the follow-up sleeve 25 is rotatably connected with the upper hinging shaft.

The fixed sleeve 19 is fixedly arranged on one side of the derrick, which is close to the vehicle body, and the fixed sleeve 19 also horizontally extends, so that the follow-up sleeve 25 is arranged in parallel up and down relative to the fixed sleeve 19, one end of the fixed sleeve 19, which is close to the mast column 18, is provided with a lower telescopic rod 20 which is in telescopic sliding fit with the fixed sleeve, and the tail end of the lower telescopic rod 20 is rotatably connected with a lower hinge shaft.

With the above configuration, the mast 18 can be extended toward the vehicle body side (the telescopic operation of the upper telescopic rod 26 and the lower telescopic rod 20) with respect to the derrick, and the angle adjustment with respect to the derrick can be achieved. The derrick is laid over the workover rig during non-operation, the bottom end of the derrick is hinged with the parking space, and the laying and standing actions are realized through the related power structure. When the well head is reached near the well head and the well repair operation is unfolded, the derrick is gradually erected from the horizontal direction, and in order to match the well head operation, the final operation state is inclined from the vehicle body to the well head direction, and the oil pipe is required to be vertical up and down, so the state of the oil pipe after being lifted is required to be a vertical state. Based on the above structure, in the process of erecting the derrick, the mast stand 18 makes the swinging rod 23 extend away from the derrick based on the gravity of the mast stand, the maximum extending amplitude is restrained by the stop block 24, when the derrick reaches the working angle, the stop block 24 contacts with the swinging seat 22, and the mast stand 18 is in a state of being vertical to the wellhead by combining the cooperation of the lower hinge shaft. And the mast stand column 18 is integrally far away from the derrick by the upper telescopic rod 26 and the lower telescopic rod 20 which extend to the side far away from the workover rig, so that the derrick is convenient to be matched with an oil pipe below, and space is also provided for grabbing of a manipulator.

In order to improve the positioning in the operation, an oil cylinder or an electric cylinder can be added to assist in pushing and positioning, for example, a strip hole is formed in the side wall of the follow-up sleeve 25, a connecting block is fixed at the inner end of the lower telescopic rod 20, an auxiliary cylinder body parallel to the lower telescopic rod 20 is arranged above or below the fixed sleeve 19, an auxiliary lever is telescopically matched with one end of the auxiliary cylinder body, which is close to the mast 18, and the tail end of the auxiliary lever is fixed relative to the connecting block, so that the auxiliary pushing or restraint of the telescopic stroke of the lower telescopic rod 20 is realized. Not limited to this example, an auxiliary cylinder may be added to the upper telescopic rod 26 as power, or other linear travel power may be used.

6.2.2 Lifting mechanism

The end face of one side of the mast upright 18 far away from the derrick is defined as a working face, the mast upright 18 adopts hollow square steel and is provided with a channel which penetrates through the mast upright 18 up and down, guide wheel frames 27 are symmetrically arranged at the top end and the bottom end of the mast upright 18 respectively, two parallel guide wheels are rotatably arranged on the guide wheel frames 27, 4 steel wire ropes 28 are wound between the guide wheels in a winding mode, half of the steel wire ropes 28 penetrate through the channel based on the guiding of the guide wheels at the two ends, and the other half of the steel wire ropes 28 are centrally arranged on the working face to provide power for lifting actions.

The bottom end of the mast upright 18 is provided with a lifting motor 29, and an output shaft of the lifting motor 29 is used for providing power for a guide wheel at one bottom end.

The lifting seat 30 which is matched with the mast upright post 18 in a vertically sliding way is sleeved on the mast upright post 18, the lifting seat 30 adopts a C-shaped structure, and a notch is arranged on one side far away from a working surface, so that the upper hinge shaft can be conveniently abducted when the mast upright post is lifted.

The connecting piece 31 is arranged on the lifting seat 30 in the middle, the number of the connecting pieces 31 is 2, the connecting pieces 31 are arranged up and down relative to the lifting seat 30, the connecting pieces 31 are of a tubular structure, and the steel wire ropes 28 penetrate through the connecting pieces 31 from top to bottom and are fixed with the connecting pieces 31, so that the lifting seat 30 is driven to lift when the steel wire ropes 28 rotate.

6.2.3 Elevator mechanism

The lifting seat 30 is fixed with a rotating seat 32 on one side, a swinging shaft 33 is rotatably penetrated in the rotating seat 32, one end of the swinging shaft 33 protrudes out of a working surface to be arranged and is fixedly connected with a matching plate 34, one side of the matching plate 34 is vertically fixed with a limiting plate 35, the bottom side of the limiting plate 35 is provided with a door-shaped groove 36, the notch of the door-shaped groove 36 is arranged on the bottom side, the top end of the door-shaped groove 36 is provided with a semicircular groove bottom, the width of the door-shaped groove 36 and the diameter of the groove bottom are both matched with the diameter of an oil pipe, and when the lifting seat 30 falls down, the door-shaped groove 36 can be inserted into the peripheral surface of the oil pipe on the groove frame 10 and is matched with the groove bottom of the door-shaped groove 36, so that preliminary positioning is realized.

Two clamping blocks 37 parallel to the limiting plate 35 are arranged on one side of the limiting plate 35, arc-shaped clamping grooves are arranged on the adjacent side edges of the clamping blocks 37, the arc-shaped clamping grooves are symmetrically arranged relative to the bottoms of the door-shaped grooves 36,

The top of clamp splice 37 is fixed with the pole setting, the top side of limiting plate 35 or the top side of joining in marriage plywood 34 are equipped with mount pad 38, be fixed with double-end cylinder body 39 on the mount pad 38, the both ends of double-end cylinder body 39 are flexible respectively to be cooperated and are had the double-end jar pole, the outer end of double-end jar pole and the relative fixed connection of top of pole setting. The driving of the clamping action of the two clamping blocks 37 is realized based on the double-head cylinder body 39, so that the clamping blocks 37 on two sides have the clamping action of approaching or separating from each other relative to the door-shaped groove 36. When the clamping blocks 37 are closed, the arc clamping grooves are in common circle with the bottoms of the door-shaped grooves 36, so that the oil pipe is held, and when the lifting seat 30 is lifted up, the oil pipe is lifted up based on the protrusions of the front end section hoops of the oil pipe.

The operation principle of the module is that when the oil pipe is positioned and conveyed below the lifting seat 30, and the joint hoop of the oil pipe is positioned on the right side (facing the working surface) of the lifting seat 30, the lifting seat 30 falls down to enable the oil pipe to be inserted into the door-shaped groove 36 and to the bottom of the groove, and the clamping blocks 37 on the two sides are gathered to clamp the oil pipe. When the lifting seat 30 is lifted upwards by the steel wire rope 28, the oil pipe is lifted by blocking the oil pipe joint hoop and the clamping block, the oil pipe is gradually changed into a vertical state from a horizontal state in the lifting process, a change process is carried out on the gesture, the matching plate 34 can adapt to the gesture of the oil pipe through the swinging shaft 33, and the matching plate is always vertical to the axial direction of the oil pipe, so that the oil pipe is suitable for the gesture change of the oil pipe in the lifting process, and a good clamping effect is maintained, and the oil pipe is not damaged.

Meanwhile, in oil pipe lifting, except for the change of the gesture, only the tail end of the oil pipe falls in the V-shaped groove after the pipe head of the oil pipe is lifted, and the effect of follow-up feeding is realized by the translation of the groove frame 10 to the derrick direction and the dynamic change of the bottom end supporting position of the oil pipe in the lifting action.

After the operation is finished, the upper telescopic rod 26 and the lower telescopic rod 20 are retracted, the mast upright 18 is tightly attached to the side face of the derrick, the swinging rod 23 moves rightwards, the follow-up sleeve 25 is tightly attached to one side, close to the derrick, of the derrick, and after the device is finished, the module is tightly attached to the derrick, and the whole relative derrick is compact in structure and convenient to move.

6.3 Wellhead positioning module

The oil pipe is used for moving the oil pipe to the upper part of the wellhead, and accurate positioning is realized in cooperation with underground operation.

Comprises a bar 47 which is kept in a vertical ground state during operation, wherein the bar 47 is arranged on the side surface of the derrick close to the mast 18, and the bar 47 is arranged opposite to the mast 18 in parallel in an optimal operation state during operation.

The derrick further comprises an upper sliding rail 40 and a lower sliding rail 43 which are fixedly arranged on one side of the derrick, wherein the upper sliding rail 40 and the lower sliding rail 43 are horizontally arranged and fixed and are arranged on the side surface of the derrick, which is close to the mast upright 18.

An upper sliding block 41 is connected on the upper sliding rail 40 in a sliding way, a rotating shaft 42 is fixed on the upper sliding block 41,

A lower sliding block 44 is connected to the lower sliding rail 43 in a sliding manner, and a pin shaft 45 is fixed on the lower sliding block 44;

The top of the bar frame 47 is provided with a shaft hole rotationally connected with the rotating shaft 42, the bottom of the bar frame 47 is provided with a bar hole 46 penetrated by the pin shaft 45 and matched with the notch of the pin shaft 45, the bar frame 47 can keep a certain angle with the derrick when the derrick is in an inclined working state based on the relative matching relation of the upper sliding block 41 and the lower sliding block 44 up and down of the bar frame 47, and the working state that the bar frame 47 is vertical to the ground is obtained. The oil pipe blanking device is used for realizing oil pipe blanking by means of up-and-down lifting actions in cooperation with well repairing operation.

Dynamically, the present example provides one implementation:

That is, an upper gear is rotatably mounted on the upper slider 41, an upper rack parallel to the upper slider 40 is fixed above the upper slider 41, and an upper motor for driving the upper gear is also fixed on the upper slider 41, and the upper gear is meshed with the upper rack. A lower gear is rotatably mounted on the lower slider 44, a lower rack parallel to the lower slider 43 is fixed above the lower slider 44, a lower motor driving the lower gear is also fixed on the lower slider 44, and the lower gear is meshed with the lower rack. By driving the respective motors, the movement and positioning of the respective positions are achieved, eventually keeping the bar 47 upright during the tilting operation of the derrick.

Not limited to this example, the power driving may be performed by an oil cylinder or an air cylinder, for example, an oil cylinder or an electric cylinder may be independently provided below the upper rail 40 and above the lower rail 43, respectively, and the driving may be performed by connection of a cylinder rod to the upper slider 41 and the lower slider 44.

The bar frame 47 is provided with a large-arm truss 50 which is in sliding fit along the length direction and can rotate, and the bar frame 47 is fixedly provided with a lifting slide rail 48 which extends in the same direction with the bar frame, and the lifting slide rail 48 is connected with 2 or more lifting slide blocks in a sliding manner. The lifting slide block is fixedly provided with an adapter 49, and the adapter 49 adopts an angle iron structure, so that the adapter is convenient to adapter and bear on two vertical planes. One side of the adapter 49 is rotatably provided with a walking gear driven by a stepping motor, and the bar frame 47 is provided with a walking rack meshed with the walking gear in the same direction, so that the lifting driving of the large-arm truss 50 is realized.

The big arm truss 50 adopts a metal welded truss structure, the top and bottom of the big arm truss 50 are respectively symmetrically fixed with an organic plate 51, one end of the organic plate 51, which is close to the lifting slide rail 48, is fixedly provided with an inner shaft 52 which penetrates up and down, the organic plate 51 is provided with a rotating arm motor which drives the inner shaft 52, the inner ends of the inner shafts 52 are provided with big chain wheels 53, the inner shafts 52 are rotatably connected to the adapter 49, and the whole big arm truss 50 can lift and swing left and right relative to the bar frame 47.

The machine plate 51 is provided with an outer shaft 54 through the end far away from the lifting slide rail 48 in a vertically penetrating way, a small chain wheel 55 is fixed at the opposite end of the upper outer shaft 54 and the lower outer shaft 54, a chain 56 is wound between the large chain wheel 53 and the small chain wheel 55, and the transmission ratio between the large chain wheel 53 and the small chain wheel 55 is 1:2.

The side that the big arm truss 50 kept away from the bar frame 47 rotates and is connected with the forearm truss 57, the upper and lower both ends of forearm truss 57 are equipped with horn 58 respectively, the manipulator 59 is installed to the one end that the big arm truss 50 was kept away from to the horn 58, manipulator 59 is for adopting the common connection manipulator structure of prior art, has the gripper of grasp with open, the gripper is used for snatching the oil pipe of lifting.

The arm 58 is fixed to the outer shaft 54 of the boom 50 on the side close to the boom 50, and is thereby swung based on the rotation of the outer shaft 54. Based on the transmission ratio between the large sprocket 53 and the small sprocket 55 being 1:2, i.e., when the large arm truss 50 swings 90 degrees, the small arm truss 57 has a linkage swing motion of 180 degrees with respect to the large arm truss, and based on the linkage swing of the large arm truss 50 and the small arm truss 57, the large arm truss 50 and the small arm truss 57 have the following two stroke positions:

a grabbing stroke position, wherein the large-arm truss 50 is vertically positioned on one side of the derrick provided with the bar frame 47 and is vertical to the side, and the small-arm truss 57 is vertical to the large-arm truss 50 and extends towards the mast column 18;

The large-arm truss 50 is vertically arranged on one side of the derrick provided with the bar frame 47 and is parallel to the side, the small-arm truss 57 is vertical to the large-arm truss 50 and is opposite to the vertical direction of the grabbing stroke position, and the manipulator is arranged above the wellhead.

When the boom truss 50 swings from the grabbing stroke position to the positioning stroke position, the boom truss 57 rotates by 180 degrees relative to the boom truss to realize reverse vertical to the boom truss 50 in order to rotate 90 degrees from the vertical side of the derrick to the side of the derrick.

In addition, when the work is finished, the upper slider 41 and the lower slider 44 slide on the same side, and the large-arm truss 50 swings to abut against the side of the derrick, and the small-arm truss 57 swings to abut against the side of the derrick front side, i.e., the attached derrick can complete the take-up state. When the derrick is folded to lie on the upper side of the workover rig, the device is attached to the derrick to follow, and can be conveniently folded and moved along with the derrick, so that in the preparation links of operation and folding, additional equipment is not required to be installed and removed, and the device is very convenient.

Under the linkage swing, the mechanical positioning is completed through the precisely set transmission ratio by realizing one-step self-grabbing to the well head positioning in place. Every time the position can be matched with the wellhead, the method is efficient and practical.

Based on the system, the feeding and positioning actions realized on the oil pipe are as follows:

And (3) vehicle unfolding:

After the workover rig arrives at the wellhead site, the rig body is fixed, the derrick is erected, and the following modules are unfolded in sequence at the same time:

(1) The bearing seat 3 of the second-order feeding module extends out of the vehicle body, so that the groove frame 10 is suspended outside the vehicle body;

(2) The hoisting module is naturally unfolded based on the gravity action along with the erection of the derrick so that the mast stand column 18 extends vertically relative to the ground;

(3) The upper and lower sliders 41, 44 of the wellhead positioning module are each independently actuated to move such that the bar 47 is juxtaposed vertically on the side of the derrick relative to the mast 18.

And (3) operation:

The oil pipe is sent to the ground below the groove frame 10, the supporting upright post 4 and the second-order sliding block 7 start descending strokes to realize second-order descending, the oil pipe positioned below is supported by the supporting rod 8, the oil pipe is lifted to one side of the groove frame 10 through the ascending of the second-order sliding block 7, the guide rod 12 is kept upright at the moment, the oil pipe positioned above one side of the V-shaped groove is blocked, the guide rod 12 is started to slowly fall, the supporting oil pipe gradually falls into the V-shaped groove on the groove frame 10, and the second-order feeding action is completed;

the pushing block 17 positioned at the tail end of the groove frame 10 pushes the pipe head joint hoop of the oil pipe forwards to be exposed out of the V-shaped groove and positioned below the gate-shaped groove 36 of the limiting plate 35, so that the pipe head joint hoop is convenient to be matched with the lifting module;

the lifting seat 30 falls to the bottom of the door-shaped groove 36, and the clamping blocks 37 are closed to clamp the oil pipe;

lifting seat 30 lifts to drive the pipe head of the oil pipe to lift upwards, the oil pipe gradually inclines from a prone position to an upright state, and the oil pipe is lifted to the corresponding height of mechanical gripper 59 by lifting seat 30;

The large arm truss 50 and the small arm truss 57 are positioned on the grabbing stroke positions, the mechanical grippers 59 grab the oil pipe, after the two clamping blocks 37 are loosened, the large arm truss 50 swings 90 degrees to be parallel to one side of the derrick, the small arm truss 57 swings 180 degrees relative to the large arm truss, the grabbed oil pipe is positioned above the wellhead, and the feeding positioning is completed;

based on the operation progress, whole big arm truss 50 falls down, corresponds the well head with oil pipe bottom and moves down, realizes the unloading cooperation.

Claims (7)

1. An automated oil pipe loading positioning system, comprising:

The second-order feeding module is arranged on one side of the chassis of the workover rig and comprises a supporting upright post with a lifting stroke, a supporting rod with the lifting stroke is arranged on the supporting upright post, a groove frame horizontally extending along the length direction of the workover rig is arranged at the top end of the supporting upright post, and the groove frame has a horizontal follow-up stroke along the length direction of the groove frame;

The hoisting module comprises a mast upright post arranged on one side of the derrick, and an elevator mechanism with a lifting stroke is arranged on the mast upright post and used for clamping a section hoop of an oil pipe on the tank frame;

The wellhead positioning module comprises a bar frame arranged on one side of the derrick, a large-arm truss with a rotation stroke is arranged on the bar frame in a lifting manner, a small-arm truss is arranged on one side, away from the bar frame, of the large-arm truss in a rotation manner, a mechanical gripper is arranged on the small-arm truss, the large-arm truss is in linkage with the rotation of the small-arm truss, and the small-arm truss is in linkage with the large-arm truss to rotate 180 degrees relatively when the large-arm truss rotates by 90 degrees;

the upper part of the groove frame is provided with a V-shaped groove, the V-shaped groove is a through groove penetrating along the length direction of the groove frame, when the supporting rod is lifted to the upper end of the stroke of the supporting rod, the bottom end of the supporting rod corresponds to the adjacent opening edge of the V-shaped groove, and the opening edge of one side of the V-shaped groove, which is close to the supporting rod, is lower than the opening edge of one side of the V-shaped groove, which is far away from the supporting rod;

The guide rods are arranged on the groove frame along the length direction of the guide rods, the bottom ends of the guide rods are hinged with the groove frame, the guide rods are provided with swinging strokes axially corresponding to the length direction of the groove frame, so that the guide rods can stand or fall down, when the guide rods stand, the guide rods are close to the supporting rods positioned at the top ends of the lifting strokes, when the guide rods fall down, the guide rods are positioned below the V-shaped grooves, the bottom ends of the guide rods are hinged to one side, close to the supporting rods, of the groove frame, small oil cylinders are hinged to the positions, corresponding to the guide rods, of the groove frame, small cylinder rods are in telescopic fit with the top ends of the small oil cylinders, and the top ends of the small cylinder rods are hinged to the bottoms of the guide rods;

and/or

A tail frame is fixed at one end of the groove frame, a pushing oil cylinder which is arranged in the same direction as the groove frame is fixed on the tail frame, a pushing cylinder rod is telescopically matched at one end of the pushing oil cylinder, which is close to the groove frame, a pushing block is arranged at the tail end of the pushing cylinder rod, and the pushing block is positioned in the V-shaped groove;

The top pivoted of support post installs the guide pulley, the axial of guide pulley is level and relative cell frame length direction is perpendicular, is equipped with many and its syntropy extension's bar mouth in the bottom of cell frame, bar mouth corresponds every guide pulley setting, thereby the guide pulley runs through the follow-up stroke of corresponding bar mouth and guide the cell frame with bar mouth notch cooperation, the top pivoted of support post installs based on motor drive's follow-up gear, installs the follow-up rack with gear engagement in the bottom of cell frame, the length direction and the cell frame syntropy of follow-up rack.

2. The automatic oil pipe feeding and positioning system according to claim 1, wherein the second-order feeding module further comprises a plurality of fixed horizontal rails which are horizontally arranged in parallel, the fixed horizontal rails are fixedly arranged on one side of a well repairing vehicle, a sliding rack is slidably matched with the fixed horizontal rails along the length direction of the fixed horizontal rails, a bearing seat is fixedly arranged at one end of the sliding rack, the bottom ends of the supporting upright posts are arranged on the bearing seat, a first-order guide rail is arranged on one side, far away from the bearing seat, of each supporting upright post in a lifting mode, two first-order guide rails are arranged on each supporting upright post and vertically extend in parallel, a first-order sliding block is slidably matched on each first-order guide rail, the first-order sliding block is fixedly arranged on the bearing seat, a first-order motor is arranged on the bearing seat, a first-order gear based on the driving of the first-order motor is rotatably arranged on the bearing seat, and one side of the first-order guide rail is parallelly provided with a first-order rack fixed on the supporting upright post, and the first-order gear is meshed with the first-order rack;

The support stand is kept away from one side fixed mounting that bears seat and first order guide rail has two vertical second order guide rails that set up side by side, sliding fit has the second order slider on the second order guide rail, the die-pin is fixed on the second order slider, the both sides of second order slider are equipped with respectively with two second order guide rail sliding fit's second order spout, install the second order gear on the second order slider pivoted, still be fixed with the second order motor of drive second order gear on the second order slider, install the second order rack of vertical extension on the support stand, second order rack and second order gear engagement.

3. The automatic oil pipe feeding and positioning system according to claim 1, wherein the lifting module further comprises a hinge seat and a fixed sleeve which are fixedly installed on the derrick, the fixed sleeve is horizontally fixed on one side, close to the vehicle body, of the derrick, the hinge seat is located above the fixed sleeve and is arranged close to one end of the fixed sleeve, the hinge seat is rotatably installed with a swinging seat, a swinging rod connected with the swinging seat in a sliding mode penetrates through the swinging seat, a follow-up sleeve perpendicular to the swinging rod is fixed on one end, close to the fixed sleeve, of the swinging rod is arranged in an up-down parallel mode with the fixed sleeve, an upper telescopic rod matched with the follow-up sleeve is arranged on one end of the follow-up sleeve, a lower telescopic rod matched with the fixed sleeve is arranged on one end of the fixed sleeve, and the tail ends of the upper telescopic rod and the lower telescopic rod are hinged on a mast upright respectively.

4. The automatic oil pipe feeding and positioning system according to claim 1, wherein the elevator mechanism comprises a lifting seat capable of lifting along a mast upright post, the lifting seat adopts a lifting structure driven by a steel wire rope, a swinging shaft is installed on the lifting seat in a rotating mode, one end of the swinging shaft, far away from the lifting seat, is fixedly provided with a matching plate perpendicular to the swinging shaft, one side of the matching plate is vertically fixed with a limiting plate, the bottom side of the limiting plate is provided with a door-shaped groove, the notch of the door-shaped groove is arranged on the bottom side, the top end of the door-shaped groove is provided with a semicircular groove bottom, the width of the door-shaped groove and the diameter of the groove bottom are both matched with the diameter of an oil pipe, two clamping blocks parallel to the lifting seat are arranged on one side of the limiting plate, arc clamping grooves are arranged on the adjacent side edges of the clamping blocks, the arc clamping grooves are symmetrically arranged relative to the groove bottom of the door-shaped groove, and the two clamping blocks are in a clamping action of being close to or far away from each other relative to the door-shaped groove.

5. The automatic oil pipe feeding and positioning system according to claim 1, wherein the wellhead positioning module comprises an upper sliding rail and a lower sliding rail which are fixedly installed on the same side of a derrick, the upper sliding rail and the lower sliding rail are horizontally installed and fixed, an upper sliding block is connected to the upper sliding rail in a sliding mode, a rotating shaft is fixed to the upper sliding block, a lower sliding block is connected to the lower sliding rail in a sliding mode, a pin shaft is fixed to the lower sliding block, a shaft hole which is rotationally connected with the rotating shaft is formed in the top end of the bar frame, a bar hole which is penetrated by the pin shaft and matched with a pin shaft notch is formed in the bottom end of the bar frame, lifting sliding rails which extend in the same direction are fixed to the bar frame, 2 or more lifting sliding blocks are connected to the lifting sliding rails in a sliding mode, a transfer piece is fixed to the lifting sliding blocks, and the large-arm truss is rotationally installed on the transfer piece.

6. The automatic oil pipe feeding and positioning system according to claim 1, wherein a horizontally extending machine plate is symmetrically fixed at the top end and the bottom end of the large arm truss respectively, an inner shaft is fixedly installed at one end of the machine plate, which is close to the bar frame, and penetrates up and down, the inner end of the inner shaft is rotatably installed on the adapter, a rotating arm motor for driving the inner shaft is arranged on the machine plate, a large chain wheel is installed at the opposite inner ends of the upper inner shaft and the lower inner shaft, an outer shaft is installed at the opposite end of the machine plate, which is far away from the lifting sliding rail, of the machine plate, a small chain wheel is fixed at the opposite end of the upper outer shaft and the lower outer shaft, a chain is wound between the large chain wheel and the small chain wheel, and the transmission ratio between the large chain wheel and the small chain wheel is 1:2.

7. An integrated workover rig, comprising a chassis, wherein a derrick is mounted at the tail of the chassis, characterized in that an automated oil pipe feeding positioning system according to any one of claims 1-6 is mounted, the second-order feeding module is mounted at one side of the chassis, and the lifting module and the wellhead positioning module are mounted on the derrick.