CN206874234U - A kind of automatic well maintenance vehicle - Google Patents

Abstract

The utility model discloses a kind of automatic well maintenance vehicle, including running gear and it is connected to the chassis of running gear, also include jacking system, execution system and the control system to cooperate, jacking system can lift oil pipe, and control system is used for the work for automatically controlling each part of automatic well maintenance vehicle；Execution system includes the first mechanical arm, the second mechanical arm and the 3rd mechanical arm to cooperate, first mechanical arm can capture oil pipe and be moved to predetermined work position, second mechanical arm is used to install or remove workover treatment wellhead tree tree and preventer connection fastening screw, the 3rd mechanical arm are used to connecting or dismantling operation OIH tubing string connection screw thread.The automatic well maintenance vehicle can realize in workover treatment lower oil pipe automatically, carry oil pipe and the technological process such as move, combine, release and link closely of oil pipe, so as to greatly improve the operating efficiency of workover treatment, reduce the labor intensity of worker, the security of workover treatment is improved, and improves the working environment of worker.

Description

A kind of automatic well maintenance vehicle

Technical field

Oil drilling and repairing machine technical field is the utility model is related to, more particularly to a kind of automatic well maintenance vehicle.

Background technology

Workover treatment refers in oil field development production process, according to production engineering specifications, utilizes a set of ground and underground Equipment, instrument, construction operation is carried out to oil, well, rate of oil production and recovery ratio purpose technology are improved to reach.Due to state Inside and outside oil field is general all in wilderness field, and therefore, well workover is all open work, and duty cycle is typically at 3-10 days.At present, it is existing Workover process need to be equipped with workover rig 1, fluid reservoir 3, room on duty, toolhouse, well control manifold and each 1 set of preventer, separately Carrier group (1, crane, 5, truck, large flatbed tricycle 1) is needed, and 1 day time was installed.

Prior art processes flow is：

1st, with resettlement car group related implement (workover rig contain voluntarily, fluid reservoir, room on duty, toolhouse, well control set It is standby) handling is to oil-water well to be repaired；

2nd, workover rig is put according to well site condition with crane；

3rd, installation and debugging efforts before going into operation：Smooth well site, erection of derrick, workover rig adjust in place, workover rig and lifting Steel wire rope connection, take charge of oil pipe bridge, standby well killing fluid, dismounting oil-water well Well head flow path, installation connection kill manifold, kill manifold examination Pressure, bleeds off pressure to oil-water well, installs hydraulic tubing tong, the Acceptance test that goes into operation before being gone into operation；Install debug time is about half It was to two days；

4th, construct：Dismounting oil-water well wellhead tree tree after kill-job, installation preventer, blowout preventer pressure-testing, adjustment derrick, manually Carry sucker rod in well, propose OIH pipe with hydraulic tubing tong, the OIH pipe of proposition is checked, cleared up, measure after connect Reception is gone into the well instrument, with hydraulic tubing tong by, to projected depth, being placed under repair under root to oil-water well, such as：Shaft bottom sand removal, sleeve pipe lead to Through, sleeve pipe scraping, casing pressure test, to stratum perforation etc. process, last tripping in completion flow string, well head open flow device of dismantling, Original wellhead tree tree is installed, connects flow, is gone into operation；

5th, profit well servicing proposes Tubing During Running operation：Put Tubing During Running to be at least accomplished manually with four people, a people exists The lifting of well workover hands- operation, decentralization joystick, two people coordinate shackle operation, a people on progress oil pipe attached in oil pipe bridge in well head Nearly drawing, which is arranged, puts oil pipe, and the oil pipe in well is proposed pit shaft by the operating personnel on workover rig, and two operating personnel of well head are on oil pipe Buckle pipe elevator, hand down oil pipe, oil pipe of the operation on workover rig is sitting on elevator, now lays down hook block load, well Two people of mouth are pulled to hydraulic tubing tong at oil pipe and embrace oil pipe manually, and one man operation oil pipe pliers grip carries out shackle operation, unloads After opening, manipulator is upper to carry oil pipe, makes to put on oil pipe and is separated with the oil pipe at well head, and an operating personnel of well head push away oil pipe Well head is left, to above oil pipe bridge, drain line under workover rig manipulator, oil pipe pin thread is contacted with oil-pipeline small sliding pulley, oil pipe bridge Neighbouring operating personnel coordinate with work-over operation hand, and oil pipe, whole is placed on oil pipe bridge, and well head personnel manually unsnap suspension ring, Again suspension ring are hung on wellhead lifting-clamping, second oil pipe of progress above carries；

6th, Tubing During Running operates under profit well servicing：Four people, which coordinate, to complete, and measures oil pipe, oil pipe data is calculated, under connection Well instrument, well head personnel lift to oil pipe on oil pipe bridge tie, and the operating personnel near oil pipe bridge are oil pipe end (oil pipe pin thread Place) lift on oil-pipeline small sliding pulley, being pushed into before oil pipe near well head, the operation on workover rig hand down is connected with elevator it is travelling greatly Hook, the people of well head two, which coordinates, to be buckled in elevator on oil pipe, and manipulator is upper to carry oil pipe, makes above instrument to wellhead blowout preventor, well head people Tripping in pit shaft after member's righting, the tripping in work of first oil pipe is completed, is acted by top, lifts second, well head personnel's righting Oil pipe pin thread is set to enter in tubing coupling, two operating personnel of well head pull tubing tongs, tubing tongs is embraced oil pipe, one man operation Oil pipe pliers grip is carried out buckleing work, upper next, and manipulator is upper to be carried, and well head personnel are unsnaped wellhead lifting-clamping, and elevator is buckled in oil pipe On oil pipe on pillow, the tripping in of pending 3rd oil pipe, above-mentioned action is repeated, by root tripping in oil pipe, makes lowermost underground Instrument reaches projected depth, and oil-water well is repaired；

7th, the equipment equipped with wellhead slip, except the elevator of well head card oil pipe is substituted by wellhead slip, other operating methods and Step is the same；

8th, completion ending：After the completion of maintenance, well head original production tree is installed, connects Well head flow path pipeline, is gone into operation.By operating People, which coordinates, takes mounted all wellsite facilities apart, is operated by resettlement car group to next dimension treated well workover and carry out oil-water well Repair.

The groundwork amount of above-mentioned workover treatment is that tube rod is moved, combines, releases and linked closely, and accounts for whole well-repairing work amount 80%, it is required to 4 people and cooperates with completion, therefore, the workover process flow has the problems such as operating efficiency is low, labor intensity is big.Base In this, in recent years, many inventors are made that very big effort, such as are invented to mitigate hand labor and improve operating efficiency Oil pipe conveyer；Even some proposes package solution, has invented the workover treatment automated system of full automation, Although the system automaticity is high, because equipment is too many (a whole set of 6 large scale equipments), execution conditions require harsh, operation Cost is too high, and practicality is not high.Either from the existing invention of part still entirety, otherwise it is that can't resolve essence Problem, or being that practicality is not high, current workover treatment is caused to be still dirty (employee all day long all over the body oil), hardship (under the blinding sun, Mao Yan It is cold), tire out (80% workload is manually).

In view of this, a kind of well workover Aided Machine how is developed, when it is used for workover treatment, it is possible to increase workover treatment Operating efficiency, reduce labor intensity and improve the working environment of worker, be those skilled in the art's urgent problem to be solved.

Utility model content

In order to solve the above technical problems, the purpose of this utility model is a kind of automatic well maintenance vehicle of offer, including running gear And the chassis of the running gear is connected to, in addition to jacking system, execution system and the control system to cooperate, the liter Drop system can lift oil pipe, and the control system is used for the work for automatically controlling each part of the automatic well maintenance vehicle；

The execution system includes the first mechanical arm, the second mechanical arm and the 3rd mechanical arm to cooperate, institute Oil pipe can be captured and be moved to predetermined work position by stating the first mechanical arm, second mechanical arm be used for install or Dismantle workover treatment wellhead tree tree and preventer connection fastening screw, the 3rd mechanical arm are used to connecting or dismantling operation OIH tubing string connection screw thread.

Automatic well maintenance vehicle of the present utility model, can by the mutual cooperation of control system, jacking system and execution system Realize each technological process in workover treatment, including lower oil pipe, carry oil pipe etc., meanwhile, pass through three manipulators of execution system The mutual cooperation of arm, the operation such as move, combine, release and link closely of oil pipe in workover treatment can be realized, and aforesaid operations are equal It is automatically performed by automatic well maintenance vehicle, it is not necessary to which multi-person synergy is completed, and therefore, the automatic well maintenance vehicle can greatly improve well workover work The operating efficiency of industry, the labor intensity of worker is reduced, and the security of workover treatment can be improved, and improve the building ring of worker Border.Meanwhile above-mentioned control system, jacking system and execution system are respectively positioned on automatic well maintenance vehicle, therefore, required equipment compared with It is few, so as to reduce the operating cost of automatic well maintenance vehicle, improve its practicality.

Alternatively, first mechanical arm includes being fixed on first pedestal on the chassis, some first joint arms, connection In the force piece that the first manipulator of corresponding first joint arm and adjacent first joint arm of driving relatively rotate, described first Pedestal is rotatablely connected with corresponding first joint arm, is connected between each first joint arm by the first joint, so as to adjacent First joint arm can relatively rotate.

Alternatively, first joint arm includes the first paragraph and second segment being connected by second joint, and the force piece is also For driving the first paragraph to be relatively rotated with the second segment；

First joint is opposite with the rotation direction of the second joint.

Alternatively, second mechanical arm includes being fixed on second pedestal on the chassis, some second joint arms, connection In the force piece that the second manipulator of second joint arm and adjacent second joint arm of driving relatively rotate, second pedestal It is rotatablely connected, is connected between adjacent second joint arm by first joint, so as to phase with corresponding second joint arm Adjacent second joint arm can relatively rotate.

Alternatively, second joint arm being connected with second manipulator includes the 3rd section to be connected by the 3rd joint With the 4th section, the force piece be additionally operable to drive described 3rd section with described 4th section along its axis linear relative movement so that Second joint arm being connected with second manipulator is stretched along its axis.

Alternatively, the 3rd mechanical arm includes being fixed on the 3rd pedestal on the chassis, some three joint arms, connection In the force piece that the hydraulic tongs and the adjacent three joint arms of driving of the three joint arms relatively rotate, the 3rd pedestal with it is right The three joint arms answered are rotatablely connected, and are connected between the adjacent three joint arms by first joint, so as to adjacent institute Stating three joint arms can relatively rotate.

Alternatively, the force piece is hydraulic cylinder, and the cylinder body and expansion link of the hydraulic cylinder are connected to adjacent each section It is arm, the first paragraph and the second segment, described 3rd section and described 4th section.

Alternatively, the automatic well maintenance vehicle includes being used for the hydraulic oil pipe bridge for placing oil pipe, the hydraulic oil pipe bridge location in Chassis both sides transversely or the rear end along longitudinal direction；

The automatic both ends of well maintenance vehicle transversely are respectively equipped with first mechanical arm, the 3rd mechanical arm position Between two first mechanical arms, two second mechanical arms are located at below second mechanical arm.

Alternatively, the jacking system includes being connected to the main arm on the chassis, is fixed on the main arm end Overhead traveling crane, the wire rope drum for being fixed on the chassis, the steel wire rope for being around in the overhead traveling crane and it is connected to the automatic of the steel wire rope Elevator.

The overhead traveling crane is provided with load transducer, is passed for measuring the load of the automatic elevator, and by the information measured It is handed to the control system.

Alternatively, the main arm is articulated with the chassis, and is supported by the supporting cylinder located at the chassis, with Change angle of the main arm relative to the chassis.

Alternatively, the main arm includes some steel cylinders being mutually socketed, and the adjacent steel cylinder passes through telescopic hydraulic cylinder phase Even, to change the length of the main arm；

The jacking system also includes limiting the flexible main arm locking device of the main arm.

Alternatively, during workover treatment, operation well well head is provided with spraying-preventing system, and the spraying-preventing system includes what is cooperated Hydraulic pressure pipe slips and preventer, the hydraulic pressure pipe slips are used to position oil pipe；

The well maintenance vehicle also includes safety and environmental protection monitoring system, and the safety and environmental protection monitoring system is included outside well head oil-stain-preventing Let out device, well head pressure monitoring device, endanger gas controlling device, oil pipe coupling monitoring device, oil pipe measurement apparatus and automatic Brake gear, the measurement result of each part can be transferred to the control system, and the oil pipe coupling monitoring device and oil pipe are surveyed Amount device is located at the preventer, and the oil pipe coupling monitoring device is used to monitor the tube inner wall degree of wear, and the oil pipe is surveyed Amount device is used for the size and oil pipe radical for measuring single oil pipe.

Alternatively, pilot steering system, dynamical system, living guarantee system and the light sound located at chassis are further comprised As system.

Alternatively, the chassis is provided with rotating basis, and the rotating basis is connected with Hydraulic Power Transmission System, and can be Rotate under the driving of the Hydraulic Power Transmission System, and after it turns over predetermined angular, can be locked by orientation fixing device.

Brief description of the drawings

Fig. 1 is automatic structural representation of the well maintenance vehicle in working condition provided by the utility model；

Fig. 2 is automatic structural representation of the well maintenance vehicle in off working state provided by the utility model；

Fig. 3 is Fig. 2 top view；

Fig. 4 is structural representation of first mechanical arm in retracted mode in Fig. 1；

Fig. 5 is structural representation of first mechanical arm in elongation state in Fig. 1；

Fig. 6 is the structural representation of the second mechanical arm in Fig. 1；

Fig. 7 is the structural representation of the 3rd mechanical arm in Fig. 1.

In Fig. 1-7：

1 chassis, 11 fixed supporting legs, 12 movable supporting legs, 13 wheels, 14 cockpits, 15 living houses, 16 operation storehouses, 17 hydraulic pressure Transmission system, 18 hydraulic line interfaces；

2 jacking systems, 21 main arms, 211 main arm locking devices, 22 steel wire ropes, 23 wire rope drums, 24 overhead traveling cranes, 25 Load transducer, 26 automatic elevators, 27 supporting cylinders, 28 hook blocks；

3 first mechanical arms, 31 first pedestals, 32 first joint arms, 321 first paragraphs, 322 second segments, 33 first joints, 34 Second joint, 35 first manipulators, 36 force pieces；

4 second mechanical arms, 41 second pedestals, 42 second joint arms, 421 the 3rd sections, 422 the 4th sections, 43 the 3rd joints, 44 Second manipulator, 45 hydraulic motors；

5 the 3rd mechanical arms, 51 the 3rd pedestals, 52 three joint arms, 53 hydraulic tongses；

6 spraying-preventing systems, 7 safety and environmental protection monitoring systems, 8 hydraulic oil pipe bridges.

Embodiment

In order that those skilled in the art more fully understands the technical solution of the utility model, below in conjunction with the accompanying drawings and have The utility model is described in further detail for body embodiment.

It should be noted that the noun of locality such as " longitudinal direction " referred to herein, " transverse direction " and " vertical " is to be based on automatic well workover What the travel direction of car defined, wherein " longitudinal direction " refers to the travel direction identical direction with automatic well maintenance vehicle, i.e., shown in Fig. 1 Left and right directions；" transverse direction " refers to vertical with travel direction direction in the traveling plane of vehicle, i.e., upper and lower shown in Fig. 3 Direction；" vertical " refers to the direction of the traveling plane perpendicular to vehicle, i.e., the above-below direction shown in Fig. 1.It is it is appreciated that above-mentioned The appearance of each noun of locality is not construed as the absolute limit to scope of protection of the utility model.

Accompanying drawing 1-7 is refer to, wherein, Fig. 1 is automatic knot of the well maintenance vehicle in working condition provided by the utility model Structure schematic diagram；Fig. 2 is automatic structural representation of the well maintenance vehicle in off working state provided by the utility model；Fig. 3 is Fig. 2 Top view；Fig. 4 is structural representation of first mechanical arm in retracted mode in Fig. 1；Fig. 5 is the first machine in Fig. 1 Structural representation of the tool arm in elongation state；Fig. 6 is the structural representation of the second mechanical arm in Fig. 1；Fig. 7 is Fig. 1 In the 3rd mechanical arm structural representation.

In a kind of specific embodiment, the utility model provides a kind of automatic well maintenance vehicle, as Figure 1-3, wherein, should be certainly Dynamic well maintenance vehicle includes running gear and is connected to the chassis 1 of running gear, wherein, running gear includes being connected to the bottom of chassis 1 Fixed supporting leg 11, movable supporting legs 12 and wheel 13, and fixed supporting leg 11, movable supporting legs 12 are symmetrically distributed in wheel 13 The both ends of chassis 1 transversely, and the hydraulic cylinder of fixed supporting leg control device control, hydraulic cylinder are provided with fixed supporting leg 11 Expansion link it is flexible when, fixed supporting leg 11 lifts, and when being elevated to specified location, is locked by fixed supporting leg locking device.Should Running gear also includes being provided with seat, steering wheel, measuring instrument, shelves in the anterior cockpit 14 in chassis 1, cockpit 14 Bar, clutch and gas pedal, air-conditioning system, PA-system, drive recorder and auxiliary crane device etc., worker can be by driving Sailing storehouse 14 controls automatic well maintenance vehicle to travel to operation wellhead.

In addition, as shown in figure 1, the automatic well maintenance vehicle also includes jacking system 2, execution system and the control system to cooperate System, wherein, in workover treatment, jacking system 2 is used to lift oil pipe, and control system is used to automatically control each portion of automatic well maintenance vehicle The work of part, execution system can move oil pipe and be located at predetermined work position, and be able to carry out operating accordingly.Wherein, Above-mentioned predetermined work position refers to that oil pipe is in the position corresponding to different working condition, different working condition during workover treatment Including carrying oil pipe, lower oil pipe etc..

In the present embodiment, execution system includes the first mechanical arm 3 of three groups of mutual cooperations, the second mechanical arm 4 and the Three mechanical arms 5, wherein, the first mechanical arm 3 is used for the miscellaneous part for capturing oil pipe or automatic well maintenance vehicle, and is moved to Predetermined work position, the second mechanical arm 4 are used to install or remove workover treatment wellhead tree tree and preventer connection fastening spiral shell Silk, the 3rd mechanical arm 5 are used to connecting or dismantling operation OIH tubing string connection screw thread.

It is arranged such, automatic well maintenance vehicle of the present utility model passes through the mutual of control system, jacking system 2 and execution system Coordinate, can realize each technological process in workover treatment, including lower oil pipe, carry oil pipe etc..Meanwhile pass through execution system three The mutual cooperation of individual mechanical arm, can realize the operation such as move, combine, release and link closely of oil pipe in workover treatment, and on State operation to be automatically performed by automatic well maintenance vehicle, it is not necessary to which multi-person synergy is completed, and therefore, the automatic well maintenance vehicle can carry significantly The operating efficiency of high workover treatment, the labor intensity of worker is reduced, and the security of workover treatment can be improved, improve worker's Working environment.It is therefore, required meanwhile above-mentioned control system, jacking system 2 and execution system are respectively positioned on automatic well maintenance vehicle Equipment is less, so as to reduce the operating cost of automatic well maintenance vehicle, improves its practicality.

It should be noted that above-mentioned jacking system 2 is not merely used to lift oil pipe, additionally it is possible to for lifting workover treatment When other parts, equally, execution system is also used not only for moving oil pipe, additionally it is possible to other during for moving workover treatment Part.

Specifically, as shown in Figure 1, Figure 4 and Figure 5, the execution system includes the first mechanical arm 3, first mechanical arm 3 Oil pipe or miscellaneous part can be captured and be moved to specified location, therefore, first mechanical arm 3 can complete well workover work Oil pipe moves operation during industry.Wherein, first mechanical arm 3 includes the first pedestal 31, some first segments for being fixed on chassis 1 The power that arm 32, the first manipulator 35 for being connected to last the first joint arm of root 32 and adjacent first joint arm 32 of driving relatively rotate Part 36, the first pedestal 31 are rotatablely connected with first first joint arm 32, rotated between each first joint arm 32 by the first joint 33 Connection, so that adjacent first joint arm 32 can relatively rotate under the driving of force piece 36 around the first joint 33.

It is arranged such, as shown in Figure 4 and Figure 5, when adjacent first joint arm 32 relatively rotates, the angle of the two changes therewith, So that the position (highly with angle etc.) for being connected to the first manipulator 35 of the end of the first mechanical arm 3 changes therewith, separately Outside, when the radical of the first joint arm 32 in first mechanical arm 3 is more, the position of the first manipulator 35 is more easily adjusted, so as to So that the position of oil pipe or other parts through the crawl of the first manipulator 35 is also more easily adjusted.Therefore, first mechanical arm 32 can change the position of oil pipe or other parts.

It should be noted that the first manipulator 35 is the hand-type structure that can realize grasping manipulation, and by hydraulic control, energy It is enough to realize promptly or unclamp operation, the crawl of oil pipe during realizing workover treatment, put and move.

More specifically, as shown in Figure 4 and Figure 5, each first joint arm 32 includes first be rotatablely connected by second joint 34 Section 321 and second segment 322, under the driving of above-mentioned force piece 36, first paragraph 321 is relative around second joint 34 with second segment 322 Rotate.Therefore, each first joint arm 32 can be bending structure, and its bending angle can change.

Meanwhile the rotation direction of above-mentioned first joint 33 and second joint 34 is on the contrary, therefore, as shown in figure 5, adjacent two the Rotation direction between one joint arm 32 between first paragraph 321, second segment 322 is opposite.

Certainly, the first joint 33 also can be identical with the rotation direction of second joint 34, now, the bending of each first joint arm 32 Offset direction between direction and adjacent two first joint arm 32 is identical, so that overall inclined of the first mechanical arm 3 now It is identical to turn direction.And in the present embodiment, when the first joint 33 is opposite with the rotation direction of second joint 34, each first joint arm 32 Overbending direction and adjacent two first joint arm 32 between offset direction on the contrary, so that the regulation of first mechanical arm 3 It is more flexible.

Further, as shown in figures 1 to 6, the execution system also includes the second mechanical arm 4, for installing or removing Workover treatment wellhead tree tree and preventer connection fastening screw, therefore, second mechanical arm 4 can complete wellhead tree tree And preventer connection fastening screw releases and linked closely operation.

Wherein, as shown in fig. 6, the second mechanical arm 4 includes being fixed on second pedestal 41 on chassis 1, some second joint arms 42nd, the second manipulator 44 of last the second joint arm of root 42 and the force piece of the adjacent relative rotation of second joint arm 42 of driving are connected to 36, and the second pedestal 41 is rotatablely connected with first second joint arm 42, is connected between adjacent second joint arm 42 by the first joint 33 Connect, so that adjacent second joint arm 42 can relatively rotate under the driving of force piece 36 around the first joint 33.

Meanwhile in order to realize installation or removal screw, pass through between the second manipulator 44 and last second joint arm of root 42 Hydraulic motor 45 is connected, so as to which under the driving of hydraulic motor 45, the second manipulator 44 can rotate relative to the second joint arm 42.

It is arranged such, as shown in fig. 6, when adjacent second joint arm 42 relatively rotates, the angle of the two changes therewith, so that The position (highly with angle etc.) that the second manipulator 44 of the end of the second mechanical arm 4 must be connected to changes therewith, in addition, when should The radical of second joint arm 42 is more in second mechanical arm 4, and the position of the second manipulator 44 is more easily adjusted so that this Two manipulators 44 can be adjusted easily to position to be operated, and when hydraulic motor 45 drives the second manipulator 44 to rotate, Install or remove the screw of corresponding component different size.

In addition, the second joint arm 42 or the bending structure similar with the first joint arm 32 in second mechanical arm 4.

Specifically, as shown in fig. 6, last second joint arm of root 42 being connected with the second manipulator 44 includes closing by the 3rd 43 the 3rd sections 421 and the 4th section 422 to be connected are saved, wherein, the 3rd joint 43 is that can make the 3rd section 421 and the 4th section 422 The part of linear relative movement, above-mentioned force piece 36 are additionally operable to drive the 3rd section 421 and the 4th section 422 along its axis relative rectilinear Motion, so that last second joint arm of root 42 being connected with the second manipulator 44 is stretched along its axis, so that the second machinery Axis straight reciprocating motion of the hand 44 along last the second joint arm of root 42, and then change its distance with oil pipe to be operated.

Similarly, second manipulator 44 also should be the hand-type structure that can realize grasping manipulation, and in control system Under control, it can realize promptly or unclamp operation, so as to each part spiral shell when realizing workover treatment under the driving of hydraulic motor 45 The installation or removal of silk.

Further, as shown in fig. 7, also execution system further comprises the 3rd mechanical arm 5, used in workover treatment In connecting or dismantling operation OIH tubing string connection screw thread, the 3rd mechanical arm 5 can be used in matching somebody with somebody with the second mechanical arm 4 Close, released and link closely operation for operation OIH tubing string connection screw thread.

Wherein, as shown in fig. 7, the 3rd mechanical arm 5 includes the 3rd pedestal 51, some Section three for being fixed on chassis 1 The force piece that arm 52, the hydraulic tongs 53 for being connected to last root three joint arms 52 and the adjacent three joint arms 52 of driving relatively rotate 36, the 3rd pedestal 51 is rotatablely connected with first three joint arms 52, by 33 turns of the first joint between adjacent three joint arms 52 Dynamic connection, so that adjacent three joint arms 52 can relatively rotate under the driving of force piece 36 around the first joint 33.

It is arranged such, as shown in fig. 7, when adjacent three joint arms 52 relatively rotate, the angle of the two changes therewith, so as to So that the position (highly with angle etc.) for being connected to the hydraulic tongs 53 of the end of the 3rd mechanical arm 5 changes therewith, in addition, when this When the radical of three joint arms 52 is more in three mechanical arms 5, the position of hydraulic tongs 53 is more easily adjusted, so that the hydraulic tongs 53 can easily adjust to position to be operated, and to clamp part to be operated, and the suspension force of the 3rd mechanical arm 5 is up to one More than ton, collapsing length reaches several meters.

Specifically, each force piece 36 in various embodiments above is hydraulic cylinder, wherein, in the first mechanical arm 3, the hydraulic pressure The cylinder body and expansion link of cylinder connect adjacent two first joint arm 32 respectively, and the cylinder body and expansion link of another hydraulic cylinder connect first respectively Section 321 and second segment 322, so that when expansion link is flexible, between adjacent two first joint arm 32, first paragraph 321 and second segment Relatively rotated between 322.In second mechanical arm hand 4, the cylinder body and expansion link of hydraulic cylinder are connected to adjacent second section Arm 42, the cylinder body of another hydraulic cylinder connects the 3rd section 421 and the 4th section 422 respectively, so that the expansion link of hydraulic cylinder is stretched During contracting, relatively rotated between adjacent two second joint arm 42, linear relative movement between the 3rd section 421 and the 4th section 422.3rd machine In tool arm 5, the cylinder body and expansion link of hydraulic cylinder connect adjacent two three joint arms 52 respectively, so that the expansion link stretches When, relatively rotate between adjacent two three joint arms 52.

Certainly, above-mentioned each force piece 36 is it is not necessary to be hydraulic cylinder, as long as relative rotation or relative rectilinear can be realized Motion.

In addition, the automatic well maintenance vehicle includes being used for the hydraulic oil pipe bridge 8 for preventing oil pipe, when the automatic well maintenance vehicle is not repaiied During well operations, the hydraulic oil pipe bridge 8 is positioned on chassis 1, and is fixed by hydraulic oil pipe bridge fixing device；When the automatic well workover When car carries out workover treatment, the mechanical arm 3 of jacking system 2 or first captures the hydraulic oil pipe bridge 8, and is positioned over close to operation well The position of well head, as shown in Figure 1.The hydraulic oil pipe bridge 8 divides to be multigroup, every group include multiple hydraulic liftings regulation bridge chair, manually Lift adjustment bridge chair, hydraulic line and support.

It is appreciated that the hydraulic oil pipe bridge 8 can be positioned over the both sides or edge of automatic well maintenance vehicle transversely according to actual conditions The rear end (right-hand member shown in Fig. 1) of longitudinal direction, based on this, as shown in figure 3, the both ends of automatic well maintenance vehicle transversely are respectively equipped with this First mechanical arm 3, i.e. two first mechanical arms 3 are located at the rear upper both sides on chassis 1, and the 3rd mechanical arm 5 is located at two first machines Between tool arm 3, i.e. the 3rd mechanical arm 5 is located at the rear upper middle part on chassis 1, and two second mechanical arms 4 are located at the second manipulator The lower section of arm 4, i.e., two second mechanical arms 4 are located at the lower rear of chassis 1.

In summary, the phase interworking for three groups of mechanical arms that the automatic well maintenance vehicle in the utility model passes through execution system Close, oil pipe and other parts capture, mobile when can realize workover treatment, and elastic screw thread.

In various embodiments above, as shown in figure 1, jacking system 2 includes being connected to the main arm 21 on chassis 1, is fixed on master The overhead traveling crane 24 of the end of arm 21, the wire rope drum 23 for being fixed on chassis 1, the steel wire rope 22 for being around in overhead traveling crane 24 and it is connected to steel wire The automatic elevator 26 of rope 22.Wherein, wire rope drum 23 is controlled by wire rope drum control device, wire rope drum control dress Put including disc brake device, anti-crashing into the crown control device and arrange wire rope device automatically, during work, disc brake device control Wire rope drum 23, the height of the rotation control hook block 28 of wire rope drum 23, and then control the lifting of automatic elevator 26.

Meanwhile overhead traveling crane 24 is located at the position of the main front end of arm 21 and is provided with load transducer 25, for monitoring automatic elevator 26 load, and by the information transmission measured to control system, meanwhile, automatic elevator 26 can be shown by operating to be provided with storehouse 16 The display screen of load.

Further, as shown in figure 1, main arm 21 is articulated with the One On The Chassis rotating basis, it can be around pin joint perpendicular Supported to rotation with surface, and by the supporting cylinder 27 located at rotating basis, the expansion link of the supporting cylinder 27 is fixed In main arm 21, when expansion link stretches, angle of the main arm 21 relative to chassis 1 can be changed.Specifically, in operation storehouse 16 It is provided with that the main arm 21 of control lifts and the operation handle of angle change, worker pass through the operation handle and main arm 21 can be achieved The change of angle and height.

It is arranged such, when the automatic well maintenance vehicle is in well workover state, the state of main arm 21 is as shown in figure 1, now, lead Arm 21 is supported by supporting cylinder 27, and the jacking system 2 can realize the purpose of lifting；When the automatic well maintenance vehicle is not in repairing During well state (for example, the automatic well maintenance vehicle is in transport condition), as shown in Fig. 2 main arm 21 rotates around pin joint, and place In on chassis 1.

Specifically, the main arm 21 includes some steel cylinders being mutually socketed, and adjacent steel cylinder is connected by telescopic hydraulic cylinder, when During the expansion link stretching motion of the telescopic hydraulic cylinder, the length of main arm 21 can be changed.Meanwhile the jacking system 2 also includes Main arm locking device 211, i.e., should after the expansion link of telescopic hydraulic cylinder is flexible in place when the length satisfaction requirement of main arm 21 Main arm locking device 21 can be locked by adjacent steel cylinder, so as to prevent main arm 21 from bouncing back, so that main arm 21 remains above-mentioned The length needed.

In addition, each steel cylinder thickness of the main arm 21 is different, and it is tetragonal structure short outside interior length, each steel cylinder is connected shape Into main arm 21, for suspending each part carried in workover treatment in midair.It is appreciated that the section of steel cylinder is not necessarily square Structure, other structures commonly used in the art can be also used, for example, the section of steel cylinder is alternatively circle.

In various embodiments above, as shown in figure 1, during workover treatment, operation well well head is provided with spraying-preventing system 6, the blowout prevention System 6 includes the hydraulic pressure pipe slips and preventer to cooperate, and in workover treatment, hydraulic pressure pipe slips are used for clamping oil pipe, so as to anti- Only oil pipe is descending, and the hydraulic pressure pipe slips are located at the side of oil production machine on chassis 1, and when automatic well maintenance vehicle travels, the hydraulic pressure pipe slips are therewith It is mobile, it is installed on operation well import preventer during well workover.Preventer is arranged at by cockpit 14 with blowout preventing control apparatus, is used Well head is closed in the operation process such as formation testing, well workover, completion, prevents gas blowout accident, the full envelope of well head and half are sealed two by it Kind of function combines, have it is simple in construction, it is easy to operate, it is high pressure resistant the features such as, be the conventional security seal well for preventing blowout of oil well Mouth device.

In addition, the automatic well maintenance vehicle also includes safety and environmental protection monitoring system 7, as shown in figure 1, the safety and environmental protection monitoring system 7 include well head oil-stain-preventing leakage device, well head pressure monitoring device, endanger gas controlling device, oil pipe coupling monitoring device, oil Cell measurement apparatus and dead-man's device.Wherein, well head oil-stain-preventing leakage device be arranged on the lower rear of chassis 1 well head it is antifouling Contaminate in device Storage Box, including oil-stain-preventing landing groove, seal, well head installation lock and waste liquid reclaiming pump, should during workover treatment Well head oil-stain-preventing leakage device is installed and used after being captured by the first mechanical arm 3.Endanger gas controlling device be divided into it is fixed and Two kinds of Portable, for fixed set on the hydraulic tongs 53 of the 3rd mechanical arm 5, Portable is arranged on the storage of operation well At flow container.Oil pipe coupling monitoring device and oil pipe measurement apparatus are located between preventer and hydraulic pressure pipe slips, tubing coupling monitoring dress The degree of wear for monitoring tube inner wall is put, oil pipe measurement apparatus can measure the size and oil pipe radical of single oil pipe.

Each part of safety and environmental protection monitoring system 7 is respectively provided with remote signal emission function, and its corresponding signal receiving part is set Operation storehouse 16 is placed in, wherein, the signal receiving part of oil pipe adapter monitoring device has oil pipe intact and the prompting of serious wear letter Number referred to for operating personnel, the signal receiving part of oil pipe measurement apparatus has storage and data total function, and can be with the external world Equipment interconnection, there is data copy function.

The control system of the automatic well maintenance vehicle is intelligent numerical control operating system, and it is arranged in operation storehouse 16, is divided into automatic Two kinds of operator scheme and manual operation mode, automatic operation mode and safety monitoring reception device also are provided with living house 15, use In the working condition for monitoring each part of automatic well maintenance vehicle in real time, and the software of the control system is scalable, and data can store, and can copy Shellfish, it can also connect miscellaneous equipment.

In addition, the automatic well maintenance vehicle further comprises dynamical system, living guarantee system and light image-sound systems.Wherein, Dynamical system is arranged at the rear portion of living house 15, includes successively：Oil production machine, gearbox and transmission mechanism, wherein, oil production machine carries Generator and transformer.Fuel tank and hydraulic oil container are arranged on the downside of chassis 1.Living guarantee system is arranged in living house 15, Including air-conditioning, refrigerator, cooker and bed, for providing the daily life needs of operating personnel.Light image-sound systems include automatic Rotating illuminating lamp group and the automatic rotating camera of high definition, the automatic lighting lamp group that rotates are arranged on the top of operation storehouse 16, main arm 21 In first-class each operation equipment, it is divided into fixed and absorption type, wherein, absorption type is arranged in living house 15, by efficiently may be used Rechargeable battery provides power supply.The automatic rotating camera of high definition is arranged on the critical component with each equipment on each mechanical arm, should be certainly Dynamic rotating illuminating lamp group and the automatic rotating camera of high definition are respectively provided with remote signal emission function, and its signal receiving part is arranged at behaviour Make to hide in 16.

In various embodiments above, the back upper place on chassis 1 is provided with the rotating basis for being capable of 360 ° of rotations, the rotating basis with The transmission mechanism of oil production machine is connected, and realizes 360 ° of rotations by the control of Hydraulic Power Transmission System 17, and the rotating basis is provided with orientation Fixed locking device, when it turns to predetermined angular, it can be locked by the tight device of the orientation fixing lock.On the rotating basis Main arm 21, supporting cylinder 27, wire rope drum 23 and its control device are provided with, so as to realize the rotation of each part thereon Turn.

During using automatic well maintenance vehicle in the various embodiments described above, workover process flow is：

(1) automatic well maintenance vehicle is in place：The automatic well maintenance vehicle of pilot steering reaches target job well；

(2) fluid reservoir is put：Fluid reservoir is transported near operation well by truck, and is put by main arm 21；

(3) hydraulic oil pipe bridge is put：The One On The Chassis hydraulic oil will be positioned over by the main mechanical arm 3 of arm 21 or first Pipe bridge 8 is hung down, and is put；

(4) spraying-preventing system is in place and installs hydraulic pressure pipe slips：After operation well kill-job, observed according to the requirement of well control rule 30min, if well head without overflow, that is, reaches dynamic well head condition, if operation well is well or without oil pumping pump type oil well, directly utilize the Two mechanical arms 21 are dismantled the production tree of former well head, and install spraying-preventing system, after pressure testing is qualified, prepare workover treatment；

(5) jacking system 2 is in place：Various instrument and monitoring device are checked, after working well, main arm 21 is by inside it The flexible of telescopic hydraulic cylinder expansion link be adjusted to well head vertical height, main arm locking device 211 locks main arm 21, makes it It is positioned at well head vertical height；

(6) oil pipe operation is proposed：By operating operating buttons or handle in storehouse 16, control the first mechanical arm 3 crawl liquid The oil pipe on pipe bridge 8 is pressed oil, and holds up the oil pipe, the revenue centre of alignment liquid automatic elevator 26, operation handle or button make certainly Dynamic elevator 26 blocks oil pipe, and operation hook block 28 transfers handle, oil pipe end pin thread is entered well mouth oil pipe hanger mother In button, operate the button of the 3rd mechanical arm 5 or handle, hydraulic tongs 53 embrace oil pipe, realize that oil pipe and OIH pipe hanger are tight Button docking, upper next, hydraulic tongs 53 unclamps oil pipe, the automatic homing of the 3rd mechanical arm 5.It is up to operate hook block 28, oil Pipe hanger proposes well head certain altitude, starts the hydraulic pressure pipe slips on spraying-preventing system and blocks OIH pipe, operates hook block 28 It is descending, make whole loads be sitting on hydraulic pressure pipe slips (the now no-load of hook block 28, automatic elevator 26 and tubing coupling separate, Separated image can be seen in the display screen operated simultaneously in storehouse 16, and endangering gas controlling device can show that well head endangers gas detection The monitoring numerical value of instrument).

Boll-weevil hanger is laid down, operation hook block 28 is up, and first oil pipe of the tubing hanger for making to dismantle and well head separates, The first manipulator 35 on first mechanical arm 3 catches oil pipe, and automatic elevator 26 unclamps oil pipe, placed by the first mechanical arm 3 On hydraulic oil pipe bridge 8.It is descending to operate hook block 28, automatic elevator 26 blocks first oil pipe of well head, operates hook block 28 above carry first oil pipe in well, while the hydraulic pressure pipe slips of well head recover to open mode automatically, when second oil pipe connects in well When hoop proposes well head certain altitude, carried in stopping, starting hydraulic pressure pipe slips and block OIH pipe, operation hook block 28 is descending, makes Whole loads are sitting on hydraulic pressure pipe slips, operate the shackle button of the 3rd mechanical arm 5 or handle, hydraulic tongs 53 embrace oil pipe, realize The shackle of first oil pipe, after dismantling, hydraulic tongs 53 unclamps oil pipe, the automatic homing of the 3rd mechanical arm 5, and the while shackle One mechanical arm 3 is run to oil pipe centre position, and operation hook block 28 is up, makes the of first oil pipe dismantling and well head Two oil pipe separation, the first manipulator 35 of the first mechanical arm 3 catch oil pipe, and automatic elevator 26 unclamps oil pipe, the first machinery The oil pipe is placed on hydraulic oil pipe bridge 8 by arm 3, while hook block 28 is descending, and automatic elevator 26 blocks second, well head Oil pipe, so repeatedly, OIH pipe is all taken out, while proposition also can be collected and recorded to the automatic oil pipe measuring instrument of entrance Oil pipe by root long degree and quantity, and automatically pass to operation storehouse 16 database.

When hydraulic oil pipe bridge 8 is in the left side of well head or vehicle, the first mechanical arm that oil pipe uses vehicle left side is above carried 3；When hydraulic oil pipe bridge 8 is in the right side of well head or vehicle, the first mechanical arm 3 that oil pipe uses vehicle right side is above carried；Work as liquid Force feed pipe bridge 8 is in the rear of well head or vehicle, and the first mechanical arm 3 for above carrying oil pipe left and right vehicle wheel side all can be used.

(7) oil pipe Job Operations under：Artificial change installs the instrument of going into the well (stimulate the menstrual flow rule, scraper, sand-washing pen point, packing Device, oil well pump, screen casing, horn mouth, plug etc.) after.Operating personnel manipulate the first mechanical arm 3, pick up on hydraulic oil pipe bridge 8 Go into the well first oil pipe (oil pipe for being connected with downhole tool), the alignment center of automatic elevator 26 is simultaneously blocked, and decentralization hook block 28 makes Downhole tool enters well head, after the box cupling of first oil pipe is in hydraulic pressure pipe slips top, presses locking button, spraying-preventing system 6 Hydraulic pressure pipe slips block OIH pipe, and operation hook block 28 is descending, whole loads is sitting on hydraulic pressure pipe slips (the nothing of hook block 28 Load, automatic elevator 26 and tubing coupling separate, while operate 16 inner display screen of storehouse and can see separated image, while operate storehouse The gas detection signals reception device that endangers in 16 shows that well head endangers the detection numerical value of gas detecting instrument), the pine of automatic elevator 26 Open oil pipe, operation hook block 28 is up, while the first mechanical arm 3 picked up wait to go into the well second it is standby Oil pipe, stops movement when hook block 28 is run to certain altitude, and pick up second of the first mechanical arm 3 aligns automatic hanging The oil pipe of card 26, and automatic elevator 26 blocks the oil pipe, the first mechanical arm 3 unclamps oil pipe and goes to grab the 3rd oil pipe, operation trip Dynamic hook 28 is descending, second oil pipe end pin thread is entered in well mouth oil pipe box, operate the button of the 3rd mechanical arm 5 or Handle, hydraulic tongs 53 embrace oil pipe, realize that oil pipe links closely with OIH pipe and dock, upper next, the release oil pipe of hydraulic tongs 53, and the 3rd The automatic homing of mechanical arm 5, operation hook block 28 is up, and above carrying oil pipe, hydraulic pressure pipe slips recover to open mode automatically simultaneously Afterwards, carried in stopping, operation hook block 28 is descending second oil pipe G.I.H.So repeatedly, by under OIH pipe whole Enter in well, at the same the automatic oil pipe measuring instrument at well head also can collect and record tripping in OIH pipe by root long degree, quantity, total Length, database and the display in operation storehouse 16 are passed to automatically.

When hydraulic oil pipe bridge 8 is in the left side of well head or vehicle, lower oil pipe uses the first mechanical arm 3 of vehicle left side； When hydraulic oil pipe bridge 8 is in the right side of well head or vehicle, lower oil pipe uses the first mechanical arm 3 of vehicle right side；Work as hydraulic oil Pipe bridge 8 is in the rear of well head or vehicle, and the first mechanical arm 3 of lower oil pipe left and right vehicle wheel side all can be used.

(8) move：After the completion of workover treatment, each equipment automatic homing, automatic well maintenance vehicle is started to next new operation Well.

In summary, in the automatic well maintenance vehicle in the utility model, pilot steering system is mainly responsible for automatic well maintenance vehicle Walking locomotive function；Intelligent numerical control operating system (control system) is mainly responsible for automatic lifting system 2, execution system, blowout prevention system Operation and linkage between system 6,7 each part of light image-sound systems and safety and environmental protection monitoring system；Living guarantee system is mainly The board and lodging of at least 2 people is provided；Dynamical system is mainly to provide various power；Light image-sound systems are mainly to provide illumination, observation And video recording；Safety and environmental protection monitoring system 7 outer collection, well head pressure mainly dirty to well head, endanger gas-monitoring and strick precaution；Lifting System 2 mainly removes tube rod；Execution system is mainly crawl to tube rod, put and elastic screw thread；Spraying-preventing system 6 is mainly Prevent blowout and lift tube rod；Hydraulic oil pipe bridge 8 is mainly put to taking out tube rod.

A kind of automatic well maintenance vehicle provided by the utility model is described in detail above.It is used herein specifically Individual example is set forth to principle of the present utility model and embodiment, and the explanation of above example is only intended to help and understands this The method and its core concept of utility model.It should be pointed out that for those skilled in the art, do not departing from On the premise of the utility model principle, some improvement and modification can also be carried out to the utility model, these are improved and modification Fall into the protection domain of the utility model claims.

Claims (11)

1. a kind of automatic well maintenance vehicle, including running gear and the chassis (1) for being connected to the running gear；Characterized in that, also Jacking system (2), execution system and control system including mutual cooperation, the jacking system (2) can lift oil pipe, described Control system is used for the work for automatically controlling each part of the automatic well maintenance vehicle；

The execution system includes the first mechanical arm (3), the second mechanical arm (4) and the 3rd mechanical arm to cooperate (5), first mechanical arm (3) can capture oil pipe and be moved to predetermined work position, second mechanical arm (4) it is used to install or remove workover treatment wellhead tree tree and preventer connection fastening screw, the 3rd mechanical arm (5) is used In connection or dismounting operation OIH tubing string connection screw thread；

Wherein, first mechanical arm (3) includes being fixed on first pedestal (31) on the chassis (1), some first joint arms (32) the first manipulator (35) and adjacent first joint arm (32) of driving for, being connected to corresponding first joint arm (32) are relative The force piece (36) of rotation, first pedestal (31) are rotatablely connected with corresponding first joint arm (32), and each described first It is connected between joint arm (32) by the first joint (33), so that adjacent first joint arm (32) can relatively rotate；

Second mechanical arm (4) include being fixed on second pedestal (41) on the chassis (1), some second joint arms (42), It is connected to the second manipulator (44) of second joint arm (42) and moving for adjacent second joint arm (42) relative rotation of driving Power part (36), second pedestal (41) are rotatablely connected with corresponding second joint arm (42), adjacent second joint arm (42) connected between by first joint (33), so that adjacent second joint arm (42) can relatively rotate；

3rd mechanical arm (5) include being fixed on the 3rd pedestal (51) on the chassis (1), some three joint arms (52), It is connected to the hydraulic tongs (53) of the three joint arms (52) and the force piece of adjacent three joint arms (52) relative rotation of driving (36), the 3rd pedestal (51) and the corresponding three joint arms (52) are rotatablely connected, the adjacent three joint arms (52) it Between by first joint (33) connect, so that the adjacent three joint arms (52) can relatively rotate.

2. automatic well maintenance vehicle according to claim 1, it is characterised in that first joint arm (32) includes closing by second (34) connected first paragraph (321) and second segment (322) is saved, the force piece (36) is additionally operable to drive the first paragraph (321) Relatively rotated with the second segment (322)；

First joint (33) is opposite with the rotation direction of the second joint (34).

3. automatic well maintenance vehicle according to claim 2, it is characterised in that be connected with second manipulator (44) described Second joint arm (42) includes passing through the 3rd section (421) and the 4th section (422) that the 3rd joint (43) is connected, described 3rd section (421) overlapped with the axis of the 4th section (422), the force piece (36) is additionally operable to drive the 3rd section of (421) and the institute The axis linear relative movement of the 4th section (422) along the two is stated, so that be connected with second manipulator (44) described second Joint arm (42) is stretched along its axis.

4. automatic well maintenance vehicle according to claim 3, it is characterised in that the force piece (36) is hydraulic cylinder, the liquid The cylinder body and expansion link of cylinder pressure are connected to adjacent each joint arm, the first paragraph (321) and the second segment (322), described 3rd section (421) and the 4th section (422).

5. automatic well maintenance vehicle according to claim 1, it is characterised in that the automatic well maintenance vehicle includes being used to place oil pipe Hydraulic oil pipe bridge (8), the hydraulic oil pipe bridge (8) is located at the chassis (1) both sides transversely or the rear end along longitudinal direction；

The automatic both ends of well maintenance vehicle transversely are respectively equipped with first mechanical arm (3), the 3rd mechanical arm (5) Between two first mechanical arms (3), two second mechanical arms (4) are located under second mechanical arm (4) Side.

6. the automatic well maintenance vehicle according to any one of claim 1-5, it is characterised in that the jacking system (2) includes The main arm (21) on the chassis (1) is connected to, the overhead traveling crane (24) of main arm (21) end is fixed on, is fixed on the bottom The wire rope drum (23) of disk (1), the steel wire rope (22) for being around in the overhead traveling crane (24) and be connected to the steel wire rope (22) from Dynamic elevator (26)；

The overhead traveling crane (24) is provided with load transducer (25), for measuring the load of the automatic elevator (26), and will measure Information transmission to the control system.

7. automatic well maintenance vehicle according to claim 6, it is characterised in that the main arm (21) is articulated with the chassis (1), and by the supporting cylinder (27) located at the chassis (1) support, to change the main arm (21) relative to described The angle on chassis (1).

8. automatic well maintenance vehicle according to claim 6, it is characterised in that the main arm (21) includes some mutually sockets Steel cylinder, the adjacent steel cylinder is connected by telescopic hydraulic cylinder, to change the length of the main arm (21)；

The jacking system (2) also includes limiting the flexible main arm locking device (211) of the main arm (21).

9. the automatic well maintenance vehicle according to any one of claim 1-5, it is characterised in that during workover treatment, operation Jing Jing Mouth is provided with spraying-preventing system (6), and the spraying-preventing system (6) includes the hydraulic pressure pipe slips and preventer to cooperate, the hydraulic pressure card Watt be used for position oil pipe；

The well maintenance vehicle also includes safety and environmental protection monitoring system (7), and the safety and environmental protection monitoring system (7) includes well head oil-stain-preventing Leakage device, well head pressure monitoring device, endanger gas controlling device, oil pipe coupling monitoring device, oil pipe measurement apparatus and from Dynamic brake gear, the measurement result of each part can be transferred to the control system, the oil pipe coupling monitoring device and oil pipe Measurement apparatus is located at the preventer, and the oil pipe coupling monitoring device is used to monitor the tube inner wall degree of wear, the oil pipe Measurement apparatus is used for the size and oil pipe radical for measuring single oil pipe.

10. the automatic well maintenance vehicle according to any one of claim 1-5, it is characterised in that further comprise being located at chassis (1) pilot steering system, dynamical system, living guarantee system and light image-sound systems.

11. the automatic well maintenance vehicle according to any one of claim 1-5, it is characterised in that the chassis (1) is provided with rotation Turn pedestal, the rotating basis is connected with Hydraulic Power Transmission System (17), and can be in the driving of the Hydraulic Power Transmission System (17) Lower rotation, and after it turns over predetermined angular, can be locked by orientation fixing device.