CN207609392U - A kind of full-automatic petroleum well workover rod tube operation industrial robot - Google Patents

Abstract

The utility model discloses a fully automatic oil workover rod and pipe operation industrial robot. The robot includes a main rod and pipe processing mechanism, a rod and pipe stacking mechanism, a rod and pipe conveying device, an auxiliary hydraulic oil pipe slip, a sucker rod slip, Rod and tube online flaw detection device and GPS positioning device; the main rod and tube processing mechanism includes the main chassis, guide rail device and mechanical arm device; the rod and tube stacking device is equipped with a stacking base, a moving mechanism and a manipulator device; The cross arm of the oil pipe and the sucker rod is put on hold, and the rod and pipe conveying device includes conveying device 1 and conveying device 2; Encoder length measuring device, conveying device 2 is located at the front end of the rod and pipe stacking mechanism, and is on the same straight line as conveying device 1 to realize the transmission of oil pipes and sucker rods.

Description

A fully automatic oil well workover rod and pipe operation industrial robot

technical field

The utility model relates to the technical field of intelligent control of oil well workover equipment, in particular to a fully automatic oil workover rod pipe operation industrial robot.

Background technique

In the process of oil field production, when the production is reduced or stopped due to oil well or equipment failure, or when the working conditions of the oil well change and the production process measures need to be changed according to the new situation, the workover operation must be carried out on the oil well. For example, when changing from a gushing well to a pumping well, changing the running depth and model of the oil well pump, or encountering oil pipe leakage, sucker rod fracture, etc., it is necessary to lift and lower the oil pipe for workover operations. These tasks usually need workover rig equipment to complete. The original wellhead workover rig in the prior art is composed of at least 4-6 people on site per shift, one of whom drives the winch, and two people at the wellhead alternately operate the tubing slips and replace the tubing elevators and operate the hydraulic tubing tongs. Manually discharge 1-2 people, there are labor intensity of workers, harsh working environment, poor site safety, low work efficiency, easy to cause environmental pollution, etc. The flow of skilled workers is serious.

In recent years, China has successively introduced rod and pipe remote control automatic discharge systems and semi-automatic workover robots in response to this situation. For example, the utility model patent with application number 201320473958.3 discloses a well workover tubing and casing delivery device, including pipe strings, Mobile trolley, frame main body, unloading mechanism, lifting legs, trolley clamping cylinder, trolley moving roller mechanism, feeding mechanism, hydraulic manifold, hydraulic station and control cabinet assembly, folding mechanism. The mobile trolley is installed on the frame main body, the trolley clamping liquid cylinder is installed in the mobile trolley, the unloading mechanism is installed inside the frame main body, the trolley moving roller mechanism is installed in the frame main body on one side of the mobile trolley, and the lifting legs Installed on both ends of the frame body, the feeding mechanism is installed on one side of the frame body, the folding mechanism is installed on one end of the frame body, and the hydraulic manifold is respectively connected with the trolley clamping cylinder, hydraulic station and control cabinet assembly connected. Although the technology disclosed in this document reduces the labor intensity of manually draining the oil casing on site to a certain extent, the number of wellhead operators has not been reduced. Another example is the invention patent document with the application number of 201210370190.7 disclosing a semi-automatic tubing manipulator equipped with a tubing pick-up and delivery slideway, relying on the remote control method to realize the open-loop control workover operation automation production line, but it still does not fundamentally reduce the labor intensity of workers , improve operating efficiency, and the configuration of the number of well crews has not changed. Another example is the invention patent document with application number 201410584164.3, which discloses a workover operation auxiliary machine with a skid-mounted base and a transmission device, which improves the automation of workover operations, but its main body can only temporarily store a certain number of tubing pumps. The oil rod does not have the ability to handle all sucker rods and oil pipes, and the invention does not have special equipment for lifting and dismantling the sucker rods, and does not realize the fully automatic workover operation for all oil pipes and sucker rods.

Utility model content

In order to overcome the problems existing in the prior art and aim at the defects existing in the prior art, the utility model provides a fully automatic oil workover rod and pipe operation industrial robot suitable for closed-loop control of all oil pipes and sucker rods.

In order to achieve the above purpose, the fully automatic industrial robot for oil workover rod and pipe operation described in the utility model includes a main rod and pipe processing mechanism, a rod and pipe stacking mechanism, a rod and pipe conveying device, an auxiliary hydraulic oil pipe slip, and a sucker rod slip , rod and tube online flaw detection device and GPS positioning device; the main rod and tube processing mechanism includes a main body chassis, a guide rail device and a mechanical arm device; the bottom of the main body chassis is supported on the ground by hydraulic legs, and the guide rail device is equipped with The hydraulic elevator and the hydraulic rod pipe wrench, the guide rail device is hinged at the front end of the main chassis, the mechanical arm device includes a boom swing device and a flexible manipulator device, the boom swing device is hingedly installed on the swing seat at the front end of the main chassis, The flexible manipulator device is hinged on the top of the boom swing device, and the flexible manipulator device can swing with the boom swing device to a completely horizontal or completely vertical position; the rod tube palletizing device is provided with a stacking base, a moving mechanism and Manipulator device; the stacking base is provided with a cross arm for shelving oil pipes and sucker rods, the moving mechanism is connected to the rear end of the stacking base and can move forward and backward, and the manipulator device is arranged on the moving mechanism; The rod and tube conveying device includes conveying device 1 and conveying device 2; the conveying device 1 and conveying device 2 are respectively fixed on the main rod and pipe processing mechanism and the rod and pipe stacking mechanism, and the conveying device 1 is arranged on the left side of the main body chassis And it is located under the flexible manipulator device, and an encoder length measuring device is installed on the rear side of the first conveying device. The second conveying device is located at the front end of the rod and pipe stacking mechanism, and is on the same straight line as the conveying device one to realize oil pipe and oil pumping. Rod transmission, when lowering the oil pipe or the lower sucker rod operation, the manipulator device on the rod stacking device grabs the oil pipe or sucker rod to the second conveying device, and the oil pipe or sucker rod is conveyed by the second conveying device Device 1 is delivered to the main rod and pipe processing mechanism and lowered by the mechanical arm device; on the contrary, when the oil pipe or sucker rod is operated, the main rod and pipe processing mechanism will send the tubing or sucker rod pulled out from the well through the conveying device 1 to On the second conveying device of the rod and tube palletizing device, the rod and tube palletizing device arranges and stacks the lifted rods and tubes and automatically stores them in the computer system.

The auxiliary hydraulic oil pipe slips are installed on the wellhead flange or blowout preventer flange, and the hydraulic sucker rod slips are installed on the fixed oil pipe collar at the wellhead.

The rod and pipe online monitoring and flaw detection device is installed on the upper part of the wellhead hydraulic oil pipe slip or the hydraulic sucker rod slip, and the GPS positioning device is installed at the bottom of the main rod and pipe processing mechanism to realize remote positioning.

In particular, the palletizing base on the rod and tube palletizing device includes a palletizing chassis and a column, and the column is fixed on the rear end of the palletizing chassis; the moving mechanism on the rod and tube palletizing device includes a fixed guide frame, a moving The guide frame and the square frame-shaped manipulator support, the fixed guide frame is welded on the column horizontally, the movable guide frame is arranged under the fixed guide frame, and the movable guide frame can move forward and backward along the fixed guide frame through rack drive, and the two sides of the mobile guide frame There are sliders on the outside, and a chute is provided on the inside of the box-shaped manipulator bracket. The manipulator bracket is connected with the slider on the outside of the moving guide frame through the chute. The manipulator bracket can go up and down along the moving guide frame under the drive of the hydraulic cylinder. Move; the manipulator device on the rod tube stacking device includes a manipulator and a stacking manipulator, one end of the manipulator is provided with a manipulator for stacking, and the other end of the manipulator is hinged below the two sides of the manipulator bracket and can be horizontally wound around the hinge axis Rotating, the stacking manipulator can transport the oil pipe or sucker rod to the second conveying device.

In particular, the guide rail device on the main rod pipe processing mechanism includes a guide rail, a hydraulic elevator, and a hydraulic rod pipe wrench. The hydraulic elevator and hydraulic rod pipe wrench are arranged on the guide rail, and the guide rail It is composed of three parts: the upper guide rail, the lower guide rail and the folding mechanism. The upper guide rail and the lower guide rail are connected by the folding mechanism. The upper guide rail can be folded by 180° through the folding mechanism driven by the hydraulic cylinder two. The bottom of the guide rail is hinged on the guide rail base, and the guide rail base is fixed on the chassis of the main body. The guide rail can swing 90° under the drive of hydraulic cylinder one.

In particular, the boom swing device includes a mechanical arm, a swing base, a swing cylinder and a locking cylinder, the swing base is fixed on the chassis of the main body, the mechanical arm is hinged on the swing base and driven by the swing cylinder to rotate around the swing base. Rotation; the flexible manipulator device is connected with the mechanical arm through the pendulum shaft.

In particular, the first conveying device and the second conveying device both include fixed guide rails, and multiple sets of conveying rollers are arranged above the fixed guide rails.

In particular, the online rod and pipe flaw detection device is fixedly installed on the attached hydraulic oil pipe slips or sucker rod slips, and the signals collected by the rod and pipe online flaw detection device are automatically input to the background computer management system.

In particular, the GPS positioning device is set at the bottom of the main rod and pipe processing mechanism, which can realize the remote positioning and control of the industrial robot for fully automatic oil well workover rod and pipe operations.

In particular, the end of the length measuring device is provided with a rod and tube identification device. By reserving identification marks at the sucker rod or tubing couplings, the identities of different sucker rods or tubing can be effectively identified online and rotated. Put them in different locations and input them into the background computer system in real time to establish a life cycle management database for oil well rods and tubes.

The utility model has the following advantages: compared with the prior art, the full-automatic petroleum workover rod and pipe operation industrial robot described in the utility model has a high degree of automation, full closed-loop control, and complete control and monitoring functions. , down action can realize the fully automatic lifting and lowering operation of the wellhead tubing and sucker rod and the online monitoring of rod and pipe use status to establish a database, which completely overcomes the heavy labor intensity of workover operators, poor wellhead safety performance, low production efficiency, and energy efficiency. High energy consumption, poor operability and other defects are conducive to the establishment of the full life cycle management of oil well rods and pipes. At the same time, the traditional physical operation mode of 4-5 people at the wellhead is transformed into an auxiliary guarding operation mode of 1 person to realize the automation of the production process. Intelligent, realize the remote monitoring of the Internet of things of the equipment.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the fully automatic oil well workover rod and pipe operation industrial robot of the present utility model.

Fig. 2 is a structural schematic diagram of the main body rod tube processing mechanism of the present invention;

3 is a schematic diagram of the overall structure of the rod tube stacking mechanism of the present invention;

Fig. 4 is a schematic front view of the structure of the rod and tube stacking mechanism of the present invention;

Fig. 5 is the structural representation of the guide rail device of the present utility model;

Fig. 6 is the structural representation of the mechanical arm device of the present utility model;

Fig. 7 is a structural schematic diagram of the second conveying device of the present invention.

Fig. 8 is a structural schematic diagram of the auxiliary hydraulic oil pipe slips and the sucker rod slips of the present invention.

In the figure: I main body rod tube processing mechanism, II rod tube stacking mechanism, III rod tube conveying device, hydraulic oil pipe slip IV, sucker rod slip V, 1 main body chassis, 2 guide rail device, 3 mechanical arm device, 4 Conveying device 1, 5 hydraulic elevators, 6 hydraulic rod pipe tongs, 7 arm swing device, 8 flexible manipulator device, 9 stacking base, 10 moving mechanism, 11 manipulator device, 12 conveying device 2, 13 oil pipe and sucker rod . , 25 guide rail base, 26 mechanical arm, 27 swing seat, 28 swing cylinder, 29 lock cylinder, 30 fixed guide rail, 31 conveying roller, 32 chain.

Detailed ways

The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

Fig. 1 is a schematic diagram of the overall structure of the fully automatic oil well workover rod and pipe operation industrial robot of the present utility model.

The fully automatic oil workover rod and pipe operation industrial robot described in the utility model includes a main rod and pipe processing mechanism I, a rod and pipe stacking mechanism II, a rod and pipe conveying device III, an auxiliary oil pipe hydraulic slip IV, and a sucker rod slip V , online monitoring device VI and GPS positioning device, etc., each part is composed of several functional modules, and each module is individually controlled by various mechanisms, hydraulic pressure, and electricity; Two 12, conveying device one 4 and conveying device two 12 are respectively arranged on the main rod tube processing mechanism I and the rod tube stacking mechanism II, the oil pipe and the sucker rod 13 are realized by the conveying device one 4 and the two conveying device 12 The palletizing mechanism II is sent to the main body rod tube processing mechanism I, or the main body rod tube processing mechanism I is sent to the rod tube palletizing mechanism II.

FIG. 2 is a schematic structural view of the main rod tube processing mechanism of the present invention.

The main rod tube processing mechanism 1 includes a main body chassis 1, a guide rail device 2 and a mechanical arm device 3, the bottom of the main body chassis 1 is supported on the ground by hydraulic legs, and a hydraulic elevator 5 and a hydraulic elevator are installed on the guide rail device 2. Hydraulic rod pipe wrench 6, the guide rail device 2 is hinged on the front end of the main chassis 1; the mechanical arm device 3 includes a boom swing device 7 and a flexible manipulator device 8, and the boom swing device 7 is hingedly installed on the main chassis 1 On the swing seat at the front end, the flexible manipulator device 8 is hinged on the top of the boom swing device 7, and the flexible manipulator device 8 can swing with the boom swing device 7 to a completely horizontal or completely vertical position; It is arranged on the left side of the main body chassis 1 and below the flexible manipulator device 8 , and an encoder length measuring device is arranged on the rear side of the first conveying device 4 .

The main body chassis 1 of the main rod pipe processing mechanism 1 is used to support the whole main body, and other main body modules are all installed on the main body chassis 1, and the whole main body can be raised to the engineering transport vehicle by virtue of the telescopic function of the hydraulic support legs. The top of the chassis is convenient for transportation; when the well site is installed, the hydraulic cylinder that drives the hydraulic outriggers to expand and extend can adjust the expansion position of the hydraulic outriggers. The position of the driving hydraulic cylinder can be adjusted and the deployment can be adjusted according to the situation on the job site. The relative height of the hydraulic outriggers can be adjusted according to the height of the wellhead to realize the docking between the main body and the wellhead. Small size, adjustable expansion area), convenient transportation, and strong site practicability.

FIG. 3 is a schematic diagram of the overall structure of the rod and tube palletizing mechanism of the present invention.

Figure 4 is a schematic front view of the structure of the rod and tube palletizing mechanism of the present invention.

The rod and tube stacking device II is provided with a stacking base 9, a moving mechanism 10 and a manipulator device 11, and a cross arm 14 for placing oil pipes and sucker rods 13 is arranged above the stacking base 9, and the moving mechanism 10 is fixed on the stacking base 9. The rear end of the base 9 can move back and forth, the manipulator device 11 is arranged on the moving mechanism 10, and the conveying device two 12 is arranged on the front end of the palletizing base 9.

The delivery device two 12 and the delivery device one 4 are on the same straight line to realize the transmission of the oil pipe and the sucker rod 13; Conveying device two 12 is conveyed to the main rod and pipe processing mechanism I through the conveying device one 4 and completes the lowering; otherwise, the main rod and pipe processing mechanism I sends the oil pipe and sucker rod 13 taken out from the well to the rod pipe through the conveying device one 4 On the conveying device 2 12 of the palletizing device II, the rod and pipe palletizing device II arranges and palletizes the accepted oil pipes and sucker rods 13 and automatically stores the information in the background computer system.

Particularly, the palletizing base 9 on the described rod and tube palletizing device II includes a palletizing chassis 15 and a column 16, and the column 16 is fixed on the rear end of the palletizing chassis 15; the movement on the described rod and tube palletizing device II Mechanism 10 comprises fixed guide frame 17, mobile guide frame 18 and the manipulator support 19 of square frame, and fixed guide frame 17 is welded on the column 16 horizontally, and mobile guide frame 18 is arranged on fixed guide frame 17 below, and mobile guide frame 18 passes tooth The strip transmission can move back and forth along the fixed guide frame 17, the two outer sides of the mobile guide frame 18 are provided with slide blocks, and the inner side of the square frame-shaped manipulator support 19 is provided with a chute; the manipulator on the rod tube stacking device II The support 19 is connected with the sliders on both sides of the mobile guide frame 18 through a chute, and the manipulator support 19 can move up and down along the mobile guide frame 18 under the drive of the hydraulic cylinder; the manipulator device 11 on the rod tube palletizing device II includes Manipulator 20 and stacking manipulator 21, stacking manipulator 21 is arranged on the end of manipulator 20, and the other end of manipulator 20 is hinged below the both sides of manipulator support 19, and can rotate horizontally around hinge shaft; Palletizing manipulator 21 The oil pipe and the sucker rod 13 are delivered to the delivery device 2 12 .

In particular, the main function of the rod and pipe stacking device II is to store oil pipes and sucker rods 13. When an industrial robot performs maintenance on an oil well, it is necessary to lift the oil pipes and sucker rods 13 out of the well and transport them to the rod and pipe The stacking device II, the rod and tube stacking device II arranges the received oil pipes and sucker rods 13 in an orderly manner through the automatic manipulator device 11, and after the workover operation is completed, the rods and tubes are transported to the main engine through the manipulator to complete the lowering.

The utility model has a simple, reasonable and reliable structure, and can automatically receive or send out the rod tube system, and the stacking manipulator automatically discharges the rod tube system and automatically inputs it into the background computer management system during the storage process of the rod tubes. The feature of this device is that it can greatly reduce the labor intensity of workers. The system is fully closed-loop controlled, with high safety and reliability. It does not require operators to place and transport oil pipes or sucker rods, which saves a lot of manpower and material resources, and reduces oil consumption. The discharge time of the rod and tube improves the computer information management level of the rod and tube system.

FIG. 5 is a schematic structural view of the guide rail device of the present invention.

The guide rail device 2 on the main rod tube processing mechanism 1 comprises a guide rail 22, a hydraulic elevator 23, a hydraulic rod pipe clamp 24, and the hydraulic elevator 23 and the hydraulic rod pipe clamp 24 are arranged on the guide rail 22, The guide rail 22 is folded from three parts: an upper guide rail, a lower guide rail and a folding mechanism. The upper guide rail and the lower guide rail are connected by a folding mechanism, and the upper guide rail can be folded 180° by the folding mechanism under the drive of the hydraulic cylinder two. °; the bottom of the guide rail 22 is hinged on the guide rail base 25, and the guide rail base 25 is fixed on the main body chassis 1, and the guide guide rail 22 can swing 90° under the drive of the hydraulic cylinder one.

In particular, the main function of the guide rail device 2 is to adjust the position of the wellhead and guide the lifting and lowering of the hydraulic elevator 23. Rail adjustment device, etc. The swing range of the guide rail device is 0-90°, and it can be rotated 90° and placed flat on the main rod tube processing mechanism I. The structure is simple, reasonable and reliable. The notable feature is that the labor intensity is reduced, and the safety and reliability are improved. The wellhead operation saves a lot of manpower and material resources, and improves the working efficiency of lifting and lowering tubing or sucker rods.

FIG. 6 is a schematic structural view of the mechanical arm device of the present invention.

The manipulator device 3 includes a boom swing device 7 and a flexible manipulator device 8 .

The boom swing device 7 includes a mechanical arm 26, a swing seat 27, a swing oil cylinder 28 and a locking oil cylinder 29, the swing seat 27 is fixed on the main body chassis 1, the mechanical arm 26 is hinged on the swing seat 27 and is The swing oil cylinder 28 is driven to rotate around the swing seat 27; the flexible manipulator device 8 is connected with the mechanical arm 26 through the swing shaft.

In particular, when the mechanical arm device 3 lifts the oil pipe or the sucker rod, the flexible manipulator 8 clamps the pipe from the vertical state of the wellhead, and swings from 105° to 85° through the big arm. The flexible manipulator 8 starts to rotate from 90°, and when the boom swing device 7 swings to 40°, the flexible manipulator 8 rotates to the horizontal 0° state, and the boom swing device 7 continues to swing to the horizontal 0° state. After the big arm swing device 7 and the flexible manipulator 8 are both in a horizontal state, place the oil pipe and the sucker rod 13 horizontally on the position where the delivery device connects and sends the rod pipe; , the flexible manipulator 8 grabs and clamps the rod tube from the position of the rod tube placed in the conveying device, and the big arm swing device 7 starts to swing from the horizontal 0°. When the big arm swing device 7 swings to 35°, the flexible manipulator 8 starts to rotate from 0 °, when the big arm swing device 7 swings to 85 °, the flexible manipulator 8 completes the 90 ° rotation, and the big arm swing device 7 continues to swing to 105 ° to send the rod pipe to the vertical position of the well head. The swing range of the big arm swing device 7 is 0-105°, and the rotation range of the flexible manipulator 8 is 0-90°. The mechanical arm device 3 has a simple, reasonable and reliable structure, and can easily place the rod tube from the horizontal position to the vertical position of the wellhead, significantly reducing labor intensity, improving safety and reliability, and not requiring operators to operate at the wellhead, saving a lot of manpower , Material resources, improved work efficiency.

FIG. 7 is a schematic structural view of the second conveying device of the present invention.

The rod tube conveying device III includes a conveying device one 4 and a conveying device two 12 . The first conveying device 4 and the second conveying device 12 both include a fixed guide rail 30 , and multiple sets of conveying rollers 31 are arranged above the fixed guide rail 30 . The conveying roller (31) is driven by a chain (32).

In particular, when the rod and tube delivery device III uses the rod and tube stacking device II, it transports the oil pipe and sucker rod 13 from the rod and tube stacking device II to the left side of the main rod and tube processing mechanism I. After the end of the rod tube touches the fixed end switch of the length measuring device, a length measurement signal is sent out. After the length measurement of the rod tube is completed, the jacking hydraulic cylinder of the conveying device-4 lifts the rod tube to the designated position, and then the mechanical arm can be operated The action of the module. Rod tube conveying device III is suitable for two modes of lifting and lowering rod tubes. It effectively combines the two functions of conveying and length measurement, shortens the time for lifting and lowering rod tubes, improves work efficiency, and has a more compact and reasonable structure.

In particular, the length measuring device realizes the length measuring function on the rod pipe during the process of lifting and lowering the rod pipe, and includes two parts: the length measuring fixed device and the length measuring mobile device. When the oil pipe and the sucker rod 13 enter the conveying device 2 Finally, the length measuring mobile device swings the push rod above the roller table driven by the hydraulic cylinder, the hydraulic motor drives the lead screw, and the lead screw drives the push rod to move. The mobile end stretches out and reaches the designated position. When the pushed oil pipe or sucker rod pushes against the flange plate of the fixed end, the space of the compressed spring makes the contact switch send a signal. Move the distance, so that the length of each oil pipe or sucker rod can be obtained. The length measuring device is used in two modes of lifting and lowering the oil pipe or sucker rod, and automatically measures the length of the oil pipe or sucker rod, with high accuracy of length measurement , record data quickly, etc., the identification mark is reserved at the sucker rod or tubing coupling, and the rod and tube identification device is installed at the end of the length measuring device, which can effectively identify the identity of different sucker rods or tubing, and establish an oil well rod and tube Full life cycle management database, improve oil well IoT management level. The rod and tube conveying device III effectively combines the three functions of rod and tube conveying, length measurement and online identification, reduces the labor intensity of workers, improves work efficiency, and has a more compact and reasonable structure.

Fig. 8 is a structural schematic diagram of the auxiliary hydraulic oil pipe slip and the sucker rod slip of the present invention.

The hydraulic tubing slip IV and the sucker rod slip V both include a slip seat, a slip body and a slip tooth, etc., and the hydraulic tubing slip IV is fixed and installed on the wellhead flange or the blowout preventer through the tubing slip seat flange. On the flange of the oil tank, the computer controls the lifting of the hydraulic cylinder to automatically hold the oil pipe. The sucker rod slip V is fixed and installed on the oil pipe through the oil pipe coupling, and the lifting action of the hydraulic cylinder is automatically controlled to hold the oil pipe The function of the oil rod body. The clamping of oil pipes or sucker rods of different sizes can be realized by replacing slip teeth of different sizes. The on-line flaw detection device is fixed on the upper part of the slip device, and can monitor the use of the rod and tube online when the oil pipe or sucker rod is lifted, and timely alarm and special treatment for the damaged rod or tube.

The fully automatic industrial robot for oil well workover rod and pipe operation described in the utility model has a high degree of automation, can realize the automation and intelligent operation of oil well workover operations, and overcomes the traditional oil workover workers with high labor intensity, poor on-site safety performance, Low labor efficiency, high energy consumption, poor operability, environmental pollution and other defects, at the same time, the multi-person manual operation (4-5 people) is converted into a one-person supervisory operation, realizing the automation and intelligent control of the production process and material Network monitoring.

The series of detailed descriptions listed above are only specific descriptions for the feasible implementation modes of the present utility model, and they are not used to limit the protection scope of the present utility model. Embodiments or modifications should be included within the protection scope of the present utility model.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. a kind of full-automatic petroleum well workover rod tube operation industrial robot, it is characterised in that：The full-automatic petroleum well workover rod tube is made Industry industrial robot includes main body rod tube processing mechanism (I), rod tube stacking mechanism (II), rod tube conveying device (III), attached liquid Pressuring oil pipe slips (IV), sucker rod slips (V), rod tube line flaw detection device (VI) and GPS positioning device；The rod tube conveying dress It includes conveying device one (4) and conveying device two (12) to set (III), and conveying device one (4) and conveying device two (12) are set respectively It sets on main body rod tube processing mechanism (I) and rod tube stacking mechanism (II)；The main body rod tube processing mechanism (I) includes main body bottom Disk (1), track-type facilities (2) and robot arm device (3), main body chassis (1) bottom are supported on the ground by hydraulic leg, Hydraulic elevator (5) and hydraulic stem pipe wrench (6) are installed, track-type facilities (2) are hinged on main body chassis on the track-type facilities (2) (1) front end；The robot arm device (3) includes large arm pendulous device (7) and flexible mechanical arm device (8), the large arm pendulum Dynamic device (7) and the swing seat in main body chassis (1) are hinged, and the flexible mechanical arm device (8) is hinged on large arm pendulum At the top of dynamic device (7), flexible mechanical arm device (8) can be rocked to fully horizontal or substantially vertical with large arm pendulous device (7) Position；The conveying device one (4) setting is conveying on the left of main body chassis (1) and below flexible mechanical arm device (8) It is provided with measuring motion on rear side of device one (4)；The rod tube stacking mechanism (II) is equipped with stacking pedestal (9), mobile mechanism (10) it is equipped with the cross-arm (14) for shelving oil pipe and sucker rod (13), is moved with robot device (11), stacking pedestal (9) top Motivation structure (10) is fixed on the rear end of stacking pedestal (9), and robot device (11) is arranged in mobile mechanism (10), conveying device Two (12) are arranged in the front end of stacking pedestal (9)；The conveying device two (12) is in conveying device one (4) on same straight line Realize the transmission of oil pipe and sucker rod (13)；Oil pipe and sucker rod (13) are sent to conveying device two (12) by robot device (11) On, oil pipe and sucker rod (13) are conveyed to main body rod tube processing mechanism (I) simultaneously by conveying device two (12) through conveying device one (4) Complete decentralization；Conversely, main body rod tube processing mechanism (I) also can fill the oil pipe gone out from well and sucker rod (13) through conveying It sets one (4) to pass out in the conveying device two (12) of rod tube stacking mechanism (II), oil pipe of the rod tube stacking mechanism (II) to receiving Arrangement stacking is carried out with sucker rod (13) and information is automatically entered into computer management system.

2. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：The code Pile pedestal (9) includes stacking chassis (15) and column (16), and column (16) is fixed on stacking chassis (15) rear end；The moving machine Structure (10) includes the manipulator support (19) for fixing saddle (17), guide frame for moving (18) and square frame-shaped, and fixed saddle (17) is horizontal It is welded on column (16), guide frame for moving (18) setting is below fixed saddle (17) and can be led along fixation by rack-driving Frame (17) back-and-forth motion, (18) two outside of the guide frame for moving are equipped with sliding block, and sliding slot is equipped on the inside of manipulator support (19) and is led to It crosses sliding slot to connect with the sliding block of guide frame for moving (18) both sides, manipulator support (19) can be led under the drive of hydraulic cylinder along moving Frame (18) moves up and down.

3. a kind of full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 2, it is characterised in that：The machine Tool arm device (11) includes mechanical arm (20) and palletizing mechanical arm (21), and palletizing mechanical arm (21) is arranged in mechanical arm (20) End, the other end of mechanical arm (20) is hinged on the down either side of manipulator support (19), and can be around articulated shaft level Rotation；Oil pipe and sucker rod (13) can be transported in conveying device two (12) by palletizing mechanical arm (21).

4. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described to lead Rail device (2) includes correcting guide rail (22), hydraulic elevator (5) and hydraulic stem pipe wrench (6), the hydraulic elevator (5) and hydraulic stem Pipe wrench (6) is arranged on correcting guide rail (22)；The correcting guide rail (22) is rolled over by upper rail, lower guideway and fold mechanism three parts It is folded to form, it is connected by fold mechanism between the upper rail and lower guideway, upper rail passes through folding under the driving of hydraulic cylinder two Folded mechanism can fold 180 °；Correcting guide rail (22) bottom is hinged on guiderail base (25), and guiderail base (25) is fixed In main body chassis (1), the correcting guide rail (22) can swing 90 ° under the driving of hydraulic cylinder one.

5. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described big Arm swing device (7) includes mechanical arm (26), swing seat (27), oscillating oil cylinder (28) and locking cylinder (29), the swing seat (27) It is fixed in main body chassis (1), mechanical arm (26) is hinged on swing seat (27), and mechanical arm (26) can be driven by oscillating oil cylinder (28) It is dynamic to be rotated around swing seat (27)；The flexible mechanical arm device (8) is connect by balance staff with mechanical arm (26).

6. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in any one in claim 1-5, feature exist In：The conveying device one (4) and conveying device two (12) include fixed guide rail (30), are set above the fixed guide rail (30) There are multigroup conveying roller (31), the conveying roller (31) to be driven by chain (32).

7. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：Described Attached hydraulic oil pipe slips (IV) is fixedly mounted on wellhead flange or preventer flange, and the sucker rod slips (V) is fixed In tubing coupling.

8. a kind of full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 7, it is characterised in that：Described Rod tube line flaw detection device (VI) is fixedly mounted on attached hydraulic oil pipe slips (IV) or on sucker rod slips (V), and rod tube exists Line failure detector (VI) acquisition signal is automatically entered into hind computation machine management system.

9. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：GPS is fixed Position device is arranged in the bottom of main body rod tube processing mechanism (I), can realize full-automatic petroleum well workover rod tube operation industrial machine The long range positioning and control of people.

10. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described The end set of measuring motion have rod tube identity recognition device, by reserving identification marking at sucker rod or tubing coupling, Effectively the identity of online recognition difference sucker rod or oil pipe and different location can be put, and be input to hind computation in real time Machine system establishes oil well rod tube lifecycle management database.