CN207715100U - A kind of petroleum well workover machine people - Google Patents

Abstract

The utility model discloses a petroleum workover robot, which comprises a chassis, a guiding device, a boom device, a swing arm device, a conveying roller table, a length measuring device, an elevator, a stacking device, a first leg and a second leg, The guiding device, the boom device, the swing arm device, the conveying roller table, the length measuring device and the stacking device are all controlled by the hydraulic control system; the chassis is supported on the ground by the first leg and the second leg, and there is a laying oil pipe on the chassis The U-shaped steel pipe seat; the guiding device is hinged at the rear end of the chassis; the elevator is installed directly below the upper guiding device; the boom device is hinged on the chassis close to the guiding device, and the end of the boom device is hinged with a flexible manipulator device; the conveyor roller The quantity is three sets, and the length measuring device is arranged at the rear end and the front end of the conveying roller table; the swing arm device is fixed on the front side of the chassis; the palletizing device is fixed on the middle section of the chassis. The palletizing and well workover mechanism of the utility model is on the same chassis, which occupies a small area, is flexible to move the wellhead, has high automation, and improves the workover efficiency.

Description

An oil workover robot

technical field

The utility model relates to a petroleum workover robot, which belongs to the technical field of petroleum workover equipment.

Background technique

In the process of oil field production, some oil wells or equipment failures often occur, resulting in production reduction or even shutdown. In order to restore the normal production of the oil well, corresponding measures must be taken to eliminate the fault. In addition, if the conditions of the oil well change, it is necessary to take appropriate production process measures according to the new situation, for example, switching from a self-flowing well to a pumping well, changing the depth and type of the pump, etc. All these tasks need workover rig equipment to complete. 1) Existing wellhead operations require high manual labor intensity, low workover efficiency, high energy consumption, and easy pollution of the environment; 2) 95% of the new design is fully automated, and only two people are required to operate on site; workover efficiency is high, Environmental protection and energy saving, greatly liberating the labor force and saving energy. The applicant applied for a patent for a petroleum well workover robot in 2017, which has the disadvantages of large footprint, inconvenient transportation, complicated work process, and long time for lifting and lowering the pipe. It has a large floor area, inconvenient transportation, complex work process, and long time for loading and unloading.

Contents of the invention

The technical problem to be solved by the utility model is to provide a petroleum workover operation robot in view of the defects in the prior art.

In order to solve this technical problem, the utility model provides a petroleum workover robot, which includes a chassis, a guiding device, a boom device, a swing arm device, a conveying roller table, a length measuring device, an elevator, a stacking device, a support The first leg and the second leg, the guiding device, the boom device, the swing arm device, the conveying roller table, the length measuring device and the stacking device are all controlled by the hydraulic control system; the chassis is controlled by the first leg and the second leg Supported on the ground, the chassis is provided with a U-shaped steel pipe seat for laying oil pipes; the guiding device is hinged at the rear end of the chassis, and the guiding device is provided with upper guiding, lower guiding clamping devices and hydraulic clamps; The elevator is installed below the upper guide; the boom device is hinged on the chassis close to the guide device, and a flexible manipulator is hinged at the end of the boom device, and the flexible manipulator can swing around the end of the boom device, At the same time, it can swing to a horizontal or vertical position with the boom device; there are three sets of conveying rollers, all of which are arranged on the front side of the chassis and below the flexible manipulator device; long device; the swing arm device is fixed on the front side of the chassis and is located below the flexible manipulator device, and the swing arm device and the conveying roller are located on the same straight line; the stacking device is fixed on the middle section of the chassis, and the stacking device is set There is a stacking manipulator, and the stacking manipulator removes the oil pipe from the U-shaped steel pipe seat and sends it to the conveying roller table, and the length measuring device pushes the oil pipe to move on the conveying roller table to complete the length measurement, and then transfers and lowers it through the wellhead; otherwise, it starts from the well The outgoing oil pipe is lifted by the boom device and the guiding device, and sent out through the conveying roller table, and the stacking device arranges and stacks the received oil pipe.

The guiding device includes a guiding catheter, an upper guiding device, a lower guiding clamping device, a hydraulic clamp and a guiding base. The upper guiding device is arranged on the upper part of the guiding catheter, and the lower guiding device and hydraulic The clamp is arranged on the lower part of the guiding guide; the guiding base is fixed on the chassis, the bottom of the guiding guide is hinged to the guiding base, the guiding base is provided with a guiding hydraulic cylinder, and the guiding guide is placed on the guiding hydraulic cylinder It can swing 90° under the driving; the guiding catheter is a retractable structure.

The lower guiding and clamping device includes a mounting bracket, a clamping sleeve, a clamping oil cylinder and a jacking oil cylinder. The piston rod of the oil cylinder is connected with the clamping sleeve to realize clamping and loosening; the upper end of the jacking oil cylinder is installed on the bottom of the mounting bracket, and the lower end of the jacking oil cylinder is installed on the workbench of the hydraulic clamp.

The boom device includes a boom swing device and a flexible manipulator device, the boom swing device includes a swing arm and a boom oil cylinder, the swing arm is a two-stage structure, and the flexible manipulator device is installed at the end of the forearm; The boom swinging device is hinged with the boom base fixed on the chassis, and swings to a horizontal or vertical position with the telescoping of the boom oil cylinder; the forearm is a cavity structure, and a manipulator cylinder, a rack and a gear are arranged inside it. The gear and the spline shaft are connected by splines, the flexible manipulator is installed on the spline shaft, the manipulator oil cylinder pushes the rack to drive the gear to swing, and the flexible manipulator device can swing with the gear; the manipulator device oil cylinder and the arm cylinder are equipped with displacement sensors , Control cylinder stroke.

The length measuring device includes a mobile detection device and a fixed detection device. The mobile detection device and the fixed detection device are respectively arranged at the rear end and the front end of the conveying roller table, and are on the same straight line as the conveying roller table. The transmission and length measurement of the oil pipe are realized on the roller table; the mobile detection device is provided with an oil cylinder 1 and a disk, the oil cylinder 1 is provided with a displacement sensor, the disk is arranged at the end of the mobile detection device, and the tail end of the oil pipe to be tested is placed on the On the disk, the oil cylinder pushes the disk, and then pushes the oil pipe to be tested to move; the end of the fixed detection device is provided with a detection plate; during detection, the disk, the oil pipe to be tested and the detection plate are concentric, and the mobile detection device is pushed by the oil cylinder. When the oil pipe to be tested moves to the detection plate, the displacement sensor records the displacement.

The palletizing device includes a fixed guide frame, a mobile guide frame, a stacking manipulator and a square frame support, the fixed guide frame is fixed on the chassis, the mobile guide frame is arranged inside the fixed guide frame, and its four sides are fixed and guided by guide wheels ; The moving guide frame can move up and down along the fixed guide frame through the transmission of the oil cylinder. The two outer sides of the moving guide frame are provided with linear guide rails, and the square frame type support moves forward and backward along the moving guide frame through the linear guide rails; The linear guide rail can move up and down; the stacking manipulator is fixed under the square frame support, moves up and down with the square frame support, and the stacking manipulator transports the oil pipe to the conveying roller table; the stacking manipulator, moving guide frame and The square frame support controls the hydraulic cylinder through the displacement sensor to realize the positioning.

The swing arm device includes a seat body, a conveying arm, a conveying hand, a slider body, a swing cylinder and a lifting cylinder. The seat body is in a groove structure and includes a side plate, a back plate and a bottom plate. One end of the conveying arm passes through a twisted shaft Installed on the side plate of the seat body, the other end is equipped with a conveying hand, one end of the swing cylinder is connected to the conveying arm close to the conveying hand, and the other end is hinged on the seat body; the slider body is installed on the back of the seat body through a linear guide rail. On the inner side of the plate, the upper end of the lifting oil cylinder is connected with the slider body, and the bottom end is installed on the bottom plate of the seat body, and the delivery hand can grab the oil pipe from the outside of the chassis.

The elevator includes an elevator main body, a swing seat, a clamping sleeve, a connecting plate, an upper support frame, a lower support frame and a hydraulic cylinder. There is a cavity in the middle of the elevator main body, and the two swing seats are connected by a swing seat shaft. In the cavity of the main body of the elevator, the swing seat and the swing seat shaft are positioned through the flat key and can rotate with the swing seat shaft; two clamping sleeves are fixed on the swing seat and can swing with the swing seat; the upper support frame and The lower support frame is installed at one end of the main body of the elevator, and the other end of the main body of the elevator is equipped with a connecting plate; the hydraulic cylinder is fixed on the connecting plate, and the hydraulic rod of the hydraulic cylinder is connected with the connecting rod mechanism. The swing shaft is connected by a key, the hydraulic cylinder drives the connecting rod mechanism to rotate, and the swing shaft drives the opening and closing of the clamping sleeve.

The laser rangefinder is also provided with a laser rangefinder on the guide device, and the laser rangefinder includes a laser rangefinder, a slider bracket, a roller and a steel wire rope, and the laser rangefinder is installed above the upper guide through an upper fixing bracket. , the lower guide clamping device below the laser rangefinder is provided with a linear guide rail, the slider bracket is installed on the linear guide rail, and can move up and down along the linear guide rail; the roller is installed on the slider bracket through the roller seat, One end of the wire rope is fixed on the upper fixed bracket, and the other end is connected to the elevator by going around the roller. The slider bracket moves up and down with the elevator through the wire rope; the slider bracket is equipped with a reflector, and the signal reflected by the laser rangefinder through the reflector To realize the distance measurement function.

The utility model also includes a pipe hoop hammering device. The pipe hoop hammering device includes a frame, a shift fork, a driving mechanism and a hammering mechanism. The frame is a frame structure, and the driving mechanism is installed on the In the frame, the two hammering mechanisms and the driving mechanism are installed on the inner wall of the frame in the shape of "product"; the driving mechanism includes a hydraulic cylinder and a supporting box, and the hydraulic cylinder drives the supporting box to move left and right along the slide pair; the The hammering mechanism includes a pipe hammer sleeve, which is provided with a disc spring shaft and a hammer head at the end of the shaft, and the two hammer heads are installed opposite to each other; the shift fork is respectively connected to the support box and the pipe hammer sleeve. The cylinder is hinged, and the hydraulic cylinder drives the supporting box to drive the pipe hammer sleeve through the shift fork to alternately hammer the oil pipe body sandwiched between the two hammering mechanisms.

Beneficial effects: the utility model well solves the problems of high manual labor intensity on site, low workover efficiency, high energy consumption, and easy pollution of the environment; it realizes the automation of workover operations. The palletizing and well workover mechanism of the utility model is on the same chassis, which occupies a small area, is flexible to move the wellhead, and has a high degree of automation, which greatly improves the workover efficiency.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the guiding device of the present utility model;

Fig. 3 is a structural schematic diagram of the lower guiding and clamping device of the present invention;

Fig. 4 is the structural representation of the boom device of the utility model;

Fig. 5 is the structural representation of the utility model stacking device;

Fig. 6 is a structural schematic diagram of the length measuring device of the present invention;

Fig. 7 is a schematic structural view of the swing arm device of the present invention;

Fig. 8 is a structural schematic diagram of the utility model elevator;

Fig. 9 is a structural schematic diagram of the laser ranging device of the present invention;

Fig. 10 is a structural schematic diagram of the pipe collar hammering device of the present invention.

In the figure: 1 chassis, 2 guiding device, 3 arm device, 4 swing arm device, 5 conveying roller table, 6 mobile length measuring device, 7 fixed length measuring device, 8 elevator, 9 stacking device, 10 outrigger 1. 11 outriggers 2. 12 wellhead; 21 guiding conduit, 22 upper guiding, 23 lower guiding clamping device, 24 hydraulic clamp, 25 guiding base, 26 guiding hydraulic cylinder, 27 clamping sleeve, 28 Clamping oil cylinder, 29 jacking oil cylinder; 31 big arm swing device, 32 flexible manipulator device, 33 swing arm, 34 big arm oil cylinder, 35 forearm; 41 seat body, 42 conveying arm, 43 conveying hand, 44 slider body, 45 Swing oil cylinder, 46 lifting oil cylinder; 6 mobile detection device, 7 fixed detection device, 61 cylinder one, 62 disc, 71 detection plate; 81 elevator main body, 82 swing seat, 83 clamping sleeve, 84 connecting plate, 85 upper Support frame, 86 lower support frame, 87 hydraulic cylinder, 88 swing seat shaft; 91 fixed guide frame, 92 mobile guide frame, 93 stacking manipulator, 94 square frame bracket; 101 laser rangefinder, 102 slider bracket, 103 Roller, 104 steel wire rope, 105 upper fixed bracket, 106 linear guide rail, 107 roller seat, 108 reflector; 111 frame, 112 shift fork, 113 hydraulic cylinder, 114 support box, 115 pipe hammer sleeve.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described in detail.

Shown in Fig. 1 is the structural representation of the utility model.

The utility model provides a petroleum workover operation robot, which includes a chassis 1, a guiding device 2, a boom device 3, a swing arm device 4, a conveying roller table 5, a length measuring device, an elevator 8, a stacking device 9, The first leg 10 and the second leg 11, the guiding device 2, the boom device 3, the swing arm device 4, the conveying roller table 5, the length measuring device and the stacking device 9 are all controlled by a hydraulic control system.

The chassis 1 is supported on the ground by the first leg 10 and the second leg 11, and the chassis 1 is provided with a U-shaped steel pipe seat for laying oil pipes; the guiding device 2 is hinged on the rear end of the chassis 1, and the guiding device 2 is provided with an upper guide 22, a lower guide clamping device 23 and a hydraulic clamp 24; the elevator 8 is installed below the upper guide 22; the boom device 3 is hinged on the chassis 1 close to the guide device 2, A flexible manipulator device 32 is hinged at the end of the boom device 3, and the flexible manipulator device 32 can swing around the end of the boom device 3 and can swing to a horizontal or vertical position with the boom device 3 simultaneously; 5. The quantity is three sets, all of which are arranged on the front side of the chassis 1 and below the flexible manipulator device 32; length measuring devices are arranged at the rear end and front end of the conveying roller table 5; the swing arm device 4 is fixed on the front side of the chassis 1. Side, below the flexible manipulator device 32, the swing arm device 4 and the conveying roller table 5 are located on the same straight line;

Palletizing manipulator 93 removes the oil pipe from the U-shaped steel pipe seat and sends it to the conveying roller table 5, and the length measuring device pushes the oil pipe to move on the conveying roller table 5 to complete the length measurement, and then transfers and lowers the oil pipe through the wellhead 12; The lifted oil pipe is lifted by the boom device 3 and the guiding device 2, and sent out through the conveying roller table 5, and the stacking device 9 arranges and stacks the accepted oil pipe.

Figure 2 is a schematic structural view of the guiding device of the present invention.

The guide device 2 includes a guide guide 21, an upper guide 22, a lower guide clamp 23, a hydraulic clamp 24 and a guide base 25, and the upper guide 22 is arranged on the upper part of the guide guide 21, The lower guide clamping device 23 and the hydraulic clamp 24 are arranged on the bottom of the guide guide 21; the guide base 25 is fixed on the chassis 1, the bottom of the guide guide 21 is hinged with the guide base 25, and the guide base 25 is provided with correcting hydraulic cylinder 26, and guiding conduit 21 can swing 90 ° under the drive of guiding hydraulic cylinder 26.

The guiding catheter 21 is a retractable structure.

Fig. 3 is a schematic structural view of the lower guiding and clamping device of the present invention.

The lower guiding clamping device 23 includes a mounting bracket, a clamping sleeve 27, a clamping oil cylinder 28 and a jacking oil cylinder 29. The two clamping sleeves 27 are relatively installed on the clamping sleeve seat respectively, and the clamping oil cylinder 28 is fixed on the On the mounting bracket, the piston rod of the clamping oil cylinder 28 is connected to the clamping sleeve 27 to realize clamping and loosening; on the workbench.

The upper guide 22 includes a bracket and a roller, and a support plate is arranged above the roller.

The hydraulic clamp 24 is a purchased standard part.

FIG. 4 is a schematic structural view of the boom device of the present invention.

The boom device 3 includes a boom swing device 31 and a flexible manipulator device 32 .

Described big arm swing device 31 comprises swing arm 33 and big arm oil cylinder 34, and described swing arm 33 is a two-stage structure, and flexible manipulator device 32 is installed on its forearm 35 ends; Described big arm swing device 31 is fixed on The boom base on the chassis 1 is hinged and swings to a horizontal or vertical position with the telescopic swing of the boom oil cylinder 34 .

The forearm 35 is a cavity structure, inside which is provided with a manipulator oil cylinder, a rack and a gear, the gear and the spline shaft are connected by splines, the flexible manipulator device 32 is installed on the spline shaft, and the manipulator oil cylinder pushes the rack to drive the gear to swing , the flexible manipulator device 32 can swing with the gears.

The manipulator oil cylinder and the boom oil cylinder 34 are provided with displacement sensors to control the stroke of the oil cylinder.

Fig. 5 is a schematic structural view of the palletizing device of the present invention.

Described palletizing device 9 comprises fixed guide frame 91, mobile guide frame 92, stacking manipulator 93 and square frame type support 94; Fixed guide frame 91 is fixed on the chassis 1, and mobile guide frame 92 is arranged on the inside of fixed guide frame 91 , its four sides are fixed and guided by guide wheels; the movable guide frame 92 can move up and down along the fixed guide frame 91 through the transmission of the oil cylinder, and the two outer sides of the movable guide frame 92 are provided with linear guide rails, and the square frame type support 94 passes through the linear guide rails along the moving guide rails. The frame 92 moves back and forth; the inner side of the square frame support 94 is provided with a linear guide rail, which can move up and down; the stacking manipulator 93 is fixed below the square frame support 94, moves up and down with the square frame support 94, and the stacking manipulator 93 oil pipes are delivered to the conveying roller table 5.

The stacking manipulator 93, the moving guide frame 92 and the square frame support 94 realize the positioning by controlling the hydraulic cylinder through the displacement sensor.

Figure 6 is a schematic structural view of the length measuring device of the present invention.

The length measuring device includes a mobile detection device 6 and a fixed detection device 7, and the mobile detection device 6 and the fixed detection device 7 are respectively arranged at the rear end and the front end of the conveying roller table 5, on the same straight line as the conveying roller table 5 , the oil pipe to be tested is located on the conveying roller table 5 to realize the transmission and length measurement of the oil pipe.

Described mobile detection device 6 is provided with oil cylinder 1 61 and disk 62, and oil cylinder 1 61 is provided with displacement sensor, and disk 62 is arranged on the end of mobile detection device 6, and the tail end of oil pipe to be tested pushes on disk 62 , the oil cylinder 1 61 pushes the disk 62, and then pushes the oil pipe to be tested to move.

A detection disc 71 is provided at the end of the fixed detection device 7 .

During detection, the disk 62, the oil pipe to be tested and the detection disk 71 are concentric, and the moving detection device 6 pushes the oil pipe to be tested to move to the detection disk 71 through the oil cylinder one 61, and the displacement sensor records the displacement.

The movement detection device 6 is fixed on the fixed base of the boom device 3; the movement detection device 7 is fixed on the farthest end of the base.

FIG. 7 is a schematic structural view of the swing arm device of the present invention.

The swing arm device 4 includes a seat body 41, a conveying arm 42, a conveying hand 43, a slider body 44, a swing cylinder 45 and a lifting cylinder 46, and the seat body 41 is in a groove structure, including side plates, back plates and Bottom plate, one end of the conveying arm 42 is installed on the side plate of the base 41 through a hinged shaft, and the other end is equipped with a conveying hand 43. One end of the swing cylinder 45 is connected to the conveying arm 42 near the conveying hand 43, and the other end is hinged on the base 41. Above; the slider body 44 is installed on the inner side of the back plate of the seat body 41 through a linear guide rail, the upper end of the lifting cylinder 46 is connected with the slider body 44, and the bottom end is installed on the bottom plate of the seat body 41, and the delivery hand 43 can be lifted from the chassis 1 The external grab tubing.

Figure 8 is a schematic structural view of the elevator of the present invention.

The elevator 8 includes an elevator main body 81, a swing seat 82, a clamping sleeve 83, a connecting plate 84, an upper support frame 85, a lower support frame 86 and a hydraulic cylinder 87, and the middle part of the elevator main body 81 is provided with a cavity, The two swing seats 82 are connected in the cavity of the elevator main body 81 through the swing seat shaft 88, the swing seat 82 and the swing seat shaft 88 are positioned by the flat key, and can rotate with the swing seat shaft 88; the two clamping sleeves 83 are fixed on On the swing seat 82, it can swing with the swing seat 82; the upper support frame 85 and the lower support frame 86 are installed on one end of the elevator main body 81, and the other end of the elevator main body 81 is equipped with a connecting plate 84; the hydraulic cylinder 87 is fixed on On the connection plate 84, the hydraulic rod of the hydraulic cylinder 87 is connected with the linkage mechanism, the end of the linkage mechanism is connected with the swing seat shaft 88 through a key, the hydraulic cylinder 87 drives the linkage mechanism to rotate, and the swing seat shaft 88 drives the clip The opening and closing of tight sleeve 83.

The clamping sleeve 83 is a multi-standard component that meets the hoisting requirements of different pipe diameters.

FIG. 9 is a schematic structural diagram of the laser ranging device of the present invention.

Said straightening device 2 is also provided with a laser rangefinder, said laser rangefinder comprises a laser rangefinder 101, a slider bracket 102, a roller 103 and a steel wire rope 104, and said laser rangefinder 101 passes through the upper fixed bracket 105 is installed above the upper guide 22, and the lower guide clamping device 23 below the laser rangefinder 101 is provided with a linear guide rail 106, and the slider bracket 102 is installed on the linear guide rail 106 and can move up and down along the linear guide rail 106 Described roller 103 is installed on the slider support 102 by roller seat 107, and one end of steel wire rope 104 is fixed on the upper fixed bracket 105, and the other end walks around roller 103 and links to each other with elevator 8, and slider bracket 102 is accompanied by elevator by wire rope 104. 8 moves up and down; the slider bracket 102 is equipped with a reflector 108, and the laser rangefinder 101 realizes the ranging function through the signal reflected by the reflector 108.

Fig. 10 is a schematic structural view of the pipe clamp hammering device of the present invention.

The utility model also includes a pipe hoop hammering device. The pipe hoop hammering device includes a frame 111, a shift fork 112, a driving mechanism and a hammering mechanism. The frame 111 is a frame structure, and the driving mechanism passes through a slideway The pair is installed in the frame 111, and the two hammering mechanisms and the driving mechanism are installed on the inner wall of the frame 111 in the shape of "pin"; the driving mechanism includes a hydraulic cylinder 113 and a supporting box 114, and the hydraulic cylinder 113 drives the supporting box 114 Move left and right along the slide pair; the hammering mechanism includes a pipe hammer sleeve 115, a disc spring shaft is arranged inside the pipe hammer sleeve 115, and a hammer head is provided at the shaft end, and the two hammer heads are installed oppositely; The shift fork 112 is respectively hinged with the support box 114 and the pipe hammer sleeve 115, and the hydraulic cylinder 113 drives the support box 114 to drive the pipe hammer sleeve 115 through the shift fork 112 to alternately hammer the oil pipe body sandwiched between the two hammering mechanisms. hit.

The pipe hoop hammering device can be installed on the guiding device, and can also be used as an accessory to hammer the pipe hoop by hand.

Working process of the present utility model:

The mobile length measuring device 6, the fixed length measuring device 7, and the elevator 8 return to the original position; the swing arm device 4 starts to swing the pipe from the floor material warehouse to the lifting position, or the palletizing device 9 lifts the pipe from the material warehouse of the chassis 1. The pipe is placed in the lifting position; then the conveying roller table 5 jacks up the pipe, the oil cylinder 161 of the mobile length measuring device 6 is activated, and the pipe is pushed to the detection switch of the fixed length measuring device 7 to complete the length measurement of the oil pipe; the conveying roller table 5 falls , put the pipe back into the lifting position; the lifting cylinder 46 of the swing arm device 4 is started, and the pipe is lifted to the grabbing position; The boom oil cylinder 34 of the rotation and boom device 3 is jacked up, and the pipe is erected at the hoisting position; then the elevator 8 is started, and the elevator 8 sends the pipe into the wellhead through the guide wire rope on the guiding device 2 .

The utility model well solves the problems of high manual labor intensity on site, low workover efficiency, high energy consumption, easy pollution of the environment and the like; and realizes workover operation automation. The palletizing and well workover mechanism of the utility model is on the same chassis, which occupies a small area, is flexible to move the wellhead, and has a high degree of automation, which greatly improves the workover efficiency.

The above-mentioned embodiments of the utility model are only examples, not the only ones, and all changes within the scope of the utility model or equivalent to the scope of the utility model are surrounded by the utility model.

Claims (10)

1. a kind of petroleum well workover machine people, it is characterised in that：Including chassis (1), guide device (2), big arm assembly (3), swing arm Device (4), rollgang (5), measuring motion, elevator (8), palletizing apparatus (9), supporting leg one (10) and supporting leg two (11), it is described Guide device (2), big arm assembly (3), swinging arm device (4), rollgang (5), measuring motion and palletizing apparatus (9) pass through liquid Pressure control system controls；The chassis (1) is supported on the ground by supporting leg one (10) and supporting leg two (11), and chassis is set on (1) It is useful for shelving the U-shaped steel tube socket of oil pipe；The guide device (2) is hinged on the rear end of chassis (1), and guide device (2) is equipped with Upper correcting (22), lower correcting clamping device (23) and hydraulic clamp (24)；Elevator (8) is mounted on the lower section of upper correcting (22)；Institute It states big arm assembly (3) to be hinged on chassis (1) close to guide device (2), flexible mechanical is hinged in the end of big arm assembly (3) Arm device (32), flexible mechanical arm device (32) can be put around big arm assembly (3) end self-swinging while with big arm assembly (3) It moves to horizontal or vertical position；Rollgang (5) quantity is three sets, is arranged at the front side of chassis (1), is located at flexible machine Below tool arm device (32)；The rear end of rollgang (5) and front end are provided with measuring motion；The swinging arm device (4) is fixed Front side in chassis (1), the lower section positioned at flexible mechanical arm device (32), swinging arm device (4) are located at same with rollgang (5) On straight line；The palletizing apparatus (9) is fixed on the stage casing of chassis (1), and palletizing apparatus (9) is equipped with palletizing mechanical arm (93), code Oil pipe is removed from U-shaped steel tube socket and is sent on rollgang (5) by pile manipulator (93), pushes oil pipe in conveying roller by measuring motion It is mobile on road (5) to complete to survey length, then transmit and transfer through well head (12)；Conversely, the oil pipe gone out from well is by big arm assembly (3) Oil pipe is completed with guide device (2) to lift, and is sent out through rollgang (5), and palletizing apparatus (9) arranges the oil pipe of receiving Stacking.

2. petroleum well workover machine people according to claim 1, it is characterised in that：The guide device (2) includes that correcting is led Manage (21), upper correcting (22), lower correcting clamping device (23), hydraulic clamp (24) and correcting pedestal (25), the upper correcting (22) setting is arranged in the top of correcting conduit (21), lower correcting clamping device (23) and hydraulic clamp (24) in correcting conduit (21) lower part；The correcting pedestal (25) is fixed on chassis (1), and correcting conduit (21) bottom is cut with scissors with correcting pedestal (25) It connects, the correcting pedestal (25) is equipped with correcting hydraulic cylinder (26), and correcting conduit (21) can under the driving of correcting hydraulic cylinder (26) Swing 90 °；The correcting conduit (21) is telescopic structure.

3. petroleum well workover machine people according to claim 2, it is characterised in that：The lower correcting clamping device (23) includes Mounting bracket, gripping sleeve (27), clamping cylinder (28) and jack-up oil cylinder (29), two gripping sleeves (27) are opposite to be separately mounted to press from both sides On fixed seat, clamping cylinder (28) is fixed in mounting bracket, and the piston rod of clamping cylinder (28) connect with gripping sleeve (27), is real It now clamps and unclamps；Jack-up oil cylinder (29) upper end is mounted on mounting bracket bottom, jacks up oil cylinder (29) lower end and is mounted on liquid On the workbench for pressing clamp (24).

4. petroleum well workover machine people according to claim 1, it is characterised in that：The big arm assembly (3) includes large arm pendulum Dynamic device (31) and flexible mechanical arm device (32), the large arm pendulous device (31) include swing arm (33) and big arm cylinder (34), the swing arm (33) is two-part structure, and flexible mechanical arm device (32) is mounted on its forearm (35) end；The large arm Pendulous device (31) and the large arm pedestal that is fixed on chassis (1) it is hinged, with the telescopic oscillating of big arm cylinder (34) to horizontal or Vertical position；The forearm (35) is cavity structure, is internally provided with manipulator oil cylinder, rack and pinion, gear and splined shaft It being connected by spline, flexible mechanical arm device (32) is mounted on splined shaft, manipulator oil cylinder pushing rack drives gearing, Flexible mechanical arm device (32) can be with gearing；The manipulator oil cylinder and big arm cylinder (34) be equipped with displacement sensor, Control cylinder stroke.

5. petroleum well workover machine people according to claim 1, it is characterised in that：The measuring motion includes mobile detects Device (6) and fixed test device (7), the motion detection device (6) and fixed test device (7) are separately positioned on conveying roller The rear end and front end in road (5) are in rollgang (5) on same straight line, and oil pipe to be measured, which is located on rollgang (5), realizes oil The transmission of pipe is grown with survey；The motion detection device (6) is equipped with oil cylinder one (61) and disk (62), and oil cylinder one (61) is equipped with position Displacement sensor, disk (62) are arranged in the end of motion detection device (6), and the tail end of oil pipe to be measured is withstood on disk (62), oil Cylinder one (61) pushes disk (62) and then pushes oil pipe movement to be measured；Fixed test device (7) end is equipped with detection plate (71)；When detection, with one heart, motion detection device (6) is pushed away by oil cylinder one (61) for disk (62), oil pipe to be measured and detection plate (71) When dynamic oil pipe to be measured is moved to detection plate (71), displacement sensor records displacement.

6. petroleum well workover machine people according to claim 1, it is characterised in that：The palletizing apparatus (9) includes fixing Saddle (91), guide frame for moving (92), palletizing mechanical arm (93) and frame type holder (94), fixed saddle (91) are fixed on chassis (1) on, guide frame for moving (92) setting is inside fixed saddle (91), its four sides is fixed and is oriented to by directive wheel；Guide frame for moving (92) it being moved up and down along fixed saddle (91) by oil cylinder transmission, (92) two outside of the guide frame for moving is equipped with the linear guide, Frame type holder (94) is moved forward and backward by the linear guide along guide frame for moving (92)；It is equipped on the inside of the frame type holder (94) straight Line guide rail, can move up and down；The palletizing mechanical arm (93) is fixed below frame type holder (94), with frame type holder (94) it is moved forward and backward up and down, oil pipe is transported on rollgang (5) by palletizing mechanical arm (93)；The palletizing mechanical arm (93), Guide frame for moving (92) and frame type holder (94) control hydraulic cylinder by displacement sensor and realize positioning.

7. petroleum well workover machine people according to claim 1, it is characterised in that：The swinging arm device (4) includes pedestal (41), conveyer arm (42), conveying hand (43), slide body (44), oscillating oil cylinder (45) and elevating ram (46), the pedestal (41) it is in trench structure, including side plate, backboard and bottom plate, conveyer arm (42) one end is mounted on the side of pedestal (41) by hinge shaft On plate, the other end is equipped with conveying hand (43), and one end of the oscillating oil cylinder (45) is connected to conveyer arm (42) close to conveying At hand (43), the other end is hinged on pedestal (41)；The slide body (44) is mounted on pedestal (41) backboard by the linear guide Inside, elevating ram (46) upper end is connected with slide body (44), and bottom end is mounted on the bottom plate of pedestal (41), conveys hand (43) Oil pipe can be captured from the external of chassis (1).

8. petroleum well workover machine people according to claim 1, it is characterised in that：The elevator (8) includes elevator body (81), swing seat (82), gripping sleeve (83), connecting plate (84), upper support frame (85), lower bracing frame (86) and hydraulic cylinder (87), institute It states and is equipped with cavity in the middle part of elevator body (81), two swing seats (82) are connected to elevator body (81) cavity by swing seat axis (88) Interior, swing seat (82) is positioned and can be rotated with swing seat axis (88) by flat key with swing seat axis (88)；Two gripping sleeves (83) are fixed on On swing seat (82), it can be swung with swing seat (82)；The upper support frame (85) and lower bracing frame (86) are mounted on elevator body (81) One end, the other end of elevator body (81) is equipped with connecting plate (84)；Hydraulic cylinder (87) is fixed on connecting plate (84), hydraulic pressure The hydraulic stem of cylinder (87) is connect with link mechanism, and end and the swing seat axis (88) of the link mechanism pass through key connection, hydraulic cylinder (87) drive link mechanism rotates, and the opening and closing of gripping sleeve (83) are driven by swing seat axis (88).

9. according to claim 1-8 any one of them petroleum well workover machine people, it is characterised in that：On guide device (2) also Equipped with laser ranging system, the laser ranging system includes laser range finder (101), slider bracket (102), idler wheel (103) With steel wire rope (104), the laser range finder (101) is mounted on by upper fixing bracket (105) above upper correcting (22), is swashed Lower correcting clamping device (23) below optar (101) is equipped with the linear guide (106), slider bracket (102) peace In the linear guide (106), it can be moved up and down along the linear guide (106)；The idler wheel (103) is pacified by roller mount (107) On slider bracket (102), steel wire rope (104) one end is fixed on fixing bracket (105), and the other end bypasses idler wheel (103) it is connected with elevator (8), slider bracket (102) is moved up and down by steel wire rope (104) with elevator (8)；The slider bracket (102) reflector (108) is housed, laser range finder (101) realizes ranging work(by the signal that reflector (108) reflects on Energy.

10. according to claim 1-8 any one of them petroleum well workover machine people, it is characterised in that：It further include pipe collar hammering dress It sets, the pipe collar hammering device includes frame (111), shift fork (112), driving mechanism and hammer mechanism, and the frame (111) is One frame-type structure, the driving mechanism are mounted on by slideway pair in frame (111), and two hammer mechanisms are in driving mechanism Triangle disposition is mounted on frame (111) madial wall；The driving mechanism includes hydraulic cylinder (113) and supporting box (114), liquid Cylinder pressure (113) drives supporting box (114) to be moved left and right along slideway pair；The hammer mechanism includes pipe hammer sleeve (115), described Pipe is hammered into shape and is equipped with disc spring axis in sleeve (115), and shaft end is equipped with tup, and two tups are opposite to be installed；The shift fork (112) respectively with Supporting box (114) and pipe hammer sleeve (115) are hinged, and hydraulic cylinder (113) driving supporting box (114) passes through shift fork (112) band Dynamic pipe hammer sleeve (115) alternately hammers the oil pipe body being clipped between two hammer mechanisms.