CN216692821U - Manipulator and transport vechicle of on-vehicle injection head - Google Patents

Abstract

The utility model provides a manipulator of a vehicle-mounted injection head and a transport vehicle, wherein the manipulator of the vehicle-mounted injection head comprises: a base; the rear end of the lower mechanical arm is pivotally connected to the base; the front end of the upper mechanical arm is pivotally connected with the front end of the lower mechanical arm, and the upper mechanical arm comprises a telescopic section which can be movably arranged; the first lifting mechanism is pivotally arranged between the lower mechanical arm and the base; the second lifting mechanism is pivotally arranged between the upper mechanical arm and the base; and the first telescopic mechanism enables the injection head to swing back and forth around the rear end of the telescopic section during lifting operation. The technical scheme of this application arranges the complete equipment of coiled tubing in unison and installs on same special trailer, utilizes injection head manipulator automatic handling injection head mechanism to remove to the construction well head, can improve the efficiency of construction, promotes the security level, keeps the well site clean and tidy, is favorable to HSE (healthy safety ring protects) management.

Description

Manipulator and transport vechicle of on-vehicle injection head

Technical Field

The utility model relates to the technical field of coal resource exploitation, in particular to a manipulator of a vehicle-mounted injection head.

Background

Coiled tubing equipment has been developed for nearly forty years and is currently in the position of oil and gas development onshore and offshore with the continuous development of technology and application in production practice. The large-scale coiled tubing equipment of land is used for the well drilling, is under construction with high-pressure normal atmospheric temperature environment when workover treatment, installs equipment control equipment, coiled tubing cylinder and injection head on same trailer upper mounting plate usually, and it is very common that the injection head adopts hoist and mount, upright trailer afterbody of normal position trailer deflection during construction, and numerous pipelines of being connected with the injection head need the supporting winding of a lot of hydraulic line winches receive and release the pipeline and also install in the lump and arrange on trailer platform to safe transportation, safe construction. When the coiled tubing equipment is applied to underground resource gasification, particularly to a high-temperature high-pressure gas injection engineering environment, the coiled tubing injection head works at a high-temperature wellhead for continuous work, if a common hoisting mode is adopted, more equipment and personnel need to be used, and if the trailer tail deflection is adopted, the trailer tail is vertical and does not conform to a high-temperature construction environment, only a skid-mounted mode can be adopted, and the installation and the disassembly and the pipeline connection protection are more complicated.

In other non-drilling fields such as the unattended intelligent mining technical field of underground resources, coiled tubing equipment plays an important role, and large-scale injection heads of 11-15 tons are more difficult to transport.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a manipulator of a vehicle-mounted injection head and a transport vehicle, which aim to solve the problems that in the related technology, the injection head of continuous oil pipe equipment adopts a hoisting installation mode, the complete set of equipment of the continuous oil pipe is uniformly arranged and installed on the same special trailer, an injection head mechanism is automatically carried by the manipulator of the injection head to move to a construction wellhead, a large number of hydraulic connecting pipelines and control cables keep synchronous extension along with the movement of a mechanical arm, the construction efficiency can be improved, the safety level is improved, the well field is kept clean, and the HSE (health, safety and environmental protection) management is facilitated. Original control pipeline and the mixed and disorderly phenomenon of pencil on ground around the well head, all hydraulic control pipeline and control cable lead the overhead direct link of chain from the arm, accord with HSE (healthy safety ring protects) requirement more and prevent that the problem of inefficiency from taking place.

To achieve the above object, according to one aspect of the present invention, there is provided a robot for loading an injector head on a vehicle, comprising: a base; the rear end of the lower mechanical arm is pivotally connected to the base; the front end of the upper mechanical arm is pivotally connected with the front end of the lower mechanical arm, the upper mechanical arm comprises a movably arranged telescopic section, and the upper part of the injection head can be arranged at the rear end of the telescopic section; the first lifting mechanism is pivotally arranged between the lower mechanical arm and the base; the second lifting mechanism is pivotally arranged between the upper mechanical arm and the base; the first telescopic mechanism can be pivotally arranged between the upper mechanical arm and the middle part of the injection head, and when the first telescopic mechanism is lifted, the injection head can swing back and forth around the rear end of the telescopic section.

Further, the downward bending of the upper mechanical arm is arranged, the upper mechanical arm comprises a first connecting section and a second connecting section, the first connecting section is pivotally connected with the front end of the lower mechanical arm, the second connecting section is connected with the first connecting section, the telescopic section is movably arranged on the second connecting section, the first telescopic mechanism is pivotally arranged between the second connecting section and the middle of the injection head, the mechanical arm of the vehicle-mounted injection head further comprises a second telescopic mechanism which is pivotally arranged between the second connecting section and the rear end of the telescopic section, and the lifting direction of the second telescopic mechanism is parallel to the moving direction of the telescopic section.

Furthermore, the first telescopic mechanism is installed on the lower side face of the second connecting section, the rear end of the first telescopic mechanism is connected with the shaft end of the outer pushing rod in the middle of the outer frame of the injection head, the front end of the second telescopic mechanism is connected with the upper side face of the second connecting section, and the rear end of the second telescopic mechanism is connected with the upper portion of the rear end of the telescopic section.

Further, the manipulator of on-vehicle filling head still includes pushing away the pole, and the upper end pivot ground of pushing away the pole sets up the rear end at flexible section, and the filling head is installed on the flexible section of last arm, and first telescopic machanism pivot ground is set up between the lower extreme of last arm and pushing away the pole, and during first telescopic machanism lifted operation, the messenger pushed away the pole around the rear end fore-and-aft swing of flexible section.

Further, a second lift mechanism is pivotably disposed between the front end of the second linkage segment and the rear end of the lower robotic arm.

Furthermore, first linkage segment and second linkage segment are two that the interval set up, and flexible section, second lifting mechanism, first telescopic machanism and second telescopic machanism are two, go up the arm and still include but pivot ground connection two first connecting axles of the front end of first linkage segment and but pivot ground connection two second connecting axles of the front end of two second linkage segments.

Furthermore, the front end of the first telescopic mechanism is installed at the center of the second connecting shaft, the rear end of the first telescopic mechanism is connected with the middle point of the outer frame of the injection head, the front end of the second telescopic mechanism is connected with the outer side face of the second connecting section, and the rear end of the second telescopic mechanism is connected with the outer side face of the telescopic section.

Further, the lower arm is bent upwards and is set up, and lower arm is including connecting the third linkage segment on the base and the fourth linkage segment of being connected with the third linkage segment, and wherein, the front end of fourth linkage segment and the front end of first linkage segment pivotally connected, and first lifting mechanism pivotally sets up between fourth linkage segment and base.

Furthermore, the third connecting section and the fourth connecting section are two and are arranged at intervals, the first lifting mechanisms are two, the lower mechanical arm further comprises a third connecting shaft and a fourth connecting shaft, the third connecting shaft is connected with the front ends of the two third connecting sections, the fourth connecting shaft is pivotally connected with the rear ends of the two third connecting sections, and the two second lifting mechanisms are arranged between the second connecting shaft and the third connecting shaft at intervals and are pivotally connected.

Furthermore, the first lifting mechanism, the second lifting mechanism, the first telescopic mechanism and the second telescopic mechanism are all multi-stage hydraulic cylinders.

Further, the manipulator of on-vehicle injection head still includes the controller that sets up on the base, sets up the first photoelectric switch in the lateral part of injection head and sets up the second photoelectric switch in the bottom of injection head, and first photoelectric switch, second photoelectric switch, first lifting mechanism, second lifting mechanism, first telescopic machanism and second telescopic machanism all are connected with the controller.

Furthermore, the manipulator of the vehicle-mounted injection head further comprises a first sliding sleeve and a second sliding sleeve which are sleeved on the second connecting shaft at intervals, and the manipulator of the vehicle-mounted injection head further comprises a third sliding sleeve and a fourth sliding sleeve which are sleeved on the third connecting shaft at intervals; but a second lifting mechanism pivot ground is connected on first sliding sleeve and third sliding sleeve, but another second lifting mechanism pivot ground is connected on second sliding sleeve and fourth sliding sleeve, the manipulator of on-vehicle syringe needle is still including setting up the first telescoping cylinder of the upper end of connecting the upper end of first sliding sleeve and second sliding sleeve, the flexible direction of first telescoping cylinder is on a parallel with the axis of second connecting axle, the manipulator of on-vehicle syringe needle is still including connecting the second telescoping cylinder between the second lifting mechanism, the flexible direction of second telescoping cylinder is on a parallel with the axis of third connecting axle.

According to another aspect of the utility model, a transport vehicle is provided, which comprises a vehicle frame, a manipulator arranged above the vehicle frame and an injection head capable of taking and placing the injection head arranged on the vehicle frame, wherein the manipulator is the manipulator of the vehicle-mounted injection head, the injection head is arranged at the tail part of the vehicle frame and at the rear side of the manipulator, and a bracket for supporting the injection head is arranged on the vehicle frame.

Furthermore, the transport vehicle further comprises a control cabinet, a continuous oil pipe roller and a hydraulic pump station, wherein the control cabinet, the continuous oil pipe roller and the hydraulic pump station are arranged above the frame, the continuous oil pipe roller and the hydraulic pump station are controlled by the control cabinet to work, a controller of the manipulator is located in the control cabinet, the continuous oil pipe roller is located on the front side of the manipulator and can pull the injection head, and the hydraulic pump station is located on the front side and/or the rear side of the manipulator.

By applying the technical scheme of the utility model, the manipulator of the vehicle-mounted injection head comprises: the robot comprises a base, a lower mechanical arm, an upper mechanical arm, a first lifting mechanism, a second lifting mechanism and a first telescopic mechanism. The rear end of the lower mechanical arm is pivotally connected to the base. The front end of the upper mechanical arm is pivotally connected with the front end of the lower mechanical arm, the upper mechanical arm comprises a telescopic section which is movably arranged, and the upper part of the injection head can be arranged at the rear end of the telescopic section. The first lifting mechanism is pivotally disposed between the lower mechanical arm and the base. The second lifting mechanism is pivotably disposed between the upper mechanical arm and the base. The first telescoping mechanism is pivotally disposed between the upper mechanical arm and the middle portion of the injector head. In this application, the first retraction mechanism, among other things, causes the injector head to swing back and forth around the rear end of the retraction section during a lifting operation. The injection head can be arranged at the upper part of the injection head and can be arranged at the rear end of a telescopic section, a first lifting mechanism pushes the lower mechanical arm backwards so as to enable the upper mechanical arm to move backwards, the injection head is lifted to a proper height through a second lifting mechanism, when the first lifting mechanism is lifted, the injection head is regulated and controlled in a small swing mode, the injection head is displaced towards a steam injection wellhead device at the moment, the injection head is switched to a placing position through an inclined setting, the injection head is located on the periphery of the gas injection wellhead device, and a central continuous pipe of the injection head and a central valve of the gas injection wellhead device are concentrically arranged. The functions of the injection head such as rotation translation, front-back longitudinal translation, rotation lifting, dismounting and placing are realized through the action and the cooperation of the first lifting mechanism, the second lifting mechanism and the first telescopic mechanism of the manipulator, and the well head of the injection head of the coiled tubing equipment is installed in place and is recovered to a trailer. The manipulator of the vehicle-mounted injection head can replace a conventional crane hoisting injection head device, a winch for replacing a hydraulic pipeline of the injection head and an integrated device for dragging a control signal wire harness. Thus, the installation efficiency of the injection head of the coiled tubing equipment is improved. Therefore, the technical scheme of the application can solve the problem that the injection head of the coiled tubing equipment in the related art adopts a hoisting installation mode, so that the installation efficiency is lower.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

figure 1 shows a schematic perspective view of a first embodiment of a robot for a vehicle-mounted injector head according to the present invention;

FIG. 2 shows a schematic left side view of a robot of the on-board injector head of FIG. 1;

FIG. 3 shows a front view schematic of the upper robot arm, push bar and first telescoping mechanism of FIG. 1;

FIG. 4 shows a front view schematic of the lower robotic arm of FIG. 1;

FIG. 5 shows a schematic front view of a first lifting mechanism of a robot of the on-board injector head of FIG. 1 when not in operation;

FIG. 6 is a schematic front view of the first lift mechanism of the robot of the on-board injector head of FIG. 1 shown in two stages of extension;

figure 7 shows a schematic front view of a second embodiment of a robot of the on-board injector head according to the utility model;

FIG. 8 shows a left side schematic view of a robot of the on-board injector head of FIG. 7;

figure 9 shows a schematic front view of a third embodiment of a robot for a vehicle-mounted injector head according to the present invention;

figure 10 shows a schematic front view of a fourth embodiment of a robot for a vehicle-mounted injector head according to the present invention;

figure 11 shows a schematic front view of a fifth embodiment of a robot of the on-board injector head according to the utility model;

figure 12 shows a schematic front view of a sixth embodiment of a robot for a vehicle-mounted injector head according to the present invention;

FIG. 13 shows a front view schematic of a push rod of an embodiment of a transporter in accordance with the utility model in a disassembled position;

FIG. 14 shows a schematic top view of the transporter of FIG. 13;

fig. 15 shows a front view schematic of the pushbar of the transporter of fig. 13 in a resting position.

Wherein the figures include the following reference numerals:

1. an injection head; 2. a frame; 3. a coiled tubing drum; 4. a manipulator; 5. a control cabinet; 6. a support; 10. a base; 21. A lower mechanical arm; 211. a third connection section; 212. a fourth connection section; 213. a third connecting shaft; 214. a fourth connecting shaft; 22. An upper mechanical arm; 221. a first connection section; 222. a second connection section; 223. a telescopic section; 224. a first connecting shaft; 225. a second connecting shaft; 30. a backup lever; 41. a first lifting mechanism; 42. a second lifting mechanism; 43. a first telescoping mechanism; 44. a second telescoping mechanism; 51. a first sliding sleeve; 52. a second sliding sleeve; 53. a third sliding sleeve; 54. a fourth sliding sleeve; 55. a first telescoping cylinder; 56. and a second telescoping cylinder.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1 to 6, a robot of a vehicle-mounted injector head according to a first embodiment includes: the robot comprises a base 10, a first lifting mechanism 41, a lower robot arm 21, an upper robot arm 22, a pushing rod 30, a first lifting mechanism 41, a second lifting mechanism 42 and a first telescoping mechanism 43. The rear end of the lower robot arm 21 is pivotally connected to the base 10. The front end of the upper robot arm 22 is pivotably connected to the front end of the lower robot arm 21. The upper end of the push lever 30 is pivotably provided at the rear end of the upper robot arm 22, and the injector head 1 is mounted on the push lever 30. The first lifting mechanism 41 is pivotably disposed between the lower robot arm 21 and the base 10. The second lifting mechanism 42 is pivotally disposed between the upper robot arm 22 and the base 10. The first telescopic mechanism 43 is pivotably provided between the upper mechanical arm 22 and the lower end of the push lever 30. In the present application, the first retracting mechanism 43 causes the push rod 30 to have a tilt-setting attaching and detaching position and a vertical-setting placing position during the lifting operation.

According to the technical scheme of the first application embodiment, hanging columns on two sides of the top of the outer frame of the injection head 1 are installed in the circular rings of the left and right telescopic sections 223, the tail ends of the left and right telescopic sections 223 are of a butt-clamping structure, and the pushing rod 30 pushes the center line of the front side face of the injection head frame to extend outwards. The first lifting mechanism 41 is pivotably provided between the lower robot arm 21 and the pedestal 10. The second lifting mechanism 42 is pivotally disposed between the upper robot arm 22 and the base 10. The first telescopic mechanism 43 is pivotably provided between the upper mechanical arm 22 and the lower end of the push lever 30. In the first embodiment, the first retracting mechanism 43 is configured to have a tilted swing position of the push-out lever 30 during the lifting operation. The metal pipeline which can be connected and fixed by a high-pressure hose on the lower mechanical arm 21 and the upper mechanical arm 22, the injection head 1 can be installed on a telescopic section 223 of the upper mechanical arm 22, the first lifting mechanism 41 pushes back the lower mechanical arm 21 to rotate the lower mechanical arm 21 around a base rotating shaft so as to enable the upper mechanical arm 22 to move backwards, meanwhile, the injection head 1 is lifted to a proper height through the second lifting mechanism 42, when the first telescopic mechanism 43 is lifted, external popularization or pull-back action is applied to the swinging push rod 30 to generate swinging regulation and control, the telescopic section 223 horizontally pushes the injection head 1 to the position above an injection head support frame around a wellhead, the push rod 30 adjusts the four corners of the bottom of the injection head frame to vertically correspond to the four corners of the injection head support frame, the central tube of the injection head is superposed with the central line of a wellhead well, and the first lifting mechanism 41 and the second lifting mechanism 42 are adjusted to ensure that the space between the bottom of the outer frame of the injection head and the top surface of the wellhead injection head support frame is less than or equal to 15mm, and adjusting the second telescopic mechanism 44 to translate and adjust the injection head to move towards the center vertical line of the wellhead to be overlapped with the center vertical line of the wellhead, so that the pushing rod controls the swing of the injection head 1 to be controlled on the overlapped positioning center line. The pushing rod realizes the functions of rotary translation lifting, left-right displacement, front-back longitudinal translation (lifting, left-right displacement), rotary lifting, dismounting, placing and the like of the injection head through the action and the cooperation of the first lifting mechanism 41, the second lifting mechanism 42, the first telescopic mechanism 43 and the second telescopic mechanism of the manipulator, and realizes the well head installation and the recovery of the injection head of the coiled tubing equipment to the trailer. The manipulator of the vehicle-mounted injection head can replace a conventional crane hoisting injection head device, a winch for replacing a hydraulic pipeline of the injection head and an integrated device for dragging a control signal wire harness. Thus, the installation efficiency of the injection head of the coiled tubing equipment is improved. Therefore, the technical scheme of the first embodiment can solve the problem that the injection head of the coiled tubing equipment in the related art is installed in a hoisting mode, so that the installation efficiency is low.

Specifically, the first telescoping mechanism 43 pushes the pushing rod 30 of the injector to obliquely push against the front side surface of the injector to adjust the base angle of the injector to be correspondingly overlapped with the wellhead support frame of the injector, and the second telescoping mechanism translates the central tube of the injector to be correspondingly overlapped with the wellhead device and the wellhead central line to push against the rod. The first lifting mechanism 41 plays a role in pushing out and stabilizing the injection head, and the second lifting mechanism 42 adjusts the height of the injection head and plays a role in supporting the injection head. The manipulator of the vehicle-mounted injection head can push the injection head to the position of 4500mm of the maximum distance outside the tail of the trailer.

As shown in fig. 1 to 6, in the downward bending configuration of the upper robot arm 22, the upper robot arm 22 includes a first connecting section 221 pivotably connected to the front end of the lower robot arm 21 and a second connecting section 222 connected to the first connecting section 221, and an included angle of 135 degrees is formed between the first connecting section 221 and the second connecting section 222. The upper mechanical arm 22 further comprises a telescopic section 223 movably arranged on the second connecting section 222, wherein the upper end of the pushing rod 30 is pivotally arranged at the rear end of the telescopic section 223, the first telescopic mechanism 43 is pivotally arranged between the second connecting section 222 and the lower end of the pushing rod 30, the mechanical arm of the vehicle-mounted injection head further comprises a second telescopic mechanism 44 pivotally arranged between the second connecting section 222 and the rear end of the telescopic section 223, and the lifting direction of the second telescopic mechanism 44 is parallel to the moving direction of the telescopic section 223. The first connection section 221 and the second connection section 222, and the first connection section 221 and the second connection section 222 are all metal frame rectangular tubes. The second telescoping mechanism 44 pushes the telescoping section 223 of the second connecting section 222 outwards, and the length of the telescoping section 223 is 1500mm, so that the injection head can be translated or fine-tuned at the steam injection well head. The injection head of the first embodiment comprises an injection head body and an outer injection head frame arranged outside the injection head body, wherein the outer injection head frame is provided with two rotating shafts which are in pivot connection with the telescopic section 223. The first lifting mechanism 41, the lower robot 21, and the upper robot 22 of the first embodiment form a mechanism for gripping the injector head frame in the front-rear direction so that the injector head is in a fixed clamped state.

The manipulator of the vehicle-mounted injection head further comprises an oil cylinder, an injection head hydraulic pipeline, a supporting chain and a set of control valve members of an operation room, wherein the oil cylinder is used for respectively supplying oil to the first lifting mechanism 41, the second lifting mechanism 42, the first telescopic mechanism 43 and the second telescopic mechanism 44.

As shown in fig. 1 to 6, the first lifting mechanism 41, the lower robot 21 and the second lifting mechanism 42 form a three-point interlocking surface for supporting and positioning, so as to ensure the stability of the telescopic link, and the payload of the robot arm is 15000Kg when the telescopic link is at the maximum cantilever.

As shown in fig. 1 to 6, the second lifting mechanism 42 is pivotably disposed between the front end of the second connecting section 222 and the rear end of the lower robot arm 21. The installation position of the second lifting mechanism 42 is maintained so that the upper robot arm 22 is maintained in a balanced posture in one plane in the front-rear direction.

As shown in fig. 1 to 6, the first connecting section 221 and the second connecting section 222 are two and are arranged at an interval, the telescopic section 223, the second lifting mechanism 42, the first telescopic mechanism 43, and the second telescopic mechanism 44 are two, and the upper robot arm 22 further includes a first connecting shaft 224 pivotally connecting front ends of the two first connecting sections 221 and a second connecting shaft 225 pivotally connecting front ends of the two second connecting sections 222. Specifically, the side lengths of the first connecting section 221, the third connecting section 211 and the fourth connecting section 212 are 2000mm, the length of the second connecting section 222 is 3000mm, the length of the telescopic section 223 is 2500mm, the maximum extension length of the telescopic section 223 is 2000mm, and the extension length to the tail edge of the trailer does not exceed 4500mm when the injection head is installed on site. The telescopic section 223 is a telescopic cantilever square tube structure.

The telescopic section 223 on the second connecting section 222 enables the manipulator of the vehicle-mounted injection head to realize outward translation placement and recovery of the clamping injection head. The second telescopic mechanism 44 drives the telescopic section 223 on the second connecting section 222 to perform telescopic pushing and pulling functions, so as to realize the parallel displacement placement and recovery of the injection head. A pin interface of a second telescopic mechanism 44 is designed at the position, close to the lower side face or the left side face of the outer pipe port, of the telescopic section 223, the tail end of the telescopic section 223 is an annular shaft sleeve capable of swinging up and down and corresponds to a left central hoisting shaft and a right central hoisting shaft designed on the injection head, the lower end of the first telescopic mechanism 43 and a preset extending shaft extending out of a central line on the front side face of the injection head frame form shaft sleeve connection pushing, the function of swinging the injection head back and forth is achieved, the injection head can be conveniently positioned and adjusted at a wellhead, and the injection head is guaranteed to be concentric with a shaft.

As shown in fig. 1 to 6, in the upward bending configuration of the lower robot arm 21, the lower robot arm 21 includes a third connecting section 211 connected to the base 10 and a fourth connecting section 212 connected to the third connecting section 211, wherein a front end of the fourth connecting section 212 is pivotably connected to a front end of the first connecting section 221, and the first lifting mechanism 41 is pivotably disposed between the fourth connecting section 212 and the base 10. An included angle of 135 degrees is formed between the third connecting section 211 and the fourth connecting section 212, and the third connecting section 211 and the fourth connecting section 212 are both metal frame rectangular tubes. The fourth connecting section 212 is fastened with a welding structure on the base 10, and plays a role in lifting and rotating the lower mechanical arm 21 and playing a pull locking function on the structure after the lower mechanical arm is in place, so that the situation that the injection head falls down due to the fact that the mechanical arm turns to the right side is prevented.

As shown in fig. 1 to 6, the third connecting segment 211 and the fourth connecting segment 212 are two and are arranged at intervals, the number of the first lifting mechanisms 41 is two, the lower robot arm 21 further includes a third connecting shaft 213 connecting front ends of the two third connecting segments 211 and a fourth connecting shaft 214 pivotably connecting rear ends of the two third connecting segments 211, and the two second lifting mechanisms 42 are arranged between the second connecting shaft 225 and the third connecting shaft 213 at intervals and pivotably.

As shown in fig. 1 to 6, the first lifting mechanism 41, the second lifting mechanism 42, the first telescoping mechanism 43, and the second telescoping mechanism 44 are all multi-stage hydraulic cylinders. The multistage hydraulic cylinder is formed by sleeving two-stage or multistage piston cylinders and mainly comprises a cylinder cover, a cylinder barrel, a sleeve, a piston and other parts. The two ends of the cylinder barrel are provided with an oil inlet and an oil outlet A and an oil outlet B. When the oil is fed from the port A and returned from the port B, the first-stage piston with larger effective acting area is pushed to move, and then the second-stage piston with smaller effective acting area is pushed to move. The piston with large effective acting area has low moving speed and large thrust because the flow entering the port A is unchanged, and conversely, the piston has high moving speed and small thrust. If oil is fed into the port B and oil is returned from the port A, the secondary piston is withdrawn to the end point first, and then the primary piston is withdrawn.

The upper arm 22 carries the telescopic link lifting support force provided by the second telescopic mechanism 44, the fourth connecting shaft 214 is arranged to facilitate smooth rotation of the second lifting mechanism 42, and the second lifting mechanism 42 supports the upper arm 22 for sliding and translation.

Because the manipulator produces the biggest moment when the injection head is grabbed and put at the steam injection well head and can cause the injection head to overturn rightwards and fall to the ground, when rotating third linkage segment 211 and trailer platform and forming 67.5 degrees contained angles, the second lifting mechanism 42 becomes 90 degrees contained angles with the horizontal plane when bearing the analysis of power point, the manipulator focus deviates completely and falls to pivot point right side, the second lifting mechanism 42 bears the moment of overturning rightwards and increases gradually, first lifting mechanism 41 push-pull effort is minimum, whole manipulator and injection head device get into the limit of turning on one's side, probably cause manipulator base frame to tear and cause the injection head to fall to the ground, control second telescopic machanism 44 and trailer platform contained angle and do not exceed 45 degrees and be the spacing angle, manipulator safety range. The distance between the lower end of the second lifting mechanism 42 and the connecting rotating shaft of the lower mechanical arm 21 and the base is changed, and the connecting point of the second lifting mechanism 42 and the upper mechanical arm 22 is changed, namely the second lifting mechanism moves backwards, so that the deflection moment of the mechanical arm to the injection head can be changed.

As shown in fig. 1 to 6, the manipulator of the vehicle-mounted injector head further includes a controller disposed on the base 10, a first photoelectric switch disposed on the front side of the injector head 1, and a second photoelectric switch disposed on the bottom of the injector head 1, and the first photoelectric switch, the second photoelectric switch, the first lifting mechanism 41, the second lifting mechanism 42, the first telescoping mechanism 43, and the second telescoping mechanism 44 are all connected to the controller. The first photoelectric switch and the second photoelectric switch are both photoelectric distance sensors. The distance that the first photoelectric switch surveyed the injection head frame forward and put up with trailer afterbody injection head to the injection head is located and is put on transportation locking support when ensureing that the injection head retrieves, the second photoelectric switch is installed in injection head frame bottom four corners, supports four corner reflectors that lay the support with the injection head of wellhead assembly outside installation and corresponds the position, and the injection head of design supports and lays the support and sit at gas injection wellhead assembly periphery, encloses gas injection wellhead assembly at central authorities. The second photoelectric switch is used for downwards judging the corresponding four-corner positions of the injection head device and the injection head supporting and placing support, so that the central continuous pipe of the injection head is concentric with a central wellhead valve hole of the gas injection wellhead device, the automatic control of the manipulator is adopted to place the shifting injection head to the gas injection wellhead, the shifting injection head is an effective and safe means, and meanwhile, the manipulator shifts the injection head to the wellhead to enable large-scale equipment to be far away from the wellhead and meet the requirement of HSE (health, safety and environmental protection) production.

The controller is a PLC system controlled by a complete set of coiled tubing equipment. The existing hydraulic pump station system on the continuous pipe equipment is utilized, the difference of the working time sequence of the hydraulic pump station system is utilized, relevant necessary control valve parts and self-detection diagnosis parts are equipped, the hydraulic pump station system is connected to an oil cylinder through a pipeline, and the lifting of an upper mechanical arm 22 and the rotation of a lower mechanical arm 21 are realized by the push-pull of the oil cylinder, so that the functions of lifting, translation, installation, recovery and the like of an injection head are driven. All metal pipelines and detection cables of the hydraulic motor and the oil cylinder on the same side of the injection head on the corresponding side are fixed along the outer side face from the fixed rotating shaft point of the lower mechanical arm 21 rotated by the first lifting mechanism 41, and the rotating pipelines of the upper mechanical arm 22 and the lower mechanical arm 21 are flexibly connected by connecting high-pressure hoses at the rotating shaft point. All metal pipelines and detection cables corresponding to the injection heads are fixed on the upper top surface of the upper mechanical arm 22 and are connected to the tail end of the upper mechanical arm 22, the lower mechanical arm 21 and the upper mechanical arm 22 are connected from the side surface of the lower mechanical arm 21 of the upper mechanical arm 22 to the upper top surface of the upper mechanical arm 22 through high-pressure hoses between upper sliding guide posts, so that smooth pipelines and pipelines are ensured when parts are translated or rotated, hydraulic motors and oil cylinder oil circuits on the same side of the injection heads are intensively arranged on the right side surface of the top of an injection head frame through the fixed metal pipelines, the metal pipelines on the top surface of the telescopic section 223 are connected to corresponding hydraulic motors and corresponding oil cylinder connectors of the injection heads through the high-pressure hoses, the high-pressure hoses and the cables are uniformly arranged and penetrated into a flexible nylon chain bracket, two ends of the chain bracket are respectively fixed at the tail end of the telescopic section 223, the telescopic section 223 extends out to drive the chain bracket to stretch, and the chain bracket is superposed on the upper top surface of the second connecting section 222 when the telescopic section 223 is drawn back, the hydraulic pipeline keeps a proper length to be connected with the injection head, and the rotation of the manipulator and the injection head is not influenced.

The robot function of the vehicle-mounted injection head of the first embodiment is as follows:

firstly, the injection head is fixed during transportation, and the injection head is effectively prevented from inclining to two sides;

the injection head is not separated from the continuous pipe, so that hydraulic oil leakage caused by the disassembly and assembly of a hydraulic pipeline is prevented;

thirdly, the injection head is transported by one vehicle, installed by one vehicle and directly positioned at the well mouth;

an integrated cantilever folding oil pipe frame structure can be formed, and a plurality of high-pressure hydraulic oil pipe small winches are saved;

fifthly, fixed support of a well site of the injection head is realized, and hard support is realized between the injection head and the trailer, so that the wellhead of the injection head is prevented from turning over, and the safety protection level is improved;

sixthly, the field hoisting construction equipment is reduced, the operation efficiency is improved, and the mounting and recycling working strength is reduced;

and seventhly, the distance between the continuous pipe roller and the injection head is shortened, and the occupied area of a well field is reduced.

The rear end of the lower mechanical arm of the first embodiment is pivotally connected to the base. The front end of the upper mechanical arm is pivotally connected with the front end of the lower mechanical arm. The lower mechanical arm 21 and the upper mechanical arm 22 form a front-back and up-down interlocking integral stress frame mechanism through a lower-back, a lower-middle, an upper-middle and an upper-back connecting sections which are connected with each other between the lower mechanical arm 21 and the upper mechanical arm 22. The telescopic section at the rear end of the upper mechanical arm is sleeved with the second connecting section, and the outer end of the telescopic section is provided with a round sleeved mounting hole integrated with the telescopic section and can be sleeved with lifting cylinders on two sides of the injection head frame. The first lifting mechanism is pivotally disposed between the lower mechanical arm and the base. The second lifting mechanism is pivotally arranged between the upper mechanical arm and the base; the first telescoping mechanism is pivotally arranged at two spaced rotating joint positions on the lower surface of the end of the telescoping section, a push-and-pull rod capable of rotating and swinging is arranged at the lower rear rotating joint position of the telescoping section, a first telescoping mechanism is arranged at the front rotating joint position, the other end of the first telescoping mechanism is rotationally connected to the push-and-pull rod, and the first telescoping mechanism swings the push-and-pull rod to push the injection head to swing back and forth on the mechanical arm around the lifting cylinder; the second telescopic mechanism is arranged on the upper parts of the second connecting section and the telescopic section to connect the second connecting section and the telescopic section together, and the telescopic section is pushed out or retracted to form the translation of the injection head. When the first lifting mechanism is used for lifting, the lower mechanical arm rotates to a position vertical to the base around the base rotating shaft, the injection head is pushed outwards to the direction of the gas injection wellhead and is far away from the tail of the trailer, and the second lifting mechanism plays a role in pushing up and supporting the upper mechanical arm, so that the injection head is lifted or lowered. The first telescopic mechanism adjusts the swing angle of the injection head mechanism to ensure that the injection head and an injection head support on the wellhead are overlapped and placed in place, and the second telescopic mechanism translates the injection head to the upper part of the gas injection wellhead and enters the upper part of an injection head mounting support mounted on the gas injection wellhead. The technical scheme of the first embodiment effectively solves the problems that the injection head of the coiled tubing equipment in the related technology adopts a hoisting installation mode, so that the installation efficiency is low, platform oil pipes are numerous and disorderly behind a trailer of the coiled tubing equipment, and the installation mode of the trailer tail hydraulic pushing injection head does not meet the requirement of a coal gasification high-temperature high-pressure operation environment. In the second embodiment of the robot for the in-vehicle injector head, the difference from the first embodiment of the robot for the in-vehicle injector head is the position between the two second lifting mechanisms 42. As shown in fig. 7 and 8, for convenience of use, the manipulator of the vehicle-mounted injection head further includes a first sliding sleeve 51 and a second sliding sleeve 52 which are alternately sleeved on the second connecting shaft 225, and the manipulator of the vehicle-mounted injection head further includes a third sliding sleeve 53 and a fourth sliding sleeve 54 which are alternately sleeved on the third connecting shaft 213; one second lifting mechanism 42 is pivotally connected to the first sliding sleeve 51 and the third sliding sleeve 53, the other second lifting mechanism 42 is pivotally connected to the second sliding sleeve 52 and the fourth sliding sleeve 54, the manipulator of the vehicle-mounted injection head further comprises a first telescopic cylinder 55 which is arranged to connect the upper end of the first sliding sleeve 51 and the upper end of the second sliding sleeve 52, the telescopic direction of the first telescopic cylinder 55 is parallel to the axis of the second connecting shaft 225, the manipulator of the vehicle-mounted injection head further comprises a second telescopic cylinder 56 which is connected between the second lifting mechanisms 42, and the telescopic direction of the second telescopic cylinder 56 is parallel to the axis of the third connecting shaft 213.

In the third embodiment of the robot for onboard an injector head, the difference from the first embodiment of the robot for onboard an injector head is the mounting position of the second lifting mechanism 42. As shown in fig. 9, the first lift mechanism 41 is pivotably provided between the lower robot arm 21 and the base 10. The second lifting mechanism 42 is pivotally disposed between the upper robot arm 22 and the base 10. In this way, the secondary lift mechanism 42 can also support the upper robot 22 during lifting, and the secondary lift mechanism translates rearward to change the yaw moment of the robot on the injector head.

In the fourth embodiment of the robot for the in-vehicle injector head, the difference from the first embodiment of the robot for the in-vehicle injector head is that the mounting position of the second lifting mechanism 42 and the robot for the in-vehicle injector head do not include the push lever 30. As shown in fig. 10, a first lift mechanism 41 is pivotably provided between the lower robot arm 21 and the base 10. The second lifting mechanism 42 is pivotally disposed between the upper robot arm 22 and the base 10. The first telescoping mechanism 43 is mounted on the lower side of the second connecting section 222, the rear end of the first telescoping mechanism 43 is connected with the shaft end of the outer leaning rod in the middle of the outer frame of the injection head 1, the front end of the second telescoping mechanism 44 is connected with the upper side of the second connecting section 222, and the rear end of the second telescoping mechanism 44 is connected with the upper part of the rear end of the telescoping section 223. The front outer push-pull rod is welded on a horizontal central line in the front of the injection head frame, the length of the outer push-pull rod is the same as the width between the two telescopic sections 223, the outer push-pull rod is machined into a cylinder on the outer portion of the injection head frame, the lower ends of the telescopic sections 223 are sleeved with the cylinders on the two sides of the outer push-pull rod, and the first telescopic mechanism 43 pushes the injection head to swing so that the injection head swings around the lifting cylinder on the upper mechanical arm back and forth. The second telescopic mechanism generates a pulling force and a positioning function to the swinging of the lower part of the injection head, and the phenomenon that the lower part of the injection head swings backwards due to downward pressure caused by the pulling force of the gooseneck guide frame of the injection head is avoided. The second telescopic mechanism is installed on the upper portions of the second connecting section 222 and the telescopic section to connect the second connecting section and the telescopic section together, and the second telescopic mechanism drives the telescopic section to be pushed out or retracted to form translation of the injection head.

In the fifth embodiment of the robot for the in-vehicle injector head, the difference from the first embodiment of the robot for the in-vehicle injector head is that the robot for the in-vehicle injector head does not include the push lever 30. As shown in fig. 11, the first telescoping mechanism 43 is mounted on the lower side of the second connecting section 222, the rear end of the first telescoping mechanism 43 is connected with the shaft end of the outer leaning rod in the middle of the outer frame of the injector head 1, the front end of the second telescoping mechanism 44 is connected with the upper side of the second connecting section 222, and the rear end of the second telescoping mechanism 44 is connected with the upper part of the rear end of the telescoping section 223. The front outer pushing rod is welded on the horizontal center line of the front portion of the injection head frame, the length of the outer pushing rod is the same as the width between the two telescopic sections 223, the outer pushing rod is machined into a cylinder outside the injection head frame, the lower ends of the telescopic sections 223 are sleeved with the cylinders on the two sides of the outer pushing rod, and the first telescopic mechanism 43 pushes the injection head to swing to cause the injection head to swing back and forth on the upper mechanical arm around the lifting cylinder. The second telescopic mechanism generates a pulling force and a positioning function for the swing of the lower part of the injection head, and the situation that the lower part of the injection head swings backwards due to downward pressure caused by the pulling force of the gooseneck guide frame of the injection head is avoided. The second telescopic mechanism is installed on the upper portions of the second connecting section 222 and the telescopic section to connect the second connecting section and the telescopic section together, and the second telescopic mechanism drives the telescopic section to be pushed out or retracted to form translation of the injection head.

In the sixth embodiment of the robot for the in-vehicle injector head, the difference from the first embodiment of the robot for the in-vehicle injector head is the position where the first telescopic mechanism 43 is provided. As shown in fig. 12, the front end of the first telescopic mechanism 43 is mounted at the center of the second connecting shaft 225, and the rear end of the first telescopic mechanism 43 is connected to the midpoint of the outer frame of the injector head 1. The first telescoping mechanism 43 extends to push the bottom of the injection head to swing backwards, and the first telescoping mechanism 43 retracts to pull the bottom of the injection head to swing forwards. The front end of the second telescoping mechanism 44 is connected to the outer side of the second connecting section 222, and the rear end of the second telescoping mechanism 44 is connected to the outer side of the telescoping section 223. Thus, the second telescoping mechanism 44 connects the second connecting section 222 and the telescoping section 223, and the second telescoping mechanism 44 drives the telescoping section 223 to be pushed out or retracted to form the injection head to translate.

The working principle of the manipulator of the vehicle-mounted injection head is as follows:

firstly, the hydraulic pump station system works, the composite continuous pipe PLC system is switched to a procedure of installing the injection head, the second lifting mechanism 42 lifts the injection head to be away from the fixed position of the flat plate of the trailer for 400mm, the first photoelectric switch arranged on the injection head frame provides a measurement signal of the distance between the bottom of the injection head and the flat plate of the trailer, and the height photoelectric signal is a preset parameter of the system.

Secondly, the first lifting mechanism 41 is pushed to the final position of three stages, the lower mechanical arm 21 and the base 10 are rotated to form a 45-degree included angle at the moment, a PLC system detects that the bottom height positioning photoelectric signal of the injection head is in a shunting range, if the bottom height positioning photoelectric signal is lower than or higher than preset set parameters, the second lifting mechanism 42 is pushed outwards or pulled inwards, the PLC system compares the bottom preset height signal of the injection head, if the bottom height photoelectric signal of the injection head is continuously pushed outwards by the first lifting mechanism 41 in the set height range, if the bottom height signal of the injection head exceeds the set range, the first lifting mechanism 41 is stopped, and the second lifting mechanism 42 pushes outwards a connecting rod to lift the height of the injection head to the set height stop.

Thirdly, the first lifting mechanism 41 continuously pushes the inner cylinder outwards to the secondary tail end, during the period, the PLC system detects that the injection head is positioned correctly through photoelectric signals, if the first lifting mechanism 41 stops according to photoelectric alarm signals, the second lifting mechanism 42 pushes the injection head outwards by 200mm to lift the height of the injection head.

The application also provides a transport vehicle, as shown in fig. 1 and 11 to 15, the transport vehicle comprises a frame 2, a manipulator 4 arranged above the frame 2 and an injection head 1 capable of being taken and placed on the frame 2, the manipulator is the manipulator of the vehicle-mounted injection head, the injection head 1 is arranged at the tail of the frame 2 and is arranged at the rear side of the manipulator 4, and a support 6 for supporting the injection head 1 is arranged on the frame 2. The transport vehicle described above is preferably a trailer.

As shown in fig. 11 to 15, the transport vehicle further includes a control cabinet 5, a coiled tubing drum 3 and a hydraulic pump station, the control cabinet 5 controls the operation of the coiled tubing drum 3 and the hydraulic pump station, a controller of the manipulator 4 is located in the control cabinet 5, the coiled tubing drum 3 is located on the front side of the manipulator 4 and penetrates into the injection head mechanism through the coiled tubing to form traction with the injection head, the hydraulic pump station system of the injection head 1 is in a normally closed clamping state to avoid accidents caused by the fact that the coiled tubing is loosened due to the reduction of the clamping force of the injection head, and the hydraulic pump station is located on the front side and/or the rear side of the manipulator 4. The coiled tubing roller is not limited to be arranged on a trailer platform or a roller groove is arranged in the middle of the coiled tubing roller for placing the roller, and the hoisting frame outside the roller is arranged on the middle groove frame.

Specifically, the control of the manipulator of the vehicle-mounted injection head is uniformly controlled by a continuous pipe device PLC, a control operation instrument platform in a control cabinet 5 is provided with a continuous oil pipe and a manipulator selection knob, a manual and automatic control knob, a continuous operation key, an emergency stop ESD key and a remote emergency stop function, a manual handle is arranged on the operation platform and used for controlling the manipulator recovery function of outward pushing and placing or inward pulling of the manipulator, a lifting handle is used for adjusting the upper manipulator height adjusting function of the manipulator, inclination sensors are arranged on the first connecting section 221 and the fourth connecting section 212, and the upper manipulator of the manipulator only extends out and retracts when the lower manipulator swings to a 90-degree position. The PLC is preset with a lower mechanical arm 45-degree position of a mechanical arm, a lower mechanical arm 90-degree position of the mechanical arm and a lower mechanical arm 105-degree position three tilt angle sensor measuring positions of the mechanical arm, when the mechanical arm is located at the three measuring positions, an operator is required to give an activation operation signal, otherwise, the mechanical arm stops operating and sends out an acousto-optic alarm continuous prompt signal, a first tilt angle sensor is installed on the side surface of the upper portion of a rotating shaft point of the lower mechanical arm of the mechanical arm and used for providing a lower mechanical arm swing angle signal, a second tilt angle sensor is installed on an upper mechanical arm connected with the rotating shaft point between the upper mechanical arm and the lower mechanical arm and used for monitoring the horizontal angle of the upper mechanical arm, and the tilt angle is always kept to form an included angle of 45 degrees with the horizontal plane. No matter manual or automatic control, the PLC receives a control signal to synchronously start the roller, the stretching swing oil cylinder and the supporting oil cylinder, the stretching swing oil cylinder is connected with the base and a central break point of the lower mechanical arm, and the lower end of the supporting oil cylinder is fixed at a position 1000mm outside a pivot node of the base and connected to an outer arm cylinder of a telescopic section structure at a position 1000mm outside the central break point of the upper mechanical arm. When the lower mechanical arm of the mechanical arm swings to be positioned between 90 degrees and 105 degrees, the mechanical arm completely extends out and contracts the upper mechanical arm, the injection head is moved to be above an injection head support of a set steam injection wellhead, and a front and a back first photoelectric switches and a second photoelectric switch which are positioned at the lower part of the injection head and close to one side of the trailer detect the distance between the injection head and a trailer, transmit signals to a PLC (programmable logic controller) control system and are used for regulating and controlling the length of an upper telescopic section; the photoelectric sensors which are arranged at four corners at the bottom of the injection head frame and used for detecting the reflected signal devices at four corners at the upper part of the injection head support outside the wellhead device are used for adjusting the positions of the supporting oil cylinder and the stretching swing oil cylinder and adjusting the angle of the first telescopic cylinder of the injection head on the telescopic section so as to enable the injection head unit to be seated on the wellhead support. The distance between the tail of the trailer and the central line of the steam injection wellhead device is 4000 mm-4200 mm, the unit distance between the top plane of the outer injection head support of the steam injection wellhead device and the tail end port of the bottom oil pipe of the injection head of the manipulator is 300 mm-15 mm, the photoelectric measurement regulation and control interval is set, the distance between the outer injection head support and the wellhead support is adjusted to 15mm by the second photoelectric sensor, manual inspection, locking, fixing and positioning are carried out, and the maximum extension arm load of the telescopic section of the manipulator is 15 tons.

Since the trailer load is mainly on the middle 60 tonne coiled tubing drum, the rearward downward deflection torque created by the weight of the injector head has no effect on the trailer. The functions of rotation translation (lifting, left-right displacement), longitudinal translation in front and back, rotation lifting, placing, withdrawing translation and the like of the injection head are realized through the action matching of the mechanical arm, and the well head of the injection head of the continuous pipe equipment is installed in place and is recovered to a trailer.

The transport vechicle is full integrated intelligence and receive and releases coiled tubing device, is put forward around compound coiled tubing equipment intelligent automation, and compound coiled tubing equipment complete set spare module equipment is whole integrated the installation on same trailer platform, has assembled assembly parts such as switch valve, etc. such as switch board 5, coiled tubing and winch (coiled tubing cylinder 3), hydraulic power unit, injection head manipulator, injection head, emergency braking, manual-automatic from the space on the saddle before the trailer. A system PLC detection and control module, a corresponding control handle of a plurality of operation modules, a display operation screen, an instrument and the like are installed in the control cabinet 5. The hydraulic pump station comprises a hydraulic control valve piece and an instrument. The coiled tubing roller is a large device with the diameter of 4200mm and the width of 3100mm, a groove in the middle of the trailer is stacked together with the outer frame of the coiled tubing roller in the same size, and the weight of the whole set of equipment is borne by the girder of the trailer and the trailer beams on the two sides of the groove. The load of the trailer is not lower than 90 tons, the load of the saddle is 35 tons, and the rear four-axle structure is adopted.

All the pipes for all the hydraulic oil circuits on the composite continuous pipe trailer adopt fixed metal pipes, the metal pipe lines on the mechanical arm are arranged on the side plane and the upper plane of the mechanical arm, the hinge joint of the lower mechanical arm 21 and the upper mechanical arm 22 is replaced by a high-pressure rubber pipe to realize the activity toughness of the rubber pipe when the mechanical arm rotates, and the hydraulic pipes between rotating or moving parts are installed by adopting high-pressure hoses or the high-pressure hoses matched with supporting chains. The hydraulic pump station is connected with the injection head relevant hydraulic parts (motor and oil cylinder) through a high-pressure hydraulic rubber tube arranged in a metal drag chain on the upper plane of the mechanical arm at the outer arm end of the upper plane hydraulic metal tube of the upper mechanical arm at the telescopic section, so that the hydraulic pump station is communicated with the injection head hydraulic loop. The design and the arrangement of the mechanical arm reduce the disorder of a rear platform of the continuous tube trailer, the mechanical arm is arranged on a middle axis of the rear platform of the trailer, the injection head is provided with a special base bracket along the tail part of the trailer to keep the injection head inclined forwards by 30-45 degrees, when the injection head of the trailer moves to the position for placing the gas injection well site, the upper mechanical arm lifts the injection head upwards to separate from a locking frame of a transportation base of the injection head and lift upwards, then the lower mechanical arm rotates to form a backward rotation gesture of the mechanical arm, simultaneously, a left hydraulic opening oil cylinder and a right hydraulic opening oil cylinder on a folding gooseneck conduit frame of the injection head push out an upper conduit frame and lock in place in a follow-up manner, the mechanical arm of the vehicle-mounted injection head continuously moves to a designed mechanical arm fixing mechanical arm design site, the continuous tube roller, the folding gooseneck conduit frame and the injection head are unfolded in place, and the mechanical arm and the injection head are horizontally pushed to the state above a well head by opening a telescopic section, the telescopic section 223 is unfolded to push the injection head out to be positioned right above the gas injection wellhead, so that the injection head and the continuous pipe reach a gas injection state.

When the injection head is recovered, the telescopic section 223 is firstly recovered and withdrawn to stop the injection head, the telescopic section 223 is safely recovered to a position, a hydraulic pipeline drag chain is automatically folded and replayed, when the telescopic section 223 returns to the position, a trigger signal is released and is given to a foldable gooseneck conduit frame integrated with the injection head, at the moment, a left recovery oil cylinder and a right recovery oil cylinder on the conduit folding frame pull back an unfolded upper conduit folding frame, the upper conduit folding frame is automatically recovered to be attached to a lower conduit frame, at the moment, an upper mechanical arm of a mechanical arm of the mechanical arm circles back to recover and move the injection head to the position above a transportation placing seat of the injection head, a first photoelectric sensor detects the distance between the injection head and a recovery transportation base, the upper mechanical arm downwards places the injection head into the base of the injection head, the lower mechanical arm continuously rotates to a completely fixed position to complete the recovery and enter a transportation state, and the first photoelectric sensor prompts the positioning and locks a hydraulic pump station system of the mechanical arm. Two left and right oil-free bearings are designed and installed on two corners of the bottom of the frame on one side of the injection head, which is close to the trailer, and are used for simple support and sliding, and when the mechanical arm recovers and moves the injection head to the bracket 6, the two bearings slide on the inclined plate of the injection head frame in place. The injection head frame is an injection head outer frame.

Control valve members of a hydraulic pump station are designed and installed on a pump station module, all the control valve members are operated in a manual/electric control mode, all operation cables are fixedly installed on the winch side plates corresponding to the girder side plates from the frames on the two sides of the winch, and the operation cables are led into a control cabinet 5 on the front portion of the trailer.

The control cabinet 5 is internally provided with a PLC data acquisition and control module of the coiled tubing equipment, the module 1 has the functions of communication and running of the coiled tubing equipment, the module 2 controls the debugging and proportioning of the gas injection amount of each path of the gas injection manifold, and the module 3 has the functions of controlling the retraction and release of the movable injection head by the injection head manipulator and automatically positions and installs the injection head on a steam injection well head device.

When a trailer operator positions a well head of the continuous pipe parking equipment in a well site, the vertical deviation of the front and rear central lines of a trailer flat plate and the well head is controlled within +/-100 mm, the distance between the trailer tail and the well head is controlled within a range of 3800 mm-4200 mm, namely the distance between the axle center of a main shaft of a continuous pipe winch and the well head is controlled to be about 12000 mm. After the trailer arrives at a well site to be in place, the continuous pipe system equipment is started to enter a self-diagnosis state, the PLC system normally selects to enter a module 3 injection head manipulator state through self-diagnosis, the tension degree of the continuous pipe is changed due to the action of the injection head manipulator, so that signals of a pressure sensor on a gooseneck guide frame are changed, a hydraulic motor of a continuous pipe winch is started, the winch moves along with the injection head manipulator at a slow speed to release the continuous pipe, the release length is determined by the length between two gooseneck guide frames when the continuous pipe injection head trailer is fixedly positioned to the wellhead of the injection head to be positioned, the required time is that the manipulator installs a positioning mark signal from a trailer positioning transportation slot to the lower upper part of the wellhead, and the winch brake stops running when the horizontal displacement of the injection head reaches a signal sent by a second photoelectric sensor positioning beacon at the lower end of the wellhead injection head. The fully-integrated intelligent coiled tubing self-retracting equipment is uniformly arranged on the same trailer platform, is provided with a set of hydraulic pump station system, controls three main assemblies of a coiled tubing winch, an injection head and an injection head manipulator, and is provided with a set of automatic control gas injection manifold, so that the automatic operation of the coiled tubing winch and the injection head system, the automatic retraction of the injection head manipulator and the automatic adjustment of gas injection parameters and various catalysts in the gasification process are realized.

The manipulator independently operates and adjusts the small injection head swing oil cylinder according to a positioning mark signal at the lower end of the injection head, the positioning mark signal is a cross scanning device, the tested signal intensity is taken as a principle, when the cross central point signal is strongest, the positioning is successful, the manipulator lowers the injection head into a four-angle lock catch of a wellhead support, the installation work of the injection head is finished, a stop pin is manually inserted, the manipulator stops working, and the PLC detection control system of the continuous pipe equipment is switched to the module 1 state.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. A robot for a vehicle injector head, comprising:

a base (10);

the rear end of the lower mechanical arm (21) is pivotally connected to the base (10);

the injection head comprises an upper mechanical arm (22), the front end of the upper mechanical arm (22) is pivotally connected with the front end of a lower mechanical arm (21), the upper mechanical arm (22) comprises a telescopic section (223) which is movably arranged, and the upper part of the injection head (1) can be arranged at the rear end of the telescopic section (223);

a first lifting mechanism (41) pivotably disposed between the lower robot arm (21) and the base (10);

a second lifting mechanism (42) pivotably disposed between the upper robot arm (22) and the base (10);

a first telescoping mechanism (43) pivotably arranged between the upper robot arm (22) and the middle of the injector head (1),

wherein, when the first telescopic mechanism (43) lifts, the injection head (1) swings back and forth around the rear end of the telescopic section (223).

2. The robot of a vehicle injector head of claim 1,

the upper mechanical arm (22) is arranged in a downward bending mode, the upper mechanical arm (22) comprises a first connecting section (221) which is connected with the front end of the lower mechanical arm (21) in a pivoting mode and a second connecting section (222) which is connected with the first connecting section (221), the telescopic section (223) is movably arranged on the second connecting section (222),

the first telescopic mechanism (43) is pivotally arranged between the second connecting section (222) and the middle of the injection head (1), the manipulator of the vehicle-mounted injection head further comprises a second telescopic mechanism (44) which is pivotally arranged between the second connecting section (222) and the rear end of the telescopic section (223), and the lifting direction of the second telescopic mechanism (44) is parallel to the moving direction of the telescopic section (223).

3. Manipulator of a vehicle injector head according to claim 2, characterized in that the first telescopic mechanism (43) is mounted on the lower side of the second connection section (222), the rear end of the first telescopic mechanism (43) is connected to the shaft end of the outer push rod in the middle of the outer frame of the injector head (1), the front end of the second telescopic mechanism (44) is connected to the upper side of the second connection section (222), and the rear end of the second telescopic mechanism (44) is connected to the upper part of the rear end of the telescopic section (223).

4. The manipulator of the vehicle-mounted injection head according to claim 2, further comprising a pushing rod (30), wherein the upper end of the pushing rod (30) is pivotally arranged at the rear end of the telescopic section (223), the injection head (1) is mounted on the telescopic section (223) of the upper mechanical arm (22), the first telescopic mechanism (43) is pivotally arranged between the upper mechanical arm (22) and the lower end of the pushing rod (30), and the pushing rod (30) is made to swing back and forth around the rear end of the telescopic section (223) during lifting operation of the first telescopic mechanism (43).

5. Robot of a vehicle injector head according to claim 2 or 4, characterized in that the second lifting mechanism (42) is pivotably arranged between the front end of the second connection section (222) and the rear end of the lower robot arm (21).

6. The manipulator of the vehicle-mounted injection head according to claim 2, wherein the first connecting section (221) and the second connecting section (222) are two at intervals, the telescopic section (223), the second lifting mechanism (42), the first telescopic mechanism (43), and the second telescopic mechanism (44) are two, and the upper manipulator (22) further comprises a first connecting shaft (224) pivotally connecting the front ends of the two first connecting sections (221) and a second connecting shaft (225) pivotally connecting the front ends of the two second connecting sections (222).

7. Manipulator of a vehicle injector head according to claim 6, characterized in that the front end of the first telescopic mechanism (43) is mounted in the center of the second connecting shaft (225), the rear end of the first telescopic mechanism (43) is connected to the midpoint of the outer frame of the injector head (1), the front end of the second telescopic mechanism (44) is connected to the outer side of the second connecting section (222), and the rear end of the second telescopic mechanism (44) is connected to the outer side of the telescopic section (223).

8. The robot of a vehicle injection head according to claim 6, wherein the lower robot arm (21) is provided with an upward bend, the lower robot arm (21) comprises a third connecting section (211) connected to the base (10) and a fourth connecting section (212) connected to the third connecting section (211), wherein the front end of the fourth connecting section (212) is pivotably connected to the front end of the first connecting section (221), and the first lifting mechanism (41) is pivotably arranged between the fourth connecting section (212) and the base (10).

9. The robot of an in-vehicle injector head according to claim 8, wherein the third connecting section (211) and the fourth connecting section (212) are two at intervals, the first lifting mechanism (41) is two, the lower robot arm (21) further includes a third connecting shaft (213) connecting front ends of the two third connecting sections (211) and a fourth connecting shaft (214) pivotably connecting rear ends of the two third connecting sections (211), and the two second lifting mechanisms (42) are arranged between the second connecting shaft (225) and the third connecting shaft (213) at intervals and pivotably.

10. Manipulator of a vehicle injector head according to claim 2, characterized in that the first lifting mechanism (41), the second lifting mechanism (42), the first telescoping mechanism (43) and the second telescoping mechanism (44) are all multi-stage hydraulic cylinders.

11. The manipulator of a vehicle injector head according to claim 2, characterized in that it further comprises a controller arranged on the base (10), a first opto-electronic switch arranged on the side of the injector head (1) and a second opto-electronic switch arranged on the bottom of the injector head (1), said first opto-electronic switch, said second opto-electronic switch, said first lifting mechanism (41), said second lifting mechanism (42), said first telescoping mechanism (43) and said second telescoping mechanism (44) being connected to said controller.

12. The robot of a vehicle injector head of claim 9,

the manipulator of the vehicle-mounted injection head further comprises a first sliding sleeve (51) and a second sliding sleeve (52) which are sleeved on the second connecting shaft (225) at intervals, and the manipulator of the vehicle-mounted injection head further comprises a third sliding sleeve (53) and a fourth sliding sleeve (54) which are sleeved on the third connecting shaft (213) at intervals;

one the second lifting mechanism (42) is pivotally connected to the first sliding sleeve (51) and the third sliding sleeve (53), the other the second lifting mechanism (42) is pivotally connected to the second sliding sleeve (52) and the fourth sliding sleeve (54), the manipulator of the vehicle-mounted injection head further comprises a first telescopic cylinder (55) which is arranged and connected to the upper end of the first sliding sleeve (51) and the upper end of the second sliding sleeve (52), the telescopic direction of the first telescopic cylinder (55) is parallel to the axis of the second connecting shaft (225), the manipulator of the vehicle-mounted injection head further comprises a second telescopic cylinder (56) which is connected between the second lifting mechanisms (42), and the telescopic direction of the second telescopic cylinder (56) is parallel to the axis of the third connecting shaft (213).

13. A transport vehicle, comprising a frame (2), a manipulator (4) arranged above the frame (2) and an injection head (1) capable of taking and placing the injection head arranged on the frame (2), characterized in that the manipulator is the manipulator of the vehicle-mounted injection head according to any one of claims 1 to 12, the injection head (1) is arranged at the tail of the frame (2) and at the rear side of the manipulator (4), and a bracket (6) for supporting the injection head (1) is arranged on the frame (2).

14. The carrier vehicle according to claim 13, characterized in that the carrier vehicle further comprises a control cabinet (5) arranged above the frame (2), a coiled tubing drum (3) and a hydraulic pump station, wherein the coiled tubing drum (3) and the hydraulic pump station are controlled by the control cabinet (5) to work, a controller of the manipulator (4) is positioned in the control cabinet (5), the coiled tubing drum (3) is positioned at the front side of the manipulator (4) and can pull the injection head (1), and the hydraulic pump station is positioned at the front side and/or the rear side of the manipulator (4).

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