WO2019080216A1 - 一种全自动石油修井杆管作业工业机器人 - Google Patents

一种全自动石油修井杆管作业工业机器人

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Publication number
WO2019080216A1
WO2019080216A1 PCT/CN2017/111513 CN2017111513W WO2019080216A1 WO 2019080216 A1 WO2019080216 A1 WO 2019080216A1 CN 2017111513 W CN2017111513 W CN 2017111513W WO 2019080216 A1 WO2019080216 A1 WO 2019080216A1
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WO
WIPO (PCT)
Prior art keywords
rod
tube
rail
robot
conveying device
Prior art date
Application number
PCT/CN2017/111513
Other languages
English (en)
French (fr)
Inventor
姜建胜
蔡童新
焦勇
Original Assignee
济南芯乐智能设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 济南芯乐智能设备有限公司 filed Critical 济南芯乐智能设备有限公司
Publication of WO2019080216A1 publication Critical patent/WO2019080216A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/10—Slips; Spiders ; Catching devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position

Definitions

  • the invention relates to the technical field of intelligent control of petroleum workover equipment, in particular to a fully automatic oil workover rod pipe operation industrial robot.
  • the existing wellhead workover rig in the prior art is composed of at least 4-6 people per shift, one of which opens the winch, the two wells alternately operate the tubing slip and replace the tubing elevator and operate the hydraulic tubing clamp, the on-site tubing Manual discharge of 1-2 people, there are workers with high labor intensity, poor working environment, poor site safety, low work efficiency, easy to cause environmental pollution, etc., the flow of skilled workers is serious.
  • the utility model patent No. 201320473958.3 discloses a workover oil casing conveying device, including a pipe string, Mobile trolley, frame main body, unloading mechanism, lifting leg, trolley clamping cylinder, trolley moving roller mechanism, loading mechanism, hydraulic manifold, hydraulic station and control cabinet assembly, folding mechanism.
  • the mobile trolley is mounted on the main body of the rack, and the trolley clamping liquid cylinder is installed in the mobile trolley.
  • the feeding mechanism is installed inside the main body of the rack, and the moving roller mechanism of the trolley is installed in the main body of the rack on one side of the moving trolley, and the lifting leg is lifted.
  • the loading mechanism is mounted on one side of the main body of the rack
  • the folding mechanism is installed at one end of the main body of the rack
  • the hydraulic manifolds are respectively combined with the clamping cylinder of the trolley and the hydraulic station and the control cabinet assembly. Connected.
  • the invention patent document with the application number 201210370190.7 discloses a semi-automatic tubing manipulator device provided with a tubing shuttle chute, and an automatic production line for open-loop control workover operations realized by a remote control method, but still does not fundamentally reduce the labor intensity of workers. To improve work efficiency, the number of well team workers has not changed.
  • a workover auxiliary machine having a skid-mounted base and a conveying device is disclosed, which improves the automation degree of the workover operation, but the main body of the material storage can only temporarily store a certain number of oil pipes.
  • the oil rod does not have the ability to handle all the sucker rods and tubing, and the invention does not have special equipment for the lifting and dismounting of the sucker rod.
  • the automatic workover of all the oil pipes and the sucker rods is not realized.
  • the present invention provides a fully automatic petroleum workover rod pipe operating industrial robot suitable for closed-loop control of all oil pipes and sucker rods.
  • the fully automatic petroleum workover rod pipe operation industrial robot of the present invention comprises a main body rod pipe processing mechanism, a rod pipe palletizing mechanism, a rod pipe conveying device, an auxiliary hydraulic oil pipe slip, a sucker rod slip, a rod tube online flaw detection device and a GPS positioning device;
  • the main body rod tube processing mechanism comprises a main body chassis, a rail device and a mechanical arm device;
  • the bottom portion of the main body chassis is supported on the ground by a hydraulic leg, and the rail device is mounted with hydraulic pressure a lifting clamp and a hydraulic rod pipe wrench
  • the rail device is hinged at a front end of the main body chassis
  • the mechanical arm device comprises a boom swinging device and a flexible manipulator device, the boom swinging device is hingedly mounted on the swing seat at the front end of the main body chassis,
  • the flexible manipulator device is hinged at the top end of the boom swinging device, and the flexible manipulator device can be swung with the boom swinging device to a completely horizontal or completely vertical position;
  • the accessory hydraulic oil pipe slip is mounted on a wellhead flange or a blowout preventer flange, and the hydraulic sucker rod slip is mounted on a well pipe joint fixed to the wellhead.
  • the rod tube on-line monitoring and flaw detection device is installed at the upper position of the wellhead hydraulic oil pipe slip or the hydraulic sucker rod slip, and the GPS positioning device is disposed at the bottom of the main rod tube processing mechanism to realize remote positioning.
  • the pallet base on the rod tube palletizing device comprises a pallet base frame and a column, and the column column is fixed at the rear end of the pallet base frame;
  • the moving mechanism on the rod tube palletizing device comprises a fixed guide frame and a movement Guide frame and box-shaped manipulator bracket, the fixed guide frame is horizontally welded on the column, the moving guide frame is arranged under the fixed guide frame, and the moving guide frame is moved forward and backward along the fixed guide frame by the rack drive, the two sides of the movable guide frame A slider is arranged on the outer side, and a sliding slot is arranged on the inner side of the square-shaped robot bracket.
  • the mechanical bracket is connected to the slider outside the moving guide frame through the sliding slot, and the mechanical bracket can be moved up and down along the moving guide frame by the hydraulic cylinder.
  • the robot device on the rod tube palletizing device comprises a robot arm and a palletizing robot, one end of the robot arm is provided with a palletizing robot, and the other end of the robot arm is hinged below the two sides of the robot bracket and horizontally around the hinge axis Rotating, the palletizing robot can transport the oil pipe or the sucker rod to the conveying device 2.
  • the rail device on the main body tube processing mechanism includes a guiding guide rail, a hydraulic elevator, and a hydraulic rod pipe wrench, and the hydraulic elevator and the hydraulic rod pipe wrench are disposed on the guiding rail, and the guiding rail Folded by three parts of an upper rail, a lower rail and a folding mechanism, the upper rail
  • the upper rail is connected to the lower rail by a folding mechanism.
  • the upper rail is foldable by a folding mechanism under the driving of the hydraulic cylinder 2.
  • the bottom of the guiding rail is hinged on the rail base, and the rail base is fixed on the main body chassis.
  • the positive rail can be swung 90° under the driving of the hydraulic cylinder one.
  • the boom swinging device comprises a mechanical arm, a swing seat, a swing cylinder and a lock cylinder, the swing seat is fixed on the main body chassis, and the mechanical arm is hinged on the swing seat and driven by the swing cylinder to swing around the swing seat. Rotating; the flexible robot device is coupled to the robot arm via a swing shaft.
  • both the conveying device 1 and the conveying device 2 comprise a fixed rail, and a plurality of conveying rollers are arranged above the fixed rail.
  • the rod tube on-line flaw detection device is fixedly mounted on the auxiliary hydraulic oil pipe slip or the sucker rod slip, and the rod tube online flaw detection device collects the signal and automatically inputs it into the background computer management system.
  • the GPS positioning device is disposed at the bottom of the body rod tube processing mechanism, and can realize remote positioning and control of the automatic oil-drilling rod tube operation industrial robot.
  • the end of the length measuring device is provided with a rod identification device, and by identifying an identification mark at the sucker rod or the tubing coupling, the identity of different sucker rods or tubing can be effectively recognized online and pendulum Put it in different locations and input it to the back-end computer system in real time to establish a lifecycle management database for the oil well pipe.
  • the fully automatic petroleum workover rod pipe operation industrial robot of the invention has high automation degree, full closed loop control and complete control and control functions, and cooperates with the upper and lower of the workover machine winch.
  • the action can realize the automatic start-up operation of the wellhead tubing and the sucker rod and the on-line monitoring of the rod tube use status to establish a database work, which completely overcomes the labor intensity of the workover operator, the poor safety performance of the wellhead, the low production efficiency and the high energy consumption. Defects such as poor maneuverability are conducive to the establishment of the whole life cycle management of the oil well pipe.
  • the traditional physical operation mode of 4-5 people at the wellhead is converted into the auxiliary care mode of one person to realize the automation and intelligentization of the production process. , realize the remote monitoring of the Internet of Things of the device.
  • FIG. 1 is a schematic view showing the overall structure of an automatic petroleum workover rod pipe industrial robot according to the present invention.
  • FIG. 2 is a schematic structural view of a main body rod tube processing mechanism of the present invention
  • FIG. 3 is a schematic view showing the overall structure of a rod and tube palletizing mechanism of the present invention.
  • Figure 4 is a schematic front view showing the structure of the rod tube palletizing mechanism of the present invention.
  • Figure 5 is a schematic structural view of a rail device of the present invention.
  • Figure 6 is a schematic structural view of a mechanical arm device of the present invention.
  • Figure 7 is a schematic view showing the structure of the conveying device 2 of the present invention.
  • Figure 8 is a schematic view showing the structure of the auxiliary hydraulic oil pipe slip and the sucker rod slip of the present invention.
  • I main body tube processing mechanism II rod tube palletizing mechanism, III rod tube conveying device, hydraulic tubing slip IV, sucker rod slip V, 1 main chassis, 2 rail device, 3 robot arm device, 4 Conveying device 1, 5 hydraulic elevator, 6 hydraulic rod pipe wrench, 7 boom swing device, 8 flexible manipulator device, 9 yards base, 10 moving mechanism, 11 robot device, 12 conveyor device 2, 13 oil pipe and sucker rod , 14 crossarms, 15 chassis, 16 columns, 17 fixed guides, 18 moving guides, 19 robot brackets, 20 robot arms, 21 yards robot, 22 guide rails, 23 hydraulic elevators, 24 hydraulic rod wrenches 25 rail base, 26 robot arm, 27 swing seat, 28 swing cylinder, 29 lock cylinder, 30 fixed rail, 31 conveyor roller, 32 chain.
  • FIG. 1 is a schematic view showing the overall structure of an automatic petroleum workover rod pipe industrial robot according to the present invention.
  • the fully automatic petroleum workover rod pipe operation industrial robot of the invention comprises a main rod tube processing mechanism I, a rod tube palletizing mechanism II, a rod tube conveying device III, an auxiliary oil tube hydraulic slip IV, a sucker rod slip V,
  • Each part of the online monitoring device VI and the GPS positioning device is composed of a plurality of functional modules, each of which is controlled by various mechanisms, hydraulics, electrics, etc.;
  • the rod conveying device III includes a conveying device 4 and a conveying device 2 12, the conveying device 4 and the conveying device 12 are respectively disposed on the main body tube processing mechanism I and the rod tube palletizing mechanism II, and the oil pipe and the sucking rod 13 are realized by the conveying device 4 and the conveying device 2 ⁇ Mechanism II is delivered to the main body tube
  • the mechanism I is transferred to the rod tube palletizing mechanism II by the main body tube processing mechanism 1.
  • FIG. 2 is a schematic view showing the structure of a main body rod tube processing mechanism of the present invention.
  • the main body rod processing mechanism 1 includes a main body chassis 1, a rail device 2, and a mechanical arm device 3.
  • the bottom of the main body chassis 1 is supported on the ground by hydraulic legs, and the rail device 2 is mounted with a hydraulic elevator 5 and a hydraulic rod pipe wrench 6, the rail device 2 is hinged at the front end of the main body chassis 1;
  • the mechanical arm device 3 includes a boom swinging device 7 and a flexible robot device 8, and the boom swinging device 7 is hingedly mounted to the main body chassis 1
  • the flexible manipulator device 8 is hinged at the top end of the boom swinging device 7, and the flexible robot device 8 can be swung with the boom swinging device 7 to a completely horizontal or completely vertical position; It is disposed on the left side of the main body chassis 1 and below the flexible robot device 8, and an encoder length measuring device is disposed on the rear side of the conveying device 4.
  • the main body chassis 1 of the main body rod tube processing mechanism 1 is used to support the entire main body portion, and the other main body part modules are mounted on the main body chassis 1.
  • the entire main body portion can be raised to the engineering transport vehicle by the telescopic function of the hydraulic leg.
  • the hydraulic cylinder that drives the hydraulic leg to retract can adjust the unfolding position of the hydraulic leg.
  • the position of the driving hydraulic cylinder can be adjusted and adjusted.
  • the relative height of the hydraulic leg can be adjusted according to the height of the wellhead to realize the docking between the main body and the wellhead.
  • the hydraulic leg of the main body tube processing mechanism I has a wide contraction range (after contraction)
  • the utility model has the advantages of small volume, adjustable expansion area, convenient transportation and strong practicality of the site.
  • FIG. 3 is a schematic view showing the overall structure of the rod and tube palletizing mechanism of the present invention.
  • Fig. 4 is a schematic front view showing the structure of the rod tube palletizing mechanism of the present invention.
  • the rod tube palletizing device II is provided with a pallet base 9, a moving mechanism 10 and a robot device 11, and a cross arm 14 for resting the oil pipe and the sucker rod 13 is arranged above the pallet base 9, and the moving mechanism 10 is fixed at the pallet
  • the rear end of the base 9 is movable forward and backward, the robot device 11 is disposed on the moving mechanism 10, and the conveying device 2 is disposed at the front end of the pallet base 9.
  • the conveying device 2 and the conveying device 4 are in the same straight line to realize the transmission of the oil pipe and the sucker rod 13; the robot device 11 sends the oil pipe and the sucking rod 13 to the conveying device 2, the oil pipe And the sucker rod 13 is transported by the conveying device 2 through the conveying device 4 to the main rod tube processing mechanism I and is completed; meanwhile, the main rod tube processing mechanism I will pass the oil pipe and the sucking rod 13 from the well through the conveying device A 4 is sent to the conveyor unit 12 of the rod tube palletizing device II.
  • the rod tube palletizing device II arranges the received tubing and the rod rod 13 and stores the information automatically to the background computer system.
  • the pallet base 9 on the barrel palletizing device II comprises a pallet base 15 and a column 16 fixed to the rear end of the pallet frame 15; the movement of the rod palletizing device II
  • the mechanism 10 includes a fixed guide frame 17, a moving guide frame 18 and a box-shaped robot bracket 19, the fixed guide frame 17 is horizontally welded on the column 16, the moving guide frame 18 is disposed below the fixed guide frame 17, and the moving guide frame 18 is passed through the teeth.
  • the strip drive can be moved back and forth along the fixed guide frame 17, and the movable guide frame 18 is provided with a slider on both outer sides, and a sliding slot is arranged on the inner side of the box-shaped robot bracket 19; the robot on the rod tube palletizing device II
  • the bracket 19 is connected to the sliders on both sides of the moving guide frame 18 through the sliding slot, and the robot bracket 19 can be moved up and down along the moving guide frame 18 by the hydraulic cylinder;
  • the robot device 11 on the rod tube palletizing device II includes The robot arm 20 and the palletizing robot 21, the palletizing robot 21 is disposed at the end of the robot arm 20, and the other end of the robot arm 20 is hinged below the two sides of the robot bracket 19 and horizontally rotatable about the hinge shaft; the palletizing robot 21
  • the oil pipe and the sucker rod 13 are conveyed to the conveying device 2
  • the main function of the rod-and-tube palletizing device II is to store the oil pipe and the sucker rod 13.
  • the oil pipe and the sucker rod 13 need to be taken out from the well and transported to the rod pipe.
  • the palletizing device II and the rod tube palletizing device II sequentially arrange the received oil pipe and the sucker rod 13 through the automatic manipulator device 11, and after the completion of the workover operation, the rod pipe is conveyed to the host through the robot to complete the lowering.
  • the invention has the advantages of simple, reasonable and reliable structure, and can automatically receive or send out the rod tube system.
  • the palletizing robot In the process of storing the rod tube, the palletizing robot automatically discharges the rod tube system and automatically inputs it into the background computer management system.
  • the device is characterized by a large reduction in labor intensity, a full closed-loop control of the system, high safety and reliability, no need for operators to place and transport tubing or sucker rods, saving a lot of manpower and material resources and reducing oil.
  • Fig. 5 is a schematic view showing the structure of the rail device of the present invention.
  • the rail device 2 on the main body tube processing mechanism 1 includes a guiding rail 22, a hydraulic elevator 23, and a hydraulic rod pipe wrench 24, and the hydraulic elevator 23 and the hydraulic rod pipe wrench 24 are disposed on the guiding rail 22,
  • the guiding guide rail 22 is formed by folding the upper rail, the lower rail and the folding mechanism.
  • the upper rail and the lower rail are connected by a folding mechanism, and the upper rail is folded by the folding mechanism under the driving of the hydraulic cylinder 2.
  • the bottom of the guide rail 22 is hinged on the rail base 25, and the rail base 25 is fixed on the main body chassis 1, and the guide rail 22 can be rotated by 90° under the driving of the hydraulic cylinder 1.
  • the main function of the rail device 2 is to adjust the position of the wellhead to guide the lifting and lowering of the hydraulic elevator 23, and the rail device 2 integrates a hydraulic elevator guide rail, an upper and lower moving rail, and a hydraulic rod pipe wrench 24; Rail adjustment device, etc.
  • the swinging device has a swing range of 0-90°, can be rotated 90°, and is laid flat on the main body tube processing mechanism I.
  • the structure is simple, reasonable and reliable. The remarkable features are reduced labor intensity, improved safety and reliability, and no operator is required to stand.
  • Wellhead operation saves a lot of manpower and material resources and improves the working efficiency of the down pipe or sucker rod.
  • Fig. 6 is a schematic view showing the structure of the mechanical arm device of the present invention.
  • the robot arm device 3 includes a boom swinging device 7 and a flexible robot device 8.
  • the boom swinging device 7 comprises a mechanical arm 26, a swing seat 27, a swing cylinder 28 and a lock cylinder 29, the swing seat 27 being fixed on the main body chassis 1, the mechanical arm 26 being hinged on the swing seat 27 and The oscillating cylinder 28 is driven to rotate about the swing seat 27; the flexible robot apparatus 8 is coupled to the robot arm 26 via a swing shaft.
  • the rod tube is clamped to the rod tube from the wellhead in a vertical state by a flexible manipulator 8 and is swung from 105° through the boom to 85°.
  • the flexible manipulator 8 starts to rotate from 90°.
  • the boom swinging device 7 is swung to 40°, the flexible manipulator 8 is rotated to the horizontal 0° state, and the boom swinging device 7 continues to swing to the horizontal 0° state.
  • the oil pipe and the sucker rod 13 are horizontally placed at the position where the conveying device is connected and sent to the rod pipe; during the process of the lower oil pipe or the sucker rod, the rod pipe enters After the conveying device, the flexible manipulator 8 grabs the rod tube from the position of the conveying device and clamps the rod tube, and the boom swinging device 7 starts to swing from the horizontal 0°, when the boom swinging device 7 swings to 35° At the same time, the flexible manipulator 8 starts to rotate from 0°.
  • the mechanical arm device 3 has a simple, reasonable and reliable structure, and can easily place the rod tube from a horizontal position to a vertical position of the wellhead, thereby significantly reducing labor intensity, improving safety and reliability, and eliminating the need for an operator to operate at the wellhead, thereby saving a large amount of manpower. And material resources have improved work efficiency.
  • Fig. 7 is a schematic view showing the structure of the conveying device 2 of the present invention.
  • the rod conveying device III comprises a conveying device 4 and a conveying device 2 .
  • Both the conveying device 4 and the conveying device 12 include a fixed rail 30, and a plurality of conveying rollers 31 are disposed above the fixed rail 30.
  • the conveyor roller (31) is driven by a chain (32).
  • the rod pipe conveying device III transports the oil pipe and the sucker rod 13 from the rod pipe palletizing device II to the left side of the main body rod pipe processing mechanism I when the rod pipe palletizing device II portion is used. After the end of the rod tube touches the fixed end switch of the length measuring device, the length measuring signal is sent, and after the rod tube length measurement is completed, the lifting cylinder of the conveying device 4 is lifted up to the designated position, and then the arm is operated. The action of the module.
  • the rod pipe conveying device III is suitable for the two modes of the lower and lower rod tubes, effectively combining the two functions of conveying and length measuring, shortening the time of the lower rod tube, improving the working efficiency, and the structure is more compact and reasonable.
  • the length measuring device realizes the length measuring function of the rod tube in the process of starting and lowering the rod tube, and comprises two parts of the length measuring fixture and the length measuring moving device, and when the oil pipe and the sucking rod 13 enter the conveying device 2
  • the length measuring mobile device swings the push rod above the roller table under the driving of the hydraulic cylinder, the hydraulic motor drives the screw rod, the screw rod drives the push rod to move, and cooperates with the action of the conveying roller path, and the length measuring fixture is driven by the hydraulic cylinder.
  • the moving end protrudes and reaches the designated position.
  • the space of the compression spring causes the contact switch to send a signal, and the moving end receives the signal and stops the action, and the encoder outputs the push rod. Move the distance so that the length of each tubing or sucker rod can be obtained.
  • the length measuring device is applied to the two types of starting and lower tubing or sucker rod.
  • the mode automatically measures the length of the oil pipe or the sucker rod, and has the characteristics of high length measuring precision, fast recording data, etc., the identification mark is reserved at the sucker rod or the tubing coupling, and the rod tube identification device is arranged at the end of the length measuring device.
  • the rod conveying device III effectively combines the three functions of rod conveying, length measuring and on-line identification, reduces labor intensity, improves work efficiency, and is more compact and reasonable in structure.
  • Figure 8 is a schematic view showing the structure of the auxiliary hydraulic oil pipe slip and the sucker rod slip of the present invention.
  • the hydraulic oil pipe slip IV and the sucker rod slip V both include a slip seat, a slip body and a kava tooth, and the hydraulic oil pipe slip tile IV is fixedly mounted on the wellhead flange or the blowout preventer through the tubing slip seat flange.
  • the hydraulic cylinder On the flange of the machine, the hydraulic cylinder is used to control the lifting of the hydraulic cylinder to automatically hold the oil pipe.
  • the sucker rod slip V is fixedly mounted on the oil pipe through the oil pipe coupling, and the pumping action is automatically controlled by the lifting action of the hydraulic cylinder.
  • the role of the oil rod body The different sizes of tubing or sucker rods can be achieved by replacing different sizes of slips.
  • the online flaw detection device is fixed at an upper position of the slip device, and the use condition of the rod tube can be monitored online when the oil pipe or the sucker rod is lifted, and the damaged rod tube is timely alarmed and specially treated.
  • the fully automatic petroleum workover rod pipe operation industrial robot of the invention has high automation degree, can realize automatic and intelligent operation of petroleum workover operation, overcomes the labor intensity of traditional oil workover workers, and has poor safety performance on site. Low efficiency, high energy consumption, poor operability, environmental pollution, etc.
  • the multi-human operation type (4-5 people) is converted into a one-man care operation, which realizes the automation and intelligent control of the production process and the Internet of Things. monitor.

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Abstract

一种全自动石油修井杆管作业工业机器人，包括主体杆管处理机构（Ⅰ）、杆管码垛机构（Ⅱ）、杆管输送装置（Ⅲ）、附属液压油管卡瓦（Ⅳ）、抽油杆卡瓦（Ⅴ）、杆管在线探伤装置（Ⅵ）和GPS定位装置；主体杆管处理机构（Ⅰ）包括主体底盘（1）、导轨装置（2）和机械臂装置（3）；杆管码垛机构（Ⅱ）设有码垛底座（9）、移动机构（10）和机械手装置（11）；输送装置一（4）设置在主体底盘（1）的左侧且位于机械手装置（11）的下方，输送装置二（12）位于杆管码垛机构（Ⅱ）的前端，与输送装置一（4）处于同一直线上实现油管和抽油杆（13）的传输。

Description

一种全自动石油修井杆管作业工业机器人 技术领域
本发明涉及石油修井设备智能控制技术领域，具体涉及一种全自动石油修井杆管作业工业机器人。
背景技术
在油田生产过程中，由于油井或设备故障减产或停产时，或者由于油井工作条件发生变化，需要根据新情况改变生产工艺措施时，必须对油井进行修井作业施工。如自喷井转抽油井、改变抽油泵下入深度、型号或遇到油管漏失、抽油杆断裂等情况时都需要起下油管进行修井作业。这些工作通常需修井机设备来完成。现有技术中原有的井口修井机是每班现场至少要有4-6人组成，其中1人开绞车，井口2人交替操作油管卡瓦及更换油管吊卡并操作液压油管钳，现场油管人工排放1-2人，存在工人劳动强度大，工作环境恶劣，现场安全性差，工作效率低，容易造成环境污染等，技术工人流情况严重。
近几年来国内针对这种情况陆续推出了杆管远程控制自动排放系统和半自动的修井机器人，例如申请号为201320473958.3的实用新型专利公开了一种修井油套管输送装置，包括管柱、移动小车、机架主体、下料机构、升降支腿、小车夹紧液缸、小车移动滚筒机构、上料机构、液压管汇、液压站及控制柜总成、折叠机构。所述移动小车安装于机架主体上，移动小车内安装有小车夹紧液缸，下料机构安装在机架主体内侧，小车移动滚筒机构安装于移动小车一边的机架主体内，升降支腿安装于机架主体的两端部，上料机构安装于机架主体的一侧，折叠机构安装于机架主体的一端，液压管汇分别与小车夹紧液缸和液压站及控制柜总成相连接。该文献公开的技术虽然一定程度上降低了现场人工排放油套管的劳动强度，但井口作 业人员的数量并没有得到减少。又如申请号为201210370190.7的发明专利文献公开了一种设有油管接送滑道的半自动油管机械手装置，依靠遥控方法实现的开环控制修井作业自动化生产线，但是仍没有从根本上减少工人劳动强度，提高作业效率，井队工人数量配置也没有变化。再如申请号为201410584164.3的发明专利文献公开了一种具有撬装底座和传送装置的修井作业辅机，提高了修井作业自动化程度，但其料库主体只能暂时储存一定数量的油管抽油杆，不具备处理全部抽油杆和油管的能力，且该发明也没有针对抽油杆起下和拆卸的专用设备，没有实现对所有油管和抽油杆的全自动修井作业施工。
发明内容
为了克服现有技术中存在的问题，针对现有技术所存在的缺陷，本发明提供了一种适用于全部油管和抽油杆的闭环控制的全自动石油修井杆管作业工业机器人。
为实现上述目的，本发明所述的全自动石油修井杆管作业工业机器人包括主体杆管处理机构、杆管码垛机构、杆管输送装置、附属液压油管卡瓦、抽油杆卡瓦、杆管在线探伤装置和GPS定位装置；所述主体杆管处理机构包括主体底盘、导轨装置和机械臂装置；所述主体底盘底部通过液压支腿支撑在地面上，所述导轨装置上安装有液压吊卡和液压杆管钳，导轨装置铰接在主体底盘的前端，所述机械臂装置包括大臂摆动装置和柔性机械手装置，所述大臂摆动装置铰接安装于主体底盘前端的摆动座上，所述柔性机械手装置铰接在大臂摆动装置的顶端，柔性机械手装置可以随大臂摆动装置摆动至完全水平或完全竖直的位置；所述杆管码垛装置设有码垛底座、移动机构和机械手装置；所述码垛底座上设有用于搁置油管和抽油杆的横担，所述移动机构连接在码垛底座的后端可以前后移动，所述机械手装置设置在移动机构上；所述杆管输送装置包括输送装置一和输送装置二；所述输送装置一和输送装置二分别固定在主体杆管处理机构和杆管码垛机构上，所述输送装置一设置在主体底盘的左侧且 位于柔性机械手装置的下方，在输送装置一的后侧设置有编码器测长装置，所述输送装置二位于杆管码垛机构的前端，与输送装置一处于同一直线上实现油管和抽油杆的传输，下油管或下抽油杆操作时，所述杆管码垛装置上的机械手装置将油管或抽油杆抓取到输送装置二上，油管或抽油杆由输送装置二经输送装置一输送给主体杆管处理机构并由机械臂装置完成下放；反之，起油管或抽油杆操作时，主体杆管处理机构将从井内起出的油管或抽油杆经输送装置一送出到杆管码垛装置的输送装置二上，杆管码垛装置对起出的杆管进行排列码垛并自动存储到计算机系统。
所述附属液压油管卡瓦安装在井口法兰或防喷器法兰上，所述液压抽油杆卡瓦安装在井口固定的油管接箍上。
所述杆管在线监测探伤装置安装在井口液压油管卡瓦或液压抽油杆卡瓦上部位置，GPS定位装置设在主体杆管处理机构的底部可以实现远程定位。
特别的，所述杆管码垛装置上的码垛底座包括码垛底架和立柱，立柱固定在码垛底架后端；所述杆管码垛装置上的移动机构包括固定导架、移动导架和方框形机械手支架，固定导架水平焊接在立柱上，移动导架设置在固定导架下方，移动导架通过齿条传动可沿固定导架前后移动，所述移动导架两边的外侧均设有滑块，所述方框形机械手支架内侧设有滑槽，机械手支架通过滑槽与移动导架外侧的滑块连接，机械手支架在液压缸带动下可沿移动导架上、下移动；所述杆管码垛装置上的机械手装置包括机械手臂和码垛机械手，机械手臂的一端设置有码垛机械手，机械手臂的另一端铰接在机械手支架的两侧下方并可绕铰接轴水平转动，码垛机械手可以将油管或抽油杆输送到输送装置二上。
特别的，所述主体杆管处理机构上的导轨装置包括导正导轨、液压吊卡、液压杆管钳，所述液压吊卡和液压杆管钳设置在导正导轨上，所述导正导轨由上导轨、下导轨和折叠机构三部分折叠而成，所述上导轨 和下导轨之间通过折叠机构连接，上导轨在液压缸二的驱动下通过折叠机构可折叠180°，所述导正导轨底部铰接在导轨底座上，导轨底座固定在主体底盘上，所述导正导轨在液压缸一的驱动下可摆动90°。
特别的，所述大臂摆动装置包括机械臂、摆座、摆动油缸和锁紧油缸，所述摆座固定在主体底盘上，所述机械臂铰接在摆座上并由摆动油缸驱动绕摆座旋转；所述柔性机械手装置通过摆轴与机械臂连接。
特别的，所述输送装置一和输送装置二均包括固定导轨，所述固定导轨上方设有多组输送辊。
特别的，所述的杆管在线探伤装置固定安装在附属液压油管卡瓦上或抽油杆卡瓦，杆管在线探伤装置采集信号自动输入到后台计算机管理系统。
特别的，GPS定位装置设置在主体杆管处理机构的底部，能够实现全自动石油修井杆管作业工业机器人的远程定位和控制。
特别的，所述的测长装置的端部设置有杆管身份识别装置，通过在抽油杆或油管接箍处预留识别标识，能够有效地在线识别不同抽油杆或油管的身份并摆放到不同位置，并实时输入到后台计算机系统，建立油井杆管全生命周期管理数据库。
本发明具有如下优点：本发明所述的全自动石油修井杆管作业工业机器人与现有技术相比，自动化程度高、全闭环控制且控制监控功能齐全，配合修井机绞车的上、下动作可以实现井口油管和抽油杆的全自动起、下操作和杆管使用状态在线监测建立数据库工作，彻底克服了修井作业人员劳动强度大、井口安全性能差、生产效率低、能耗高、操作性差等缺陷，有利于建立油井杆管的全生命周期管理，同时将井口4-5人的传统体力操作型模式转为1人的辅助看管型操作模式，实现生产过程的自动化、智能化，实现了设备的物联网远程监控。
附图说明
图1为本发明的全自动石油修井杆管作业工业机器人的总体结构示意 图。
图2为本发明的主体杆管处理机构的结构示意图；
图3为本发明的杆管码垛机构的总体结构示意图；
图4为本发明的杆管码垛机构的结构示意主视图；
图5为本发明的导轨装置的结构示意图；
图6为本发明的机械臂装置的结构示意图；
图7为本发明的输送装置二的结构示意图。
图8为本发明的附属液压油管卡瓦和抽油杆卡瓦的结构示意图。
图中：I主体杆管处理机构、II杆管码垛机构、III杆管输送装置、液压油管卡瓦IV、抽油杆卡瓦V、1主体底盘、2导轨装置、3机械臂装置、4输送装置一、5液压吊卡、6液压杆管钳、7大臂摆动装置、8柔性机械手装置、9码垛底座、10移动机构、11机械手装置、12输送装置二、13油管和抽油杆、14横担、15底架、16立柱、17固定导架、18移动导架、19机械手支架、20机械手臂、21码垛机械手、22导正导轨、23液压吊卡、24液压杆管钳、25导轨底座、26机械臂、27摆座、28摆动油缸、29锁紧油缸、30固定导轨、31输送辊、32链条。
具体实施方式
以下实施例用于说明本发明，但不用来限制本发明的范围。
图1为本发明的全自动石油修井杆管作业工业机器人的总体结构示意图。
本发明所述的全自动石油修井杆管作业工业机器人包括主体杆管处理机构I、杆管码垛机构II、杆管输送装置III、附属油管液压卡瓦IV、抽油杆卡瓦V、在线监测装置VI和GPS定位装置等，每个部分均由若干个功能模块组成，每个模块采用各种机构、液压、电气等单独控制；杆管输送装置III包括输送装置一4和输送装置二12，输送装置一4和输送装置二12分别设置在主体杆管处理机构I和杆管码垛机构II上，油管和抽油杆13通过输送装置一4和输送装置二12实现由杆管码垛机构II传送给主体杆管处 理机构I，或由主体杆管处理机构I传送给杆管码垛机构II。
图2所示为本发明的主体杆管处理机构的结构示意图。
所述主体杆管处理机构I包括主体底盘1、导轨装置2和机械臂装置3，所述主体底盘1底部通过液压支腿支撑在地面上，所述导轨装置2上安装有液压吊卡5和液压杆管钳6，所述导轨装置2铰接在主体底盘1的前端；所述机械臂装置3包括大臂摆动装置7和柔性机械手装置8，所述大臂摆动装置7铰接安装于主体底盘1前端的摆动座上，所述柔性机械手装置8铰接在大臂摆动装置7的顶端，柔性机械手装置8可随大臂摆动装置7摆动至完全水平或完全竖直的位置；所述输送装置一4设置在主体底盘1的左侧且位于柔性机械手装置8的下方，在输送装置一4的后侧设置有编码器测长装置。
所述主体杆管处理机构I的主体底盘1用于支撑整个主体部分，其它的主体部分模块均安装在主体底盘1上，凭借液压支腿的伸缩功能可以把整个主体部分升高到工程运输车底盘上面，方便运输；井场安装时，驱动液压支腿伸缩的液压缸，可以调整液压支腿的展开位置。可根据作业现场的情况调整驱动液压缸位置并调整展开，根据井口高度可以调整液压支腿的相对高度，实现主体与井口的对接，主体杆管处理机构I液压支腿具有收缩范围广(收缩后体积小，展开面积可调)，运输方便，场地实用性强等特点。
图3所示为本发明的杆管码垛机构的总体结构示意图。
图4所示为本发明的杆管码垛机构的结构示意主视图。
所述杆管码垛装置II设有码垛底座9、移动机构10和机械手装置11，码垛底座9上方设有用于搁置油管和抽油杆13的横担14，移动机构10固定在码垛底座9的后端且可以前后移动，机械手装置11设置在移动机构10上，输送装置二12设置在码垛底座9的前端。
所述输送装置二12与输送装置一4处于同一直线上实现油管和抽油杆13的传输；机械手装置11将油管和抽油杆13送到输送装置二12上，油管 和抽油杆13由输送装置二12经输送装置一4输送给主体杆管处理机构I并完成下放；反之，主体杆管处理机构I将从井内起出的油管和抽油杆13经输送装置一4送出到杆管码垛装置II的输送装置二12上，杆管码垛装置II对接受的油管和抽油杆13进行排列码垛并将信息自动存储到后台计算机系统。
特别的，所述杆管码垛装置II上的码垛底座9包括码垛底架15和立柱16，立柱16固定在码垛底架15后端；所述杆管码垛装置II上的移动机构10包括固定导架17、移动导架18和方框形的机械手支架19，固定导架17水平焊接在立柱16上，移动导架18设置在固定导架17下方，移动导架18通过齿条传动可沿固定导架17前后移动，所述移动导架18两外侧均设有滑块，所述方框形机械手支架19内侧设有滑槽；所述杆管码垛装置II上的机械手支架19通过滑槽与移动导架18两侧的滑块连接，机械手支架19在液压缸带动下可沿移动导架18上、下移动；所述杆管码垛装置II上的机械手装置11包括机械手臂20和码垛机械手21，码垛机械手21设置在机械手臂20的端部，机械手臂20的另一端铰接在机械手支架19的两侧下方、并可绕铰接轴水平转动；码垛机械手21将油管和抽油杆13输送到输送装置二12上。
特别的，所述杆管码垛装置II的主要作用是存储油管和抽油杆13，当工业机器人对油井进行维修时，需要先把油管和抽油杆13从井内起出并输送到杆管码垛装置II，杆管码垛装置II通过自动化机械手装置11对接收的油管和抽油杆13进行有序排列，完成修井作业后再通过机械手把杆管输送给主机完成下放。
本发明结构简单、合理、可靠，可以自动接收或送出杆管系统，在存储杆管的过程中码垛机械手自动排放杆管系统并自动输入到后台计算机管理系统。该装置的特点是能够较大幅度地降低工人劳动强度，系统全闭环控制，安全可靠性高，不需要操作人员摆放和运输油管或抽油杆，节省了大量的人力、物力，减少了石油杆管排放时间，提高了杆管 系统计算机信息管理水平。
图5所示为本发明的导轨装置的结构示意图。
所述主体杆管处理机构I上的导轨装置2包括导正导轨22、液压吊卡23、液压杆管钳24，所述液压吊卡23和液压杆管钳24设置在导正导轨22上，所述导正导轨22由上导轨、下导轨和折叠机构三部分折叠而成，所述上导轨和下导轨之间通过折叠机构连接，上导轨在液压缸二的驱动下通过折叠机构可折叠180°；所述导正导轨22底部铰接在导轨底座25上，导轨底座25固定在主体底盘1上，所述导正导轨22在液压缸一的驱动下可摆动90°。
特别的，所述导轨装置2的主要作用是调整井口位置，对液压吊卡23的提升和下放起到导向作用，导轨装置2集成了液压吊卡导轨、上下移动导轨、液压杆管钳24、导轨调整装置等。导轨装置摆动范围0-90°，可以旋转90°后平放到主体杆管处理机构I上，结构简单、合理、可靠，显著特点是劳动强度降低，安全可靠性提高，不需要操作人员站到井口操作，节省了大量的人力、物力，提高了起下油管或抽油杆工作效率。
图6所示为本发明的机械臂装置的结构示意图。
所述机械臂装置3包括大臂摆动装置7和柔性机械手装置8。
所述大臂摆动装置7包括机械臂26、摆座27、摆动油缸28和锁紧油缸29，所述摆座27固定在主体底盘1上，所述机械臂26铰接在摆座27上并由摆动油缸28驱动绕摆座27旋转；所述柔性机械手装置8通过摆轴与机械臂26连接。
特别的，所述机械臂装置3在起油管或抽油杆时，将杆管自井口立式状态下用柔性机械手8夹紧杆管，通过大臂从105°开始摆动，到85°时，柔性机械手8开始从90°转动，当大臂摆动装置7摆动到40°时，柔性机械手8转动到水平0°状态，大臂摆动装置7继续摆动到水平0°状态。大臂摆动装置7和柔性机械手8均是水平状态后，把油管和抽油杆13水平放到输送装置接、送杆管的位置；下油管或抽油杆过程中杆管进入 到输送装置后，柔性机械手8将杆管从输送装置摆放杆管位置抓取并夹紧杆管，大臂摆动装置7开始从水平0°开始摆动，当大臂摆动装置7摆动到35°时，柔性机械手8开始从0°转动，当大臂摆动装置7摆动到85°时柔性机械手8完成90°转动，大臂摆动装置7继续摆动到105°将杆管送到井口垂直位置。大臂摆动装置7摆动范围0-105°，柔性机械手8转动范围0-90°。所述机械臂装置3结构简单、合理、可靠，可以轻松将杆管从水平位置放到井口垂直位置，显著降低劳动强度，提高安全可靠性，不需要操作人员到井口操作，节省了大量的人力、物力，提高了工作效率。
图7所示为本发明的输送装置二的结构示意图。
所述杆管输送装置III包括输送装置一4和输送装置二12。所述输送装置一4和输送装置二12均包括固定导轨30，所述固定导轨30上方设有多组输送辊31。所述输送辊(31)通过链条(32)传动。
特别的，所述杆管输送装置III在使用杆管码垛装置II部分的情况下，把油管和抽油杆13从杆管码垛装置II输送到主体杆管处理机构I的左侧，当杆管端部碰触测长装置的固定端开关后随即发出测长信号，杆管测长完成后输送装置一4的顶升液压缸顶起杆管到指定位置，接下来即可运行机械臂模块的动作。杆管输送装置III适用于起、下杆管两种模式，有效地将输送和测长两种功能结合到一起，缩短起下杆管时间，提高工作效率，结构更紧凑合理。
特别的，所述测长装置在起、下杆管过程中对杆管实现测长功能，包含测长固定装置和测长移动装置两部分，当油管和抽油杆13进入到输送装置二12后，测长移动装置在液压缸驱动下把推杆摆到辊道上方，液压马达驱动丝杠，丝杠带动推杆移动，配合输送辊道的动作，测长固定装置在液压缸驱动下向移动端伸出并到达指定位置，当推动的油管或抽油杆顶到固定端的法兰盘时，压缩弹簧的空间使接触开关发讯，移动端得到信号后停止动作，编码器输出推动杆的移动距离，这样就可以得到每根油管或抽油杆的长度，测长装置应用于起、下油管或抽油杆的两种 模式，自动测量油管或抽油杆的长度，具有测长精度高、记录数据快等特点，抽油杆或油管接箍处预留识别标识，在测长装置端部设置有杆管身份识别装置，能够有效识别不同抽油杆或油管的身份，建立油井杆管全生命周期管理数据库，提高油井物联网管理水平。该杆管输送装置III有效地将杆管输送和测长、在线识别三种功能结合到一起，降低了工人劳动强度，提高了工作效率，结构更紧凑合理。
图8是本发明的附属液压油管卡瓦和抽油杆卡瓦的结构示意图。
所述液压油管卡瓦IV和抽油杆卡瓦V均包括卡瓦座、卡瓦体和卡瓦牙等，液压油管卡瓦IV通过油管卡瓦座法兰固定安装在井口法兰或防喷器法兰上，利用计算机控制液压缸升降起到自动卡持油管的作用，抽油杆卡瓦V通过油管接箍固定安装在油管上，通过自动控制液压缸的起升动作起到卡持抽油杆本体的作用。卡持不同尺寸的油管或抽油杆均可通过更换不同尺寸的卡瓦牙来实现。所述在线探伤装置固定在卡瓦装置的上部位置，在起升油管或抽油杆时可以在线监测杆管的使用情况，对有损伤的杆管及时报警并特殊处理。
本发明所述的全自动石油修井杆管作业工业机器人的自动化程度高，可实现石油修井作业的自动化、智能化操作，克服了传统石油修井工人劳动强度大、现场安全性能差、工效率低、能耗高，操作性差、污染环境等缺陷，同时将多人体力操作型(4-5人)转换为1人的看管性操作，实现了生产过程的自动化和智能化控制和物联网监控。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中 的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (10)

  1. 一种全自动石油修井杆管作业工业机器人，其特征在于：该全自动石油修井杆管作业工业机器人包括主体杆管处理机构(I)、杆管码垛机构(II)、杆管输送装置(III)、附属液压油管卡瓦(IV)、抽油杆卡瓦(V)、杆管在线探伤装置(VI)和GPS定位装置；所述杆管输送装置(III)包括输送装置一(4)和输送装置二(12)，输送装置一(4)和输送装置二(12)分别设置在主体杆管处理机构(I)和杆管码垛机构(II)上；所述主体杆管处理机构(I)包括主体底盘(1)、导轨装置(2)和机械臂装置(3)，所述主体底盘(1)底部通过液压支腿支撑在地面上，所述导轨装置(2)上安装有液压吊卡(5)和液压杆管钳(6)，导轨装置(2)铰接在主体底盘(1)的前端；所述机械臂装置(3)包括大臂摆动装置(7)和柔性机械手装置(8)，所述大臂摆动装置(7)与安装在主体底盘(1)上的摆动座铰接，所述柔性机械手装置(8)铰接在大臂摆动装置(7)顶部，柔性机械手装置(8)能够随大臂摆动装置(7)摆动至完全水平或完全竖直位置；所述输送装置一(4)设置在主体底盘(1)左侧且位于柔性机械手装置(8)下方，在输送装置一(4)的后侧设置有测长装置；所述杆管码垛装置(II)设有码垛底座(9)、移动机构(10)和机械手装置(11)，码垛底座(9)上方设有用于搁置油管和抽油杆(13)的横担(14)，移动机构(10)固定在码垛底座(9)的后端，机械手装置(11)设置在移动机构(10)上，输送装置二(12)设置在码垛底座(9)的前端；所述输送装置二(12)与输送装置一(4)处于同一直线上实现油管和抽油杆(13)的传输；机械手装置(11)将油管和抽油杆(13)送到输送装置二(12)上，油管和抽油杆(13)由输送装置二(12)经输送装置一(4)输送给主体杆管处理机构(I)并完成下放；反之，主体杆管处理机构(I)也能够将从井内起出的油管和抽油杆(13)经输送装置一(4)送出到杆管码垛装置(II)的输送装置二(12)上，杆管码垛装置(II)对接受的油管和抽油杆(13)进行排列码垛并将信息自 动输入到计算机管理系统。
  2. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述码垛底座(9)包括码垛底架(15)和立柱(16)，立柱(16)固定在码垛底架(15)后端；所述移动机构(10)包括固定导架(17)、移动导架(18)和方框形的机械手支架(19)，固定导架(17)水平焊接在立柱(16)上，移动导架(18)设置在固定导架(17)下方且能够通过齿条传动沿固定导架(17)前后移动，所述移动导架(18)两外侧设有滑块，机械手支架(19)内侧设有滑槽且通过滑槽与移动导架(18)两侧的滑块连接，机械手支架(19)在液压缸的带动下能够沿移动导架(18)上下移动。
  3. 如权利要求2所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述机械手装置(11)包括机械手臂(20)和码垛机械手(21)，码垛机械手(21)设置在机械手臂(20)的端部，机械手臂(20)的另一端铰接在机械手支架(19)的两侧下方，并能够绕铰接轴水平转动；码垛机械手(21)能够将油管和抽油杆(13)输送到输送装置二(12)上。
  4. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述导轨装置(2)包括导正导轨(22)、液压吊卡(23)和液压杆管钳(24)，所述液压吊卡(23)和液压杆管钳(24)设置在导正导轨(22)上；所述导正导轨(22)由上导轨、下导轨和折叠机构三部分折叠而成，所述上导轨和下导轨之间通过折叠机构连接，上导轨在液压缸二的驱动下通过折叠机构能够折叠180°；所述导正导轨(22)底部铰接在导轨底座(25)上，导轨底座(25)固定在主体底盘(1)上，所述导正导轨(22)在液压缸一的驱动下能够摆动90°。
  5. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述大臂摆动装置(7)包括机械臂(26)、摆座(27)、摆动油缸(28)和锁紧油缸(29)，所述摆座(27)固定在主体底盘(1) 上，机械臂(26)铰接在摆座(27)上，机械臂(26)能够由摆动油缸(28)驱动绕摆座(27)旋转；所述柔性机械手装置(8)通过摆轴与机械臂(26)连接。
  6. 如权利要求1-5任一项所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述输送装置一(4)和输送装置二(12)均包括固定导轨(30)，所述固定导轨(30)上方设有多组输送辊(31)，所述输送辊(31)通过链条(32)传动。
  7. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述的附属液压油管卡瓦(IV)固定安装在井口法兰或防喷器法兰上，所述的抽油杆卡瓦(V)固定安装在油管接箍上。
  8. 如权利要求7所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述的杆管在线探伤装置(VI)固定安装在附属液压油管卡瓦(IV)上或抽油杆卡瓦(V)上，杆管在线探伤装置(VI)采集信号自动输入到后台计算机管理系统。
  9. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：GPS定位装置设置在主体杆管处理机构(I)的底部，能够实现全自动石油修井杆管作业工业机器人的远程定位和控制。
  10. 如权利要求1所述的一种全自动石油修井杆管作业工业机器人，其特征在于：所述的测长装置的端部设置有杆管身份识别装置，通过在抽油杆或油管接箍处预留识别标识，能够有效地在线识别不同抽油杆或油管的身份并摆放到不同位置，并实时输入到后台计算机系统，建立油井杆管全生命周期管理数据库。
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