WO2022121984A1 - 油田用自动小修作业系统 - Google Patents

油田用自动小修作业系统 Download PDF

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Publication number
WO2022121984A1
WO2022121984A1 PCT/CN2021/136799 CN2021136799W WO2022121984A1 WO 2022121984 A1 WO2022121984 A1 WO 2022121984A1 CN 2021136799 W CN2021136799 W CN 2021136799W WO 2022121984 A1 WO2022121984 A1 WO 2022121984A1
Authority
WO
WIPO (PCT)
Prior art keywords
elevator
workover
pipe string
wellhead
arm
Prior art date
Application number
PCT/CN2021/136799
Other languages
English (en)
French (fr)
Inventor
张喜庆
张端光
沈君芳
汪秋陵
吕海龙
张娇娇
张晓南
贾艳丽
韩文平
Original Assignee
胜利油田胜机石油装备有限公司
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
Priority claimed from CN202011463305.8A external-priority patent/CN112483022A/zh
Priority claimed from CN202120001464.XU external-priority patent/CN212614579U/zh
Priority claimed from CN202120008013.9U external-priority patent/CN212614576U/zh
Priority claimed from CN202120053182.4U external-priority patent/CN212614582U/zh
Priority claimed from CN202121973995.1U external-priority patent/CN214222648U/zh
Application filed by 胜利油田胜机石油装备有限公司 filed Critical 胜利油田胜机石油装备有限公司
Priority to CA3218284A priority Critical patent/CA3218284A1/en
Publication of WO2022121984A1 publication Critical patent/WO2022121984A1/zh
Priority to US18/331,907 priority patent/US20240018835A1/en

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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
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor
    • 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
    • E21B19/02—Rod or cable suspensions
    • E21B19/06—Elevators, i.e. rod- or tube-gripping 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
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position
    • 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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting

Definitions

  • the application relates to the technical field of workover operations in oil fields, and more particularly to an automatic minor repair operation system for oil fields, as well as pipe string transportation and discharge equipment used in the automatic minor repair operation device system, an anti-opening mechanism for elevators, and Turnover elevators, manipulators and workover equipment for workover operations, integrated automatic wellhead operation devices, and power slips for oilfield workover operations.
  • the international oilfield workover operation adopts manual hydraulic tongs with workover rigs, which has a low degree of automation, high labor intensity and low safety factor.
  • oil field workover operations it is necessary to replace manpower with mechanical equipment for pipe transportation to realize the transportation of the pipe string between the wellhead and the pipe string row and the discharge of the pipe string.
  • the related mechanical equipment for pipe transportation can only realize pipe string transportation in one direction. After the equipment is placed and fixed, the pipe string transportation direction cannot be adjusted, and the applicability to the well site is poor.
  • the construction environment and the factors to be considered are complex, and the arrangement direction of the pipeline mechanical equipment is limited.
  • Elevator is an important device for tripping and tripping the pipe string in the workover operation, and its performance directly affects the efficiency and safety of the workover operation.
  • the elevator in the related art is provided with a power locking mechanism, which can drive the movement of the side door, and when the side door is in place, the side door is dynamically locked, thereby ensuring the safety of the operation during the lifting and lowering of the pipe string.
  • the elevator in the related art needs to lift the pipe string vigorously and then lower it quickly to loosen the stuck pipe string in the well. During this process, the pipe string will rub against the hook, and there will be power during the rubbing process.
  • the locking mechanism fails, resulting in the risk of the side door opening, thereby posing a safety hazard.
  • the manipulator of the automatic well workover operation device in the related art has the following problems: the position of the manipulator has a high requirement on the accuracy of the installation position of the pipe string conveyor, which increases the difficulty and time-consuming for the installation of the field equipment; It is installed on the skid block of the wellhead operation device. At the same time, the manipulator has a large volume. The skid block needs to be installed according to the direction of the manipulator pushing the pipe before operation, which greatly affects the efficiency of the field operation and the adaptability of the automatic operation equipment. Workover operation requirements; and the manipulator in the related art can only clamp the pipe string, however, in the process of lowering the pipe string, under the action of different lowering speeds and weather and wind, the external elevators will deflect to a certain extent. , so that the elevator cannot be grasped in the process of grasping the pipe, and the overall equipment stability is poor.
  • oilfield wellhead operation devices are generally installed separately from workover rigs.
  • the structure of related wellhead operation devices to achieve lateral push and withdrawal actions generally relies on lateral slide rails and sliding parts connected to the slide rails.
  • the pushing distance is short, while the longer slide rail is not convenient for storage and transportation.
  • the manipulator of the automatic workover operation device needs to clamp and fix the external pipe string, so that the pipe string can be connected with the elevator.
  • the swimming system of the workover rig lifts the pipe string during the pipe take-up process and cannot detect the position of the coupling, so the position of the coupling can only be observed manually, and then the swimming system decelerates and stops. operation cannot be done automatically.
  • the present application adopts the automatic minor repair operation system for oil field, the pipe string transportation and discharge equipment used for the automatic minor repair operation device system, the integrated automatic wellhead operation device, the manipulator and the operation equipment for the workover operation in the oil field, and the workover operation equipment in the oil field.
  • the power slips, the anti-opening mechanism for elevators and the flip elevator realize unmanned operation of the wellhead, which greatly reduces the labor intensity of workers, improves the working environment, improves the safety factor, and can accurately locate the wellhead. center.
  • the present application provides an automatic minor repair operation system for oilfields.
  • the automatic minor repair operation device system may include: a workover rig, a pipe string transportation and discharge equipment, an elevator for the workover operation, a manipulator for the workover operation, An integrated automatic wellhead operation device and power slips for oilfield workover operations, characterized in that the automatic minor workover operation device system can be configured to convey discharge equipment, the hoist for well workover operations through the pipe string.
  • the workover rig may be arranged along the first direction of the automatic minor workover operation device system such that the longitudinal direction of the workover rig is parallel to the first direction, and the tail of the workover rig may be arranged to be in the first direction.
  • the first direction is spaced apart from the center of the wellhead by a predetermined distance, the first direction may be a direction passing through the center of the wellhead in a radial direction of the wellhead, and the pipe string conveying and discharging device may be arranged at the center of the wellhead.
  • the second direction is a direction passing through the center of the wellhead and perpendicular to the first direction, and the elevators
  • the manipulator for workover operations and the integrated automatic wellhead operation device may be arranged on and carried by the tail of the workover rig, and the crane for workover operations
  • the card, the manipulator for workover operations, and the integrated robotic wellhead unit may be arranged on a second side opposite the first side along the second direction of the robotic minor workover unit system
  • the oilfield workover power slips may be disposed at the center of the wellhead, and the oilfield workover power slips may be configured in an open position that allows movement of the tubing string therethrough and prevents movement of the tubing string by switching between the closed positions so that:
  • the pipe string conveying and discharging device picks up the pipe string to be run for running operation and transports the picked up pipe string to the clamping channel of the elevator for workover operation ; the elevator for workover operations clamps the pipe string; the elevator for workover operations lifts the pipe string, and the manipulator for workover operations
  • the pipe string held by the elevator for workover operations is grasped and the grasped pipe string is positioned at the down pipe position in the center of the wellhead;
  • the integrated automatic wellhead operation device moves to the center of the wellhead, and the elevator for workover operations lowers the pipe string to the coupling position, thereby passing through the
  • the integrated automatic wellhead operation device buckles the pipe string; by opening the power slip for the oil field workover operation, the elevator for the workover operation lowers the pipe string; and
  • the elevator for the workover operation lifts the pipe string up, so that the coupling of the other pipe string is Expose to a designated position; in the case of closing the power slips for the oil field workover operation, the integrated automatic wellhead operation device shackles the exposed coupling; the integrated automatic wellhead operation device is retracted,
  • the elevator for workover operations lifts the pipe string, and the manipulator for workover operations clamps the shackled pipe string and moves the pipe string from the center of the wellhead to a position where it can be received by the delivery mechanism of the pipe string transport and discharge equipment; the elevator for workover operations lowers the pipe string, the delivery mechanism receives the pipe string and transports the pipe string The tubing string is moved away from the center of the wellhead.
  • the manipulator for workover operation may include: a manipulator rotation mechanism and a pinch push mechanism, wherein the manipulator for workover operation may be configured to: in the pipe running operation, through all The manipulator rotating mechanism drives the clamping and pushing structure to rotate in a circle in the horizontal direction, so as to grasp the pipe string clamped by the elevator and position the grasped pipe string below the center of the wellhead. at the pipe position; in the pipe lifting operation, the clamping and pushing structure is driven by the manipulator rotating mechanism to rotate circularly in the horizontal direction, so as to clamp the shackled pipe string and make the pipe string Move from the center of the wellhead to a position that can be received by the transport mechanism of the pipe string transport discharge apparatus.
  • the elevator used for workover operations may include an elevator body, and the elevator body includes an elevator body and a clamping mechanism, and the clamping mechanism can approach or approach relative to the elevator body.
  • a direction away from the elevator main body is rotated, so that a clamping channel for clamping the pipe string can be formed between the clamping mechanism and the elevator main body, and the clamping mechanism is configured to The pipe string can be clamped during the pipe running operation and the pipe pulling operation.
  • the pipe string conveying and discharging apparatus may include a conveying device and a discharging device, and the conveying device may include the conveying mechanism, wherein, in the running operation, the conveying mechanism of the conveying device is passed through.
  • the pipe string is conveyed to the clamping channel between the clamping mechanism and the elevator main body; in the pipe pulling operation, the pipe is received by the conveying mechanism of the conveying device And conveying the pipe string to the discharge means can hold the pipe string in a position.
  • the integrated automatic wellhead operation device may include a splash-proof buckle, a hydraulic tong, a push mechanism, a wellhead operation rotation mechanism and a transport mechanism, wherein, in the pipe running operation, the While the manipulator of the workover operation is grasping the pipe string, the anti-splashing device of the integrated automatic wellhead operation device is fastened by the pushing mechanism, the wellhead operation rotating mechanism and the moving mechanism.
  • the elevator for the workover operation Moving to the center of the wellhead, the elevator for the workover operation lowers the pipe string to the position of the coupling and buckles the pipe string with the hydraulic tongs; in the pipe-taking operation , the exposed coupling is shackled by the hydraulic tongs.
  • the power slip for oilfield workover operations may include: a slip housing and a sensor, and the power slips for oilfield workover operations may be configured to automatically detect the pipe string through the sensor to switch between the open position and the closed position.
  • the automatic minor workover operation device system may include two manipulators for workover operations, and the two manipulators for workover operations may be located on both sides of the tail of the workover rig, respectively,
  • the pipe string conveying discharge apparatus may be arranged on the first side of the automatic minor repair work equipment system in the second direction and at least on both sides of the first direction of the automatic minor repair work equipment system. side.
  • the position of the pipe string transportation and discharge equipment and the layout of the automatic minor repair operation device system can be selected according to the surrounding environment and actual needs of the oil well, thereby significantly improving the workover operation in the oil field. Efficiency and field availability.
  • a pipe string conveying and discharging equipment may include a conveying device and a discharging device;
  • the conveying device includes a first base, a rotating arm and a conveying mechanism;
  • the rotating arm has opposite first and second ends, the first The end is hinged on the first base, and the second end can be rotated around the first end;
  • the conveying mechanism is used to drive the pipe string to move from the first end to the second end;
  • the The discharge device includes a second base, a guide mechanism, a translation mechanism, a lift mechanism, and a discharge mechanism;
  • the guide mechanism is mounted on the second base;
  • the translation mechanism is mounted on the guide mechanism and can be guided along the guide
  • the preset direction of the mechanism is moved;
  • the lifting mechanism is installed on the translation mechanism, and is used to move the pipe string on the rotating arm to the discharge mechanism;
  • the discharge mechanism is used for placing the pipe string; wherein,
  • the length direction of the second base is consistent with the length direction of the first base, the second base has an
  • one end of the first base may be connected with the first mounting portion through a distance adjustment structure, or, one end of the first base may be connected with the second mounting portion through a distance adjustment structure, and the The distance adjustment structure can be used to adjust the distance between the first base and the first installation part or the second installation part.
  • the rotating arm may include an arm body, a first telescopic drive part, a first transmission part and a second transmission part; the arm body is provided with the first end and the second end; the first end is provided with the first end and the second end; One end of a telescopic driving member is mounted on the first base, and the other end is hinged with the middle of the first transmission member; the lower end of the first transmission member is hinged with the first base, and the upper end of the first transmission member is hinged It is hinged with the lower end of the second transmission part; the upper end of the second transmission part is hinged with the arm body.
  • the rotating arm may comprise an arm body, and the arm body may comprise a main body part, a telescopic part and a second telescopic driving part; the main body part is connected with the telescopic part; the second telescopic driving part One end is connected to the main body part, and the other end is connected to the telescopic part, and is used to drive the telescopic part to expand and contract relative to the main body part.
  • a length measurement device which may include a displacement detection mechanism and a length measurement limit mechanism; the displacement detection mechanism is installed on the rotating arm and used to detect that the conveying mechanism drives the pipe string.
  • the distance that one end moves; the length measuring and limiting mechanism may include a third base, a third telescopic drive part, a lifting frame, a swing arm, a compression spring and a sensing part; the third base is mounted on the first base , the lift frame and the third telescopic drive part are mounted on the third base, and the third telescopic drive part is used to drive the lift frame to rise and fall; one end of the swing arm is hinged with the lift frame, The other end is connected to the lifting frame through the compression spring; the sensing component is installed on the lifting frame, and one end of the pipe column drives the swing arm to rotate and compresses the compression spring to a preset state to trigger the sensing part.
  • the conveying mechanism may include a traction driving part and a moving cart; the traction driving part is mounted on the rotating arm and connected with the moving cart; the moving cart is used for clamping one end of the pipe string,
  • the moving vehicle is mounted on the rotating arm and moves along the length direction of the rotating arm under the driving of the traction driving component.
  • the guiding mechanism may include two guide rails respectively installed on the second base, and the guide rails may include a main rail and an expansion rail that are hinged to each other; the second base is provided with a fixed bracket, and the main rail is The track is mounted on the fixed bracket, and the extension track is mounted on the movable support.
  • the translation mechanism may include a gantry frame, a traveling wheel, a first rotational driving component and a gear;
  • the gantry frame includes a beam and a frame body connected to both ends of the beam, and the beam is used for being installed on the beam.
  • Lifting mechanism the upper end of the frame body is connected with the beam, and the lower end is provided with a walking wheel; the walking wheel is installed on the guide mechanism; the gantry frame is used to install the lifting mechanism, and the bottom of the gantry frame is installed There are the walking wheels, which are located on the guide mechanism; the first rotating driving component is installed on the bottom of the gantry frame, and the first rotating driving component is connected with the gear and used to drive The gear rotates; a rack is installed on the side of the guide mechanism, and the gear meshes with the rack.
  • the lifting mechanism may include two support rods, two elevators, a second rotational driving part, a rotating shaft and a suction structure; the support rods are inserted on the translation mechanism, and the lower ends of the support rods pass through. through the translation mechanism; the elevator is installed on the top of the translation mechanism, and the two elevators are respectively connected with the two support rods in a one-to-one correspondence; the two ends of the rotating shaft are respectively connected with the two elevators Transmission connection; the second rotational driving component is installed on the top of the translation mechanism, the second rotational driving component is connected with the rotating shaft, and is used to drive the rotating shaft to rotate, and the holding structure is installed on the the lower end of the support rod.
  • the discharge mechanism may include a cofferdam and a cross arm; the cofferdam may be connected to the second base, and the cofferdam is provided with a waste liquid recovery tank; a plurality of the cross arms are installed at intervals on In the waste liquid recovery tank, the waste liquid recovery tank is divided into a plurality of tank bodies, and the height of the cross arm is greater than or equal to the height of the cofferdam side wall.
  • the conveying and discharging equipment provided in the present application, not only the conveying and discharging of the pipe string can be realized, but also the conveying direction of the conveying device can be changed by switching the connection between one end of the first base and the first mounting portion or the second mounting portion. , expanding the scope of application of the equipment to the well site.
  • the present application provides an anti-opening mechanism for an elevator and a flipping elevator, so as to alleviate the technical problem of the risk of opening the side door and the potential safety hazard in the process of using the elevator in the related art.
  • the present application provides an anti-opening mechanism for an elevator, which may include an anti-opening ring, a connecting portion and an elevator body;
  • the elevator body may include an elevator main body and a clamping mechanism, the clamping mechanism and the elevator main body are connected, and the clamping mechanism may include a side door through which the clamping mechanism can be relatively
  • the elevator main body is rotated in a direction close to or away from the elevator main body, so that a clamping channel for clamping the pipe string can be formed between the clamping mechanism and the elevator main body;
  • the anti-opening ring has a through hole passing through the pipe string, the anti-opening ring is arranged concentrically with the clamping channel through the through hole, and the anti-opening ring is respectively connected to the elevator through the connecting portion.
  • the main body is connected with the clamping mechanism to fix the clamping mechanism on the elevator main body.
  • the elevator main body may include a first complementary core
  • the clamping mechanism may include a second complementary core
  • the elevator main body may be provided with a circular arc surface
  • the first supplementary core may be located in the circular arc surface of the elevator main body, and the first supplementary core is connected with the circular arc surface of the elevator main body;
  • the side door may have a circular arc structure
  • the second supplementary core is located on the side of the side door close to the elevator body, and the second supplementary core is connected to the side door, and the side door is connected to the side door through a rotating shaft.
  • the elevator main body is rotatably connected, and the side door is used to drive the second complementary core to abut with the first complementary core to form a ring structure for holding the pipe column.
  • the anti-opening ring may be provided with a plurality of first connection holes
  • the first patch may be provided with second connection holes
  • the second patch may be provided with There are third connection holes, and the number of the first connection holes can be greater than or equal to the sum of the second connection holes and the third connection holes;
  • the anti-opening ring can fit with the annular structure formed by the first and second complementary cores, and the connecting part can include a first connecting part and a second connecting part, and the first connecting part
  • the number of the second connection holes can be set corresponding to the number of the second connection holes, and the first connection parts are used to pass through the first connection holes and the second connection holes in sequence;
  • the number of the third connection holes is set correspondingly, and the second connection part is used to pass through the first connection hole and the third connection hole in sequence, so as to connect the anti-opening ring with the first patch and the The second patch is fixedly connected.
  • the number of the second connection holes may be at least two, and the number of the third connection holes may be at least two.
  • a driving mechanism may also be included;
  • the driving mechanism is arranged on the elevator body, and the output end of the driving mechanism can be drive-connected with the side door, and the driving mechanism is used to drive the side door to rotate relative to the elevator body.
  • the elevator body may further include a locking tongue
  • the lock tongue is connected with the elevator main body, the clamping mechanism and the lock tongue can rotate in opposite or opposite directions relative to the elevator main body, and the lock tongue is used for connecting with the clamping mechanism connected to fix the clamping mechanism on the elevator main body.
  • the elevator body may further include a locking mechanism
  • the locking mechanism may include a pin shaft and a spring; a notch is provided on the side of the side door close to the lock tongue, and the lock tongue is correspondingly provided with a raised keyhole for matching with the notch;
  • the side door is provided with a stepped hole above the notch, the pin shaft is inserted in the stepped hole, and the pin shaft is in contact with the second complementary core, and the second complementary core is used for driving the pin shaft to move in the stepped hole;
  • the spring is sleeved on the outside of the pin shaft, and two ends of the spring are respectively in contact with the pin shaft and the step of the stepped hole, and the spring has the function of keeping the pin shaft away from the notch elastic trend.
  • a turning mechanism may also be included;
  • the elevator body is provided with a flipping baffle, the flipping mechanism is connected to the elevator body through the flipping baffle, and the flipping mechanism is used to adjust the angle of the clamping channel through the elevator body .
  • the application provides a flip elevator, and the flip elevator can include the anti-opening mechanism for the elevator.
  • An anti-opening mechanism for an elevator may include: an anti-opening ring, a connecting portion and an elevator body; the elevator body includes an elevator main body and a clamping mechanism, and the clamping mechanism is connected with the elevator main body,
  • the clamping mechanism can rotate relative to the main body of the elevator in a direction close to or away from the main body of the elevator, so that a clamping channel for clamping the pipe string can be formed between the clamping mechanism and the main body of the elevator;
  • the anti-opening ring has a through pipe The through hole of the column, the anti-opening ring is arranged concentrically with the clamping channel through the through hole, and the anti-opening ring is respectively connected with the elevator main body and the clamping mechanism through the connecting part, so as to fix the clamping mechanism on the elevator main body;
  • the anti-opening ring is installed on the elevator main body and the clamping mechanism using the connecting part, so that the clamping mechanism and the elevator main body form an integral
  • the present application provides a manipulator and workover operation equipment for well workover operations, so as to alleviate the fixed position of the manipulator in the related art, which leads to high requirements on the accuracy of the installation position of the pipe string conveyor, which affects the efficiency of on-site operations. Poor adaptability of operating equipment, and inability to overcome the technical problems of elevator swing and poor pipe gripping stability.
  • the application provides a manipulator for workover operations
  • the manipulator for workover operations may include: a rotary drive mechanism, a rotary body, a push elevator mechanism, and a clamping mechanism;
  • Both the clamping mechanism and the push-elevator mechanism are connected to the rotating main body, the rotating driving mechanism is connected to one end of the rotating main body, and the rotating driving mechanism is used to drive the clip through the rotating main body
  • the holding mechanism and the push-elevator mechanism rotate in a circle in the horizontal direction, so that the clamping mechanism and the push-elevator mechanism are located at the pipe pick-up position in the center of the wellhead, and the clamping mechanism is used to clamp the external pipe string.
  • the elevator pushing mechanism is used for abutting with the external elevator to push the external elevator to move in the horizontal direction.
  • the elevator elevator mechanism may include a push body, a push plate and an angle adjustment mechanism
  • One end of the push body is connected with the rotating body, the other end of the push body is hinged with the push plate, and both ends of the angle adjustment mechanism are hinged with one side of the push body and the push plate respectively , the angle adjustment mechanism is used to drive the push plate to rotate relative to the push body, so that the push plate is angled to abut with the external elevator.
  • the push body may include a first push arm, a fixed bracket and a second push arm;
  • the first push arm and the second push arm are connected by the fixed bracket, and the fixed bracket is used to vertically set the first push arm and the second push arm, and the first push arm
  • One end of the second push arm away from the second push arm is connected to the rotating body, and one end of the second push arm away from the first push arm is hinged with the push plate.
  • the fixed bracket may include a bracket body, a first adjustment pin and a second adjustment pin;
  • the bracket body may be provided with a slot, the first push arm and the second push arm are inserted into the slot of the bracket body, and the first push arm can be relative to the bracket body turn;
  • the bracket body may be provided with a first fixing hole, a second fixing hole and a third fixing hole, the first fixing hole and the second fixing hole are located on the same line, the first fixing hole and the The third fixing holes are located on the same straight line, and the connection line between the first fixing hole and the second fixing hole is perpendicular to the connection line between the first fixing hole and the third fixing hole.
  • An adjusting pin is used to pass through the first fixing hole, the first push arm and the second push arm in sequence, so as to fix the first push arm and the second push arm in the slot of the bracket body
  • the second adjusting pin is used to connect with the second fixing hole and the third fixing hole respectively, so as to adjust the vertical arrangement of the first push arm and the second push arm, or to adjust the
  • the first push arm and the second push arm are arranged in a straight line.
  • the clamping mechanism may include a fixed sleeve, a sliding sleeve, a telescopic drive mechanism and a clamping assembly;
  • the telescopic drive mechanism is located in the fixed sleeve, the fixed end of the telescopic drive mechanism is connected to the inner wall of one end of the fixed sleeve, and the fixed sleeve is fixedly connected to the rotating body;
  • the telescopic end of the telescopic drive mechanism is connected with one end of the sliding sleeve located at the fixed sleeve, the sliding sleeve is slidably connected with the fixed sleeve, and the sliding sleeve extends out of the fixed sleeve
  • One end of the tube is connected to the clamp assembly.
  • the clamping mechanism may further include a linear motion control sensing mechanism
  • the linear motion control sensing mechanism is located in the fixed sleeve, the telescopic drive mechanism is electrically connected to the linear motion control sensing mechanism, and the linear motion control sensing mechanism is used to control the telescopic drive mechanism extension length.
  • the clamping assembly may include a fixed gripper, a movable gripper, a gripping transmission mechanism and a gripping driving mechanism;
  • the fixed gripper is connected to one side of the sliding sleeve, the gripping transmission mechanism, the movable gripper and the gripping driving mechanism are all located inside the sliding sleeve, and the gripping driving mechanism passes through the sliding sleeve.
  • the clamping transmission mechanism is drivingly connected with the movable gripper, and the clamping drive mechanism is used to drive the movable gripper to rotate relative to the fixed gripper through the gripping transmission mechanism to adjust the movable gripper.
  • the clamping distance between the claw and the fixed hand claw is connected to one side of the sliding sleeve, the gripping transmission mechanism, the movable gripper and the gripping driving mechanism are all located inside the sliding sleeve, and the gripping driving mechanism passes through the sliding sleeve.
  • the clamping transmission mechanism is drivingly connected with the movable gripper, and the clamping drive mechanism is used to drive the movable gripper to rotate relative to the fixed gripper through the gripping transmission mechanism to adjust the movable gripper.
  • the clamping transmission mechanism may include a gripper connecting arm and a gripper connecting bracket;
  • the gripping driving mechanism includes a gripping driving part and an elastic part;
  • the elastic portion is located between the gripper connecting bracket and the clamping driving portion, and both ends of the elastic portion are respectively in contact with the gripping connecting bracket and the gripping driving portion, and the gripper
  • the holding driving part is used for compressing the elastic part to drive the gripper connecting bracket to reciprocate along the sliding sleeve, and the elastic part has an elastic tendency to keep the gripping driving part away from the gripping driving part;
  • the claw connecting bracket is hinged with the movable claw through the claw connecting arm, the claw connecting arm is in an arc structure, and the claw connecting arm is used for the linear action of the claw connecting bracket The force is converted into a rotational force of the movable gripper.
  • a rotation control sensing mechanism may also be included;
  • the rotation control sensing mechanism is located on the rotating body, the rotation driving mechanism is electrically connected to the rotation control sensing mechanism, and the rotation control sensing mechanism is used to control the rotation angle of the rotation driving mechanism.
  • a well workover operation equipment provided by the present application may include the described manipulator for well workover operation.
  • a manipulator for workover operation may include: a rotary drive mechanism, a rotary body, a push-elevator mechanism, and a clamping mechanism; the clamping mechanism and the push-elevator mechanism are both connected to the rotary body, and the rotary drive mechanism It is connected with one end of the rotating main body, and the rotating driving mechanism drives the clamping mechanism and the elevator pushing mechanism to rotate in a circle in the horizontal direction by using the rotating main body, so that the clamping mechanism and the elevator pushing mechanism can be located at the pipe pick-up position in the center of the wellhead.
  • the manipulator can be accurately positioned to the center of the wellhead and the takeover position of the conveyor; further, the elevator push mechanism is used to abut with the external elevator to push the external elevator to move in the horizontal direction; the synchronization of the elevator push mechanism relative to the rotating body is used.
  • the present application provides an integrated automatic wellhead operation device, which realizes mechanized operation through the cooperation of the push mechanism, the rotation mechanism and the transport mechanism, and the push mechanism that can be designed to be folded in a V-shape makes transportation and transportation easier. Storage is more convenient.
  • the integrated automatic wellhead operation device may include a bracket, an anti-splash locking device, a hydraulic clamp, a transport mechanism, a rotating mechanism and a pushing mechanism, and the anti-splash locking device and the hydraulic clamp are fixedly connected to the bracket;
  • the moving mechanism is provided with a laterally sliding connecting base plate, the rotating mechanism is fixed on the connecting base plate, the top of the rotating mechanism is a rotating end, and the rotating end is connected with the rear end of the pushing mechanism.
  • the front end fixedly supports the bracket;
  • the pushing mechanism may include a first connecting seat, a second connecting seat, a second hydraulic cylinder and a V-shaped folding arm group;
  • the V-shaped folding arm group may include a first support arm, a second support arm, a trapezoidal seat and a connecting rod, the first support arms are two arranged parallel to each other, and the upper end of the first support arm is connected to the first The connecting seat is hinged, and the lower end is hinged with the front end of the trapezoidal seat;
  • the second support arms are two arranged parallel to each other, and the upper end of the second support arm is hinged with the second connecting seat, and the lower end is hinged with the rear end of the trapezoidal seat, and the bottom of one of the second support arms is provided with an extension block , the lower end of the extension block is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the bottom of one of the first arms;
  • One end of the second hydraulic cylinder is hinged with the second connecting seat, and the other end is hinged with the middle of one of the second arms.
  • the moving mechanism may include a base, on which two transverse guide rails are fixedly connected, and the two guide rails are arranged in parallel;
  • a sliding sleeve can be slidably connected to each of the guide rails, and the two sliding sleeves can be fixedly connected to the two ends of the connecting base plate respectively;
  • a support may be provided at the rear of the base, a first hydraulic cylinder may be provided between the support and the sliding sleeve, and both ends of the first hydraulic cylinder may be hinged with the sliding sleeve and the support respectively.
  • the support and the first hydraulic cylinder can be two sets, and can be matched with two sliding sleeves respectively.
  • the rotating mechanism may include a fixed seat and a driving mechanism
  • the fixed seat can be fixed on the upper end of the connecting base plate, a turntable is rotatably connected above the fixed seat, the outer periphery of the turntable is sleeved with a turbine, the upper end of the turntable is connected with a support beam, and the upper end of the support beam can be connected with the upper end of the support beam.
  • the backend connection of the push mechanism
  • the driving mechanism may include a hydraulic motor, a worm is mounted on the rotating shaft of the hydraulic motor, and the worm is engaged with the turbine for transmission.
  • the turntable may have an annular structure, a ring groove adapted to the turntable may be provided above the fixing base, and the bottom of the turntable may be rotatably connected in the ring groove.
  • a knob may be fixedly connected to the end of the rotating shaft of the hydraulic motor.
  • the V-shaped folding arm groups may be two groups arranged in parallel to each other.
  • the bracket may include a U-shaped upper floating plate and a lower bottom plate, a set of floating balls supporting the upper floating plate are arranged on the lower bottom plate, and a set of pins are correspondingly provided on the upper floating plate and the lower bottom plate A positioning pin is arranged in the pin hole.
  • the present application has at least the following advantages:
  • the present application realizes mechanized splash-proof buckling or make-and-break operation through the cooperation of the push mechanism, the rotation mechanism and the transport mechanism, and after the operation is completed, the push mechanism is folded and the transport mechanism is moved backward, so that the hydraulic pressure can be moved more quickly.
  • the pliers and the anti-splash button are retracted to allow enough space for the elevator to fall.
  • the push mechanism that can be folded in a V-shape can not only realize the steps of pushing and withdrawing during operation, but also can be folded during transportation or storage, and has a smaller volume after being folded, thus making transportation and storage more convenient.
  • the upper floating plate is supported by the floating ball, the hydraulic clamp and the anti-splash locking device are fixed on the upper floating plate, and then the positioning pin and the pin hole are clearance-fitted to realize the connection between the hydraulic clamp and the anti-splash locking device. floating capability.
  • the present application provides a power slip for oil field workover operation, to solve the technical problem in the related art that the position of the coupling lifting cannot be detected during the automatic workover operation, so the position of the coupling can only be observed manually.
  • the application provides a power slip for oil field workover operation, which may include: a slip casing and a sensor;
  • the slip housing may have a first central hole for passage of the pipe string
  • the sensor may be arranged on the slip housing for collecting the position of the coupling on the pipe string.
  • the senor may be a point sensor.
  • the inductors may be arranged in multiples, and the multiple inductors may be arranged at intervals along the circumferential direction of the slip housing.
  • a plurality of the sensors may be arranged on the same level.
  • the slip housing may be provided with fixing holes equal to the number of the inductors
  • the inductor can be inserted into the fixing hole, and one end of the inductor can be located in the first central hole.
  • the number of the inductors may be four, and the included angle between two adjacent inductors is 90°.
  • the inductor can be a ring-shaped inductor.
  • the first central hole may be provided with a self-sealing rubber core, the self-sealing rubber core may have a second central hole, and the second central hole communicates with the first central hole and is the same as the first central hole.
  • the second central hole is capable of passing the tubular string.
  • the first end clip of the self-sealing rubber core can be arranged in the first central hole, and the second end of the self-sealing rubber core can be located outside the first central hole;
  • the second central hole may include a conical hole and a straight circular hole arranged coaxially, the tapered hole opening may be provided at the first end, and the straight circular hole opening may be provided at the second end department.
  • the slip casing has a first central hole for the pipe string to pass through.
  • the pipe string can pass through the first central hole; Therefore, when the coupling on the pipe string reaches the position of the sensor, the sensor can collect the position of the coupling on the pipe string to realize automatic detection.
  • the detection method of the power slips used in the workover operation of the oil field can realize automatic operation and improve the work efficiency, and the sensor detection is more accurate than the manual observation.
  • Figure 1 shows a schematic structural diagram of the mutual cooperation between the pipe string conveying and discharging equipment and the elevator during the operation of the automatic minor repair operation device system
  • Fig. 2 shows a schematic structural diagram of the mutual cooperation between the elevator used for well workover operation and the manipulator used for well workover operation during the operation of the automatic minor workover operation device system;
  • 3A to 3C are schematic structural diagrams showing the mutual cooperation between the integrated automatic wellhead operation device and the power slips during the operation of the automatic minor repair operation device system;
  • FIG. 4 is a schematic structural diagram of the pipe string conveying and discharging equipment provided in an embodiment of the present application when it is in a first state;
  • FIG. 5 is a schematic structural diagram of the pipe string conveying and discharging equipment provided in an embodiment of the present application when it is in a second state;
  • FIG. 6 is a schematic structural diagram of a pipe string conveying and discharging device provided by an embodiment of the present application.
  • Fig. 7 is the enlarged view of A part of Fig. 6;
  • FIG. 8 is a schematic structural diagram of a conveying device provided by an embodiment of the present application.
  • FIG. 9 is an enlarged view of part B of FIG. 8;
  • FIG. 10 is a schematic structural diagram of a discharge device provided by an embodiment of the present application.
  • FIG. 11 is an enlarged view of the C part of FIG. 10 .
  • FIG. 12 is a schematic diagram of the overall structure of the anti-opening mechanism for elevators provided by an embodiment of the application.
  • Fig. 13 is a partial enlarged structural schematic diagram of part A of the anti-opening mechanism for elevators provided by the embodiment of Fig. 1;
  • FIG. 14 is a schematic structural diagram of an elevator body of an anti-opening mechanism for an elevator provided by an embodiment of the application;
  • 15 is a schematic diagram of the internal structure of an elevator body of an elevator anti-opening mechanism provided by an embodiment of the application;
  • Fig. 16 is a schematic structural diagram of the elevator body of the elevator's anti-opening mechanism provided by an embodiment of the application in a closed state;
  • FIG. 17 is a schematic structural diagram of an anti-opening ring of an elevator anti-opening mechanism provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of the overall structure of a manipulator for well workover operations provided by an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of a position of a push elevator mechanism of a manipulator for workover operations provided by an embodiment of the application;
  • Fig. 20 is a schematic structural diagram of the elevator pushing mechanism of the manipulator used for well workover operations in a recovery state according to an embodiment of the application;
  • 21 is a schematic structural diagram of a clamping mechanism of a manipulator for a well workover operation provided by an embodiment of the application;
  • FIG. 22 is a schematic structural diagram of a clamping assembly of a clamping mechanism of a manipulator for a well workover operation according to an embodiment of the application;
  • 23 is a schematic diagram of the internal structure of the sliding casing of the gripping mechanism of the manipulator for well workover operations according to an embodiment of the application;
  • FIG. 24 is a schematic cross-sectional structural diagram of a clamping assembly of a clamping mechanism of a manipulator for a workover operation provided by an embodiment of the present application for clamping a pipe string.
  • 25 is a schematic structural diagram of the application in the unfolded state
  • 26 is a schematic structural diagram of the application in a folded state
  • Figure 28 is a schematic structural diagram of a transport mechanism
  • Fig. 29 is the structural representation of the rotating mechanism
  • Figure 30 is a schematic diagram of the matching structure of the fixed seat and the turntable
  • Figure 31 is a schematic diagram of the matching structure of a worm gear
  • Fig. 32 is the structural representation of the push mechanism
  • Figure 33 is a schematic structural diagram of a bracket
  • 34 is a schematic structural diagram of a power slip for oil field workover operations provided by an embodiment of the application.
  • 35 is a front view of a power slip for oil field workover operations provided by an embodiment of the application.
  • 36 is a cross-sectional view of a power slip for oil field workover operations provided by an embodiment of the present application.
  • FIG. 37 shows a flow chart of implementing the running process by the automatic minor repair operation system for the oil field according to the embodiment of the present application.
  • FIG. 38 shows a flow chart of implementing the pipe-up process by the automatic minor repair operation system for oil fields according to the embodiment of the present application.
  • 1102-rotating arm 11021-arm body; 211-body part; 212-telescopic part; 213-second telescopic drive part; 11022-first telescopic drive part; 11023-first transmission part; 11024-second transmission part;
  • 1103-conveying mechanism 11031-traction drive part; 11032-mobile car;
  • 1105-guide mechanism 11051-main track; 11052-extended track; 11053-rack;
  • 1106-translation mechanism 11061-gantry; 611-beam; 612-frame body; 11062-travel wheel; 11063-first rotating drive part;
  • 1107-lifting mechanism 11071-support rod; 11072-elevator; 11073-second rotating drive part; 11074-rotating shaft; 11075-holding structure;
  • 1108-discharge mechanism 11081-cofferdam; 11082-crossarm;
  • 1109-length measuring and limiting mechanism 11091-third base; 11092-third telescopic drive part; 11093-elevating frame; 11094-swing arm; 11095-compression spring.
  • 130100-rotation drive mechanism 130200-rotation main body; 130300-elevator push mechanism; 130301-push main body; 130311-first push arm; 130321-fixed bracket; 3211-bracket body; 3212-first adjustment pin; 130331-Second push arm; 130302-Push plate; 130303-Angle adjustment mechanism; 130400-Clamping mechanism; 130401-Fixing sleeve; 130402-Sliding sleeve; 130403-Telescopic drive mechanism; 130404- Clamping assembly; 130414-fixed gripper; 130424-movable gripper; 130434- gripping transmission mechanism; 4341- gripper connecting arm; 4342- gripper connecting bracket; 130444- gripping drive mechanism; 4441- gripping drive part ; 4442-elastic part; 130405-linear motion control sensing mechanism; 130500-rotation control sensing mechanism.
  • 150300-Self-sealing plastic core 150310-Second center hole.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the automatic minor repair work device system 100 will be described below with reference to FIGS. 1 to 4 .
  • An automatic minor workover operation device system 100 may include: a workover rig 160, a pipe string conveying and discharging equipment 110, an elevator 120 for workover operations, and a manipulator 130 for well workover operations , an integrated automatic wellhead operation device 140, and a power slip 150 for oil field workover operations, characterized in that the automatic minor workover operation device system 100 is configured to convey the discharge equipment 110 and the elevators 120 for workover operations through the pipe string.
  • the manipulator 130 for workover operation, the integrated automatic wellhead operation device 140, and the power slip 150 for oilfield workover operation cooperate with each other to realize the running and pulling operation of the pipe string.
  • the workover rig 160 may be arranged along the first direction of the automatic minor workover system 100 such that the lengthwise direction of the workover rig 160 is parallel to the first direction, and the tail of the workover rig 160 is Arranged to be spaced apart from the center of the wellhead by a predetermined distance in a first direction, the first direction being a direction passing through the center of the wellhead along the radial direction of the wellhead, the pipe string conveying and discharging device 110 is arranged at the second position of the automatic minor repair operation device system 100.
  • the second direction is a direction passing through the center of the wellhead and perpendicular to the first direction, the elevator 120 for workover operations, the manipulator 130 for workover operations, and the integrated automatic wellhead operation device 140
  • the elevator 120 for the workover operation, the manipulator 130 for the workover operation, and the integrated automatic wellhead operation device 140 are arranged along the automatic minor workover.
  • a power slip 150 for oilfield workover operations is disposed at the center of the wellhead, and the power slips 150 for oilfield workover operations are configured to allow Toggles between an open position, through which the string is moved, and a closed position, through which the string is prevented from moving.
  • the pipe string conveying and discharging device 110 picks up the pipe string to be run for the running operation and transports the picked pipe string to the well workover operation.
  • the clamping channel of the elevator 120 see FIG. 1, which shows the mutual cooperation between the pipe string conveying and discharging equipment 110 and the elevator 120 for workover operations to realize the process of conveying the pipe string; for workover
  • the elevator for workover clamps the pipe string; the elevator for workover operation lifts the pipe string, and the manipulator 130 for workover operation clamps the pipe string held by the elevator for workover operation.
  • FIG. 2 shows the connection between the elevator 120 for workover operations and the manipulator 130 for workover operations.
  • the splash guard of the integrated automatic wellhead operation device 140 moves to the center of the wellhead, which is used for workover operations.
  • the elevator of the well operation lowers the pipe string to the coupling position in the center of the wellhead, so that the pipe string is buckled by the integrated automatic wellhead operation device 140;
  • the anti-splash buckle device is opened, and the elevator 120 used for workover operation lowers the pipe string, see Fig. 3A, Fig. 3B and Fig. 3C, Fig. 3A to Fig. 3C show the push mechanism 3 of the integrated automatic wellhead operation device Interaction with power slips 150 for oil field workover operations to complete the run-down process.
  • the elevator 120 for the workover operation lifts up the pipe string, In order to expose the coupling of another pipe string to a designated position; in the case of closing the power slip 150 for oil field workover operations, the integrated automatic wellhead operation device 140 shackles the exposed coupling; the integrated automatic The wellhead operation device is retracted, the elevator for the workover operation lifts the pipe string, and the manipulator 130 for the workover operation clamps the shackled pipe string and moves the pipe string from the center of the wellhead to a position that can be lifted by the pipe string.
  • the manipulator 130 for workover operations includes: a manipulator rotation mechanism and a pinch push mechanism, wherein the manipulator 130 for workover operations is configured to: under During the pipe operation, the clamping and pushing structure is driven by the manipulator rotating mechanism to rotate circularly in the horizontal direction, so as to grasp the pipe string clamped by the elevator and locate the grasped pipe string at the down pipe position in the center of the wellhead; During the pipe pulling operation, the clamping and pushing structure is driven by the rotating mechanism of the manipulator to rotate circularly in the horizontal direction, so as to clamp the shackled pipe string and move the pipe string from the center of the wellhead to a place that can be transported by the pipe string to the discharge equipment 110. The location where the conveyor is received.
  • the elevator 120 used for the workover operation includes an elevator body, and the elevator body includes an elevator body and a clamping mechanism, and the clamping mechanism can be relative to the elevator
  • the main body of the card rotates toward or away from the main body of the elevator, so that a clamping channel for clamping the pipe string can be formed between the clamping mechanism and the main body of the elevator.
  • the pipe string can be clamped during pipe work.
  • the pipe string conveying and discharging device 110 includes a conveying device and a discharging device, and the conveying device includes a conveying mechanism, wherein, in the pipe running operation, the conveying mechanism of the conveying device transfers the The pipe string is transported to the clamping channel between the clamping mechanism and the elevator main body; in the pipe pulling operation, the pipe string is received by the transport mechanism of the transport device and transported to the position where the discharge device can hold the pipe string.
  • the integrated automatic wellhead operation device 140 includes a hydraulic tong, a push mechanism, a wellhead operation rotation mechanism and a transfer mechanism, wherein, in the running operation, the While the manipulator 130 of the workover operation grasps the pipe string, the pipe string is moved from the pipe-down position in the center of the wellhead to the coupling position in the center of the wellhead through the push mechanism, the rotation mechanism for the wellhead operation and the transfer mechanism, and the hydraulic pressure is used to move the pipe string.
  • the wrench is used to make the pipe string; during the pipe pulling operation, the exposed coupling of the pipe string is shackled by the hydraulic wrench.
  • the power slip 150 for oilfield workover operation includes: a slip casing and a sensor, and the power slip 150 for oilfield workover operation is It is configured to automatically detect the coupling position of the tubing string by the sensor to switch between the open position and the closed position.
  • the automatic minor workover operation device system 100 includes two manipulators 130 for workover operations, and the two manipulators 130 for workover operations are respectively Located on both sides of the tail of the workover rig 160, and the pipe string conveying discharge equipment 110 is arranged on the first side of the second direction of the automatic minor workover system 100 and on both sides of the first direction of the automatic minor workover system 100 At least one side of the automatic minor repair work equipment system to increase the on-site practicability of the automatic minor repair work equipment system. There are many uncertain factors in the environment around the oil well, and the construction environment and considerations are more complicated.
  • the position of the pipe string transportation and discharge equipment 110 and the layout of the automatic minor repair operation device system 100 can be selected according to the surrounding environment and actual needs of the oil well, thereby significantly improving the workover in the oil field. Work efficiency and field availability.
  • the pipe string transportation and discharge equipment in related fields can only realize the pipe string transportation in one direction.
  • the reason is that the conveying device and the discharging device are integrated into one structure. After the equipment is fixed in the field, the direction of the conveying device cannot be adjusted independently.
  • the embodiment proposes a pipe string conveying and discharging device, which aims to solve this problem by improving the structural form and connection mode of the conveying device and the discharging device.
  • the pipe string conveying and discharging equipment includes a conveying device and a discharging device; wherein, the conveying device in this embodiment includes a first base 1101 , a rotating arm 1102 and a The conveying mechanism 1103; the rotating arm 1102 has an opposite first end and a second end, the first end is hinged on the first base 1101, and the second end can rotate around the first end, and the specific rotation realization method is given in the following
  • the conveying mechanism 1103 of this embodiment is used to clamp and drive the pipe string to move from the first end to the second end, when the pipe string is completely located in the conveying device, the pipe string is driven to the lifting station by the rotation of the rotating arm 1102, and then The discharge operation is carried out by means of the discharge device.
  • the discharge device of this embodiment includes a second base 1104, a guide mechanism 1105, a translation mechanism 1106, a lifting mechanism 1107, and a discharge mechanism 1108; wherein, the guide mechanism 1105 of this embodiment is installed on the second base 1104, and the translation mechanism 1106 is installed on The lifting mechanism 1107 of this embodiment is installed on the translation mechanism 1106, and is used to move the pipe string located at the lifting station to the discharge mechanism 1108, and then The pipe string is discharged through the discharge mechanism 1108. During the discharge process, the lifting mechanism 1107 and the translation mechanism 1106 are used to adjust the position where the pipe string is lowered to the discharge mechanism 1108.
  • the length direction of the second base 1104 in this embodiment is consistent with the length direction of the first base 1101 , or the two are arranged in parallel, and the lengths of the first base 1101 and the second base 1104 are similar.
  • 1104 has an opposite third end and a fourth end, the third end is close to the above-mentioned first end, the fourth end is close to the above-mentioned second end, the third end of this embodiment is provided with a first mounting portion 11041, and the fourth end A second mounting portion 11042 is provided.
  • one end of the first base 1101 in this embodiment can be selectively detachably connected to the first mounting portion 11041 on one side.
  • One end of the base 1101 is detachably connected to the second mounting portion 11042 on the other side.
  • the other end of the first base 1101 is connected to the second mounting portion 11042 to improve the stability of the connection.
  • the present embodiment also designs the position of the conveying device on the second base 1104 to be adjustable.
  • the first base 1101 and the first installation portion 11041 in this embodiment are connected through the distance adjustment structure 11011 , or the first base 1101 and the first installation portion 11041 in this embodiment are connected through the distance adjustment structure 11011 ,
  • the distance adjustment structure 11011 of this embodiment is used to adjust the distance between the first base 1101 and the first mounting portion 11041 or the second mounting portion 11042; the distance adjustment structure 11011 of this embodiment may include a screw 111 and a nut 112, and the screw 111
  • the first base 1101 of this embodiment is respectively connected to the first mounting portion 11041 or the second mounting portion 11042 of this embodiment, and the first base 1101 and the first mounting portion are adjusted by adjusting the position where the first base 1101 and the screw 111 are connected. 11041 or the distance between the second mounting parts 11042.
  • the arm body 11021 of this embodiment has the above-mentioned first end and second end, one end of the first telescopic driving member 11022 of this embodiment is mounted on the first base 1101, and the other end is hinged to the middle of the first transmission member 11023 ;
  • the first transmission component 11023 of this embodiment is an isosceles tripod structure to ensure its structural strength.
  • the lower end of the first transmission member 11023 in this embodiment is hinged on the first base 1101, the upper end of the first transmission member 11023 is hinged with the lower end of the second transmission member 11024; the upper end of the second transmission member 11024 in this embodiment is connected to the arm Body 11021 is hinged.
  • the first telescopic drive member 11022 telescopically drives the first transmission member 11023 to move, and then drives the second transmission member 11024 and the arm body 11021 to rotate, and the rotation process is stable and reliable.
  • the first telescopic drive member 11022 in this embodiment, the second telescopic drive member 213 to be described later, etc. may be a linear reciprocating structure such as a hydraulic cylinder or an air cylinder.
  • the structure of the arm body 11021 is optimized in this embodiment, and as shown in FIG. 212 and the second telescopic driving part 213; the main body part 211 is connected with the telescopic part 212; one end of the second telescopic driving part 213 in this embodiment is connected with the main body part 211, and the other end is connected with the telescopic part 212, and is used to drive the telescopic part 212 Telescoping relative to the main body portion 211 to adjust the length of the rotating arm 1102 .
  • the conveying mechanism 1103 of this embodiment includes a traction driving component 11031 and a moving cart 11032; the traction driving component 11031 is mounted on the rotating arm 1102 and is connected to the moving cart 11032, and the traction driving component 11031 can have any one that can drive the moving cart 11032 to move.
  • the mobile car 11032 in this embodiment is used to clamp one end of the pipe string, and the clamping method is mechanical automatic clamping. 1102 moves in the length direction.
  • the pipe string transportation and discharge equipment of this embodiment further includes a length measuring device, and the length measuring device includes a displacement detection mechanism (not shown in the figure) and a length measuring and limiting mechanism 1109.
  • the displacement detection mechanism is installed on the rotating arm 1102 and used to detect the displacement of the moving cart 11032.
  • the displacement detection mechanism may be a displacement sensor or other components.
  • the length measuring and limiting mechanism 1109 of this embodiment includes a third base 11091, a third telescopic drive part 11092, a lifting frame 11093, a swing arm 11094, a compression spring 11095 and a sensing part (not shown in the figure).
  • the third base 11091 of this embodiment is installed on the first base 1101 and is arranged close to the second end of the rotating arm 1102, and the lifting frame 11093 and the third telescopic drive part 11092 of this embodiment are installed on the third On the base 11091, the third telescopic drive member 11092 of this embodiment is used to drive the lifting frame 11093 to rise and fall; one end of the swing arm 11094 of this embodiment is hinged to the lifting frame 11093, and the other end is connected to the lifting frame 11093 through a compression spring 11095; this embodiment The sensing part of the method is installed on the lifting frame 11093.
  • the pipe string When the pipe string is driven by the moving cart 11032 to move to the second end, the pipe string abuts against the swing arm 11094, drives the swing arm 11094 to rotate and compresses the compression spring 11095 to the preset state.
  • Trigger the sensing part, and the sensing part can be a structure such as a contact sensor.
  • the pipe string is provided to the mobile trolley by the upper pipe string device (not shown in the figure), and the mobile trolley drives one end of the pipe string to move.
  • the rotating arm 1102 needs to be rotated to a horizontal state, and based on the length of the pipe string, this The rotating arm 1102 of the embodiment can drive the rotating arm 1102 to expand and contract to a length equal to that of the pipe string through the above-mentioned second telescopic driving member 213.
  • the sensing element Sending out an induction signal the pipe string is limited by the length-measuring limiting mechanism 1109, and the control device (not shown in the figure) of the equipment receives the signal and obtains the length of the pipe string.
  • the specific length calculation is based on the moving distance of the mobile cart 11032. out.
  • the entire length measurement process in this embodiment is implemented by the control device in this embodiment, and the control device may be a structure capable of receiving signals, processing data, and sending control instructions, such as a controller or a processor.
  • the guide mechanism 1105 of this embodiment includes two guide rails respectively installed on the second base 1104.
  • the guide rails are designed as a foldable structure in this embodiment.
  • the guide rail of this embodiment includes a main rail 11051 and an expansion rail 11052 that are hinged to each other; the second base 1104 of this embodiment is provided with a fixing bracket, and the two sides of the fixing bracket are the above-mentioned first installation part 11041 and second installation part 11042 , the main rail 11051 of this embodiment is installed on the fixed bracket, and the extension rail 11052 is installed on the movable support.
  • the translation mechanism 1106 in this embodiment includes a gantry 11061, a traveling wheel 11062, a first rotational driving member 11063 and a gear (not shown in the figure);
  • the gantry 11061 of the embodiment includes a beam 611 and a frame body 612 connected to both ends of the beam 611.
  • the beam 611 is used to install the lifting mechanism 1107;
  • Wheel 11062 is mounted on guide mechanism 1105.
  • the overall height of the equipment is increased through the gantry 11061, thereby reducing the height requirement for the guide mechanism 1105.
  • the first rotational driving component 11063 in this embodiment is installed at the bottom of the gantry 11061, and the first rotational driving component 11063 is connected with the gear and used to drive the gear to rotate;
  • the bars 11053 are engaged with each other, and the gears are driven to rotate by the first rotational driving component 11063 of this embodiment, which in turn drives the traveling wheels 11062, the gantry 11061 and the lifting mechanism 1107 of this embodiment to move, not only to achieve translation, but also to pass the teeth on the side.
  • the connection between the strip 11053 and the gear can limit the traveling wheel 11062 and the gantry 11061 to a certain position, so as to improve the stability during the traveling process.
  • the lifting mechanism 1107 of this embodiment includes two support rods 11071 , two elevators 11072 , a second rotational driving member 11073 , a rotating shaft 11074 and a suction structure 11075 ;
  • the support rod 11071 of this embodiment is inserted in the On the translation mechanism 1106, and the lower end of the support rod 11071 passes through the translation mechanism 1106;
  • the elevator 11072 in this embodiment is installed on the top of the translation mechanism 1106, and the two elevators 11072 are respectively connected with the two support rods 11071 in a one-to-one driving connection;
  • the rotating shaft 11074 The two ends of the shaft are respectively connected with two elevators 11072 by transmission;
  • the second rotational driving part 11073 of this embodiment is installed on the top of the translation mechanism 1106, the second rotational driving part 11073 is connected with the rotating shaft 11074, and is used to drive the rotating shaft 11074 to rotate.
  • Both the second rotational driving component 11073 and the first rotational driving component 11063 include a structure that outputs torque such as a motor.
  • the second rotation driving member 11073 drives the rotating shaft 11074 to rotate, and the rotating shaft 11074 drives the elevator 11072 to move, and makes the telescopic part 212 in the support rod 11071 rise and fall, thereby driving the holding structure 11075 of this embodiment to rise and fall.
  • the elevator 11072 may have any structure that converts rotary motion into linear motion, such as a rack and pinion 11053 structure.
  • the holding structure 11075 of this embodiment is installed on the lower end of the support rod 11071.
  • the holding structure 11075 is used for a magnetic pipette column.
  • the holding structure 11075 includes an electromagnetic pipette disk. the safety of the operation process.
  • the discharge mechanism 1108 in this embodiment includes a cofferdam 11081 and a cross arm 11082; the cofferdam 11081 is box-shaped, and its shape is similar to the second base 1104, the cofferdam 11081 is connected with the second base 1104, and the cofferdam 11081 is provided with waste Liquid recovery tank; multiple cross arms 11082 are installed in the waste liquid recovery tank at intervals, and the waste liquid recovery tank is divided into multiple tank bodies, and the height of the cross arms 11082 is greater than or equal to the height of the side wall of the cofferdam 11081.
  • a layer of cross arm 11082 is added to prevent the pipe strings from being stacked together and affecting the discharge of waste liquid.
  • the elevator 120 for well workover operations used in the automatic minor workover operation device system 100 will be described in detail below with reference to FIGS. 12 to 17 .
  • the following embodiments and features of the embodiments may be combined with each other without conflict.
  • an anti-opening mechanism for an elevator includes: an anti-opening ring 120200 , a connecting portion 120300 and an elevator
  • the main body 120401 is rotated toward or away from the elevator main body 120401, so that a clamping channel for clamping the pipe string 1000 can be formed between the clamping mechanism 120402 and the elevator main body 120401;
  • the anti-opening ring 120200 is arranged concentrically with the clamping channel through the through-hole 120202, and the anti-opening ring 120200 is connected with the elevator main body 120401 and the clamping mechanism 120402 through the connecting part 120300 respectively, so
  • the anti-opening mechanism for elevators provided in this embodiment is a structure for suspending the pipe string 1000 in automatic workover operations in oilfields, and can be relative to the elevator main body 120401 by using the clamping mechanism 120402 movement, so that the clamping mechanism 120402 and the elevator main body 120401 can clamp the pipe string 1000, and after the clamping mechanism 120402 is locked and positioned to the elevator main body 120401, the anti-opening ring 120200 can be passed through the connecting part 120300.
  • the anti-opening ring 120200 can adopt a metal structure ring, wherein the anti-opening ring 120200 can adopt a structure sleeved on the outside of the clamping mechanism 120402 and the complementary core of the elevator main body 120401, or can be attached to the clamping mechanism 120402 And the structure of the supplementary end of the elevator main body 120401, and the anti-opening ring 120200 uses the connecting part 120300 to make the clamping mechanism 120402 and the elevator main body 120401 form a whole, so that the locking mechanism 120600 of the clamping mechanism 120402 can be kept in In the locked state, the risk of opening of the clamping mechanism 120402 relative to the elevator main body 120401 is prevented.
  • An anti-opening mechanism for an elevator includes: an anti-opening ring 120200, a connecting portion 120300 and an elevator body 120400; the elevator body 120400 includes an elevator body 120401 and a clamping mechanism 120402.
  • the clamping mechanism 120402 is connected with the elevator main body 120401, and the clamping mechanism 120402 can be rotated relative to the elevator main body 120401 in a direction close to or away from the elevator main body 120401, so that the clamping mechanism 120402 and the elevator main body 120401 can be formed for clamping
  • the clamping channel of the pipe string 1000; the anti-opening ring 120200 has a through hole 120202 passing through the pipe string 1000, the anti-opening ring 120200 is arranged concentrically with the clamping channel through the through hole 120202, and the anti-opening ring 120200 is respectively connected to the hanging channel through the connecting part 120300.
  • the card main body 120401 is connected with the clamping mechanism 120402 to fix the clamping mechanism 120402 on the elevator main body 120401; in the actual operation, after the clamping channel is formed, the anti-opening ring 120200 is installed on the elevator using the connecting part 120300
  • the clamping mechanism 120402 and the elevator main body 120401 form an integral structure, so that the clamping mechanism 120402 can always be in a locked state, preventing the clamping mechanism 120402 from opening relative to the elevator main body 120401 It alleviates the risk of opening the side door 120422 in the process of using the elevator in the related art, and there is a technical problem of potential safety hazards.
  • the elevator main body 120401 includes a first complementary core 120411, and the clamping mechanism 120402 includes a second complementary core 120412 and a side door 120422;
  • the elevator main body 120401 A circular arc surface is provided, the first supplementary core 120411 is located in the circular arc surface of the elevator main body 120401, and the first supplementary core 120411 is connected with the circular arc surface of the elevator main body 120401;
  • the side door 120422 has a circular arc structure, and the second supplementary core 120412 is located on the side of the side door 120422 close to the elevator body 120400, and the second supplementary core 120412 is connected with the side door 120422.
  • the side door 120422 is connected to the elevator main body 120401 through a rotating shaft.
  • the side door 120422 is used to drive the second supplementary core 120412 and the first
  • the complementary cores 120411 abut to form a ring structure for holding the pipe string 1000 .
  • a driving mechanism 120500 is also included; the driving mechanism 120500 is arranged on the elevator body 120400, and the output end of the driving mechanism 120500 is connected to the side door 120422 in a driving manner, and the driving mechanism 120500 is used to drive the side door 120422 relative to The elevator main body 120401 rotates.
  • the elevator main body 120401 is provided with an opening slot, and the elevator main body 120401 has a circular arc structure, and the side door 120422 can be a circular arc door, wherein the side door 120422 and one side of the elevator main body 120401 can be connected by a rotating shaft,
  • the side door 120422 can rotate relative to the elevator main body 120401 with the rotation axis as the center; when the pipe string 1000 needs to be clamped, the drive mechanism 120500 is used to drive the side door 120422 to rotate until the side door 120422 and the elevator The other side edge of the main body 120401 is completely abutted.
  • the second supplementary core 120412 on the side door 120422 and the first supplementary core 120411 on the elevator main body 120401 complete the closing of the clamping channel;
  • the ends of the first complementary core 120411 and the second complementary core 120412 abut in turn, thereby forming a ring structure for clamping the pipe string 1000.
  • the first complementary core 120412 The core 120411 and the second complementary core 120412 can apply a more stable clamping force to the pipe string 1000 .
  • the driving mechanism 120500 can be driven by a hydraulic cylinder.
  • the piston rod of the driving mechanism 120500 drives the side door 120422 to rotate relative to the rotating shaft.
  • the hydraulic cylinder reaches the full stroke, and the hydraulic cylinder can keep the side door 120422 locked and clamped in the locked state; under the force of the locked and clamped state at this time, through the anti-opening ring 120200 and the first supplementary core 120411 and the second
  • the annular structure formed by the compensating core 120412 is connected and fixed, so that the stability of the clamping channel can be better maintained.
  • the anti-opening ring 120200 is provided with a plurality of first connection holes 120201, the first patch 120411 is provided with a second connection hole 120421, and the second patch 120412 is provided with a third connection Holes 120432, the number of the first connection holes 120201 is greater than or equal to the sum of the second connection holes 120421 and the third connection holes 120432; the anti-opening ring 120200 fits with the annular structure formed by the first patch 120411 and the second patch 120412 , the connection part 120300 includes a first connection part and a second connection part, the number of the first connection part is set corresponding to the number of the second connection hole 120421, and the first connection part is used to pass through the first connection hole 120201 and the second connection hole in sequence 120421; The number of the second connection parts is set corresponding to the number of the third connection holes 120432, and the second connection parts are used to pass through the first connection hole 120201 and the third connection hole 120432 in turn, so as to connect
  • the number of the second connection holes 120421 is at least two, and the number of the third connection holes 120432 is at least two.
  • the connecting part 120300 can use connecting bolts, that is, the first connecting part and the second connecting part can use bolts, and the second connecting hole 120421 and the third connecting hole 120421 and the third connecting part of the first complementary core 120411 and the second complementary core 120412
  • the connecting holes 120432 are all provided with threaded segments. After the anti-opening ring 120200 is fitted with the first and second complementary cores 120411 and 120412, the position of the first connecting hole 120201 is aligned with that of the second connecting hole 120421 and the second connecting hole 120421 respectively. The positions of the three connecting holes 120432 are matched to each other.
  • the connecting bolts After the connecting bolts pass through the first connecting hole 120201, they can be threadedly connected to the threaded segments inside the second connecting hole 120421 or the third connecting hole 120432 respectively, which ensures that the anti-opening ring 120200 can be respectively It is integrally connected with the first complementary core 120411 and the second complementary core 120412; in addition, the connecting portion 120300 can also be in the form of a pin, which will not be repeated here.
  • the number of the first connection holes 120201 may be five, the number of the second connection holes 120421 may be three, the number of the third connection holes 120432 may be two, and the number of the second connection holes 120421 along the first
  • the ends of the complementary cores 120411 are evenly arranged, the third connecting holes 120432 are evenly arranged along the ends of the second complementary cores 120412, and the first connecting holes 120201 are evenly arranged along the surface of the anti-opening ring 120200, so that the first connecting holes can be 120201 is respectively fitted with the second connection hole 120421 and the third connection hole 120432.
  • the elevator body 120400 further includes a lock tongue 120403; the lock tongue 120403 is connected to the elevator body 120401, and the clamping mechanism 120402 and the lock tongue 120403 can be opposite or opposite to the elevator body 120401.
  • the locking tongue 120403 is used to connect with the clamping mechanism 120402 to fix the clamping mechanism 120402 on the elevator main body 120401.
  • the elevator body 120400 further includes a locking mechanism 120600;
  • the locking mechanism 120600 includes a pin shaft and a spring;
  • a side of the side door 120422 close to the lock tongue 120403 is provided with a notch, and the lock tongue 120403 corresponds to
  • a raised keyhole 120413 is provided for matching with the notch;
  • the side door 120422 is provided with a stepped hole above the notch, the pin shaft is inserted in the stepped hole, and the pin shaft is in contact with the second supplementary core 120412, the second supplementary The core 120412 is used to drive the pin shaft to move in the stepped hole;
  • the spring is sleeved on the outside of the pin shaft, and the two ends of the spring are respectively in contact with the pin shaft and the steps of the stepped hole, and the spring has an elastic tendency to keep the pin shaft away from the notch .
  • the pipe string 1000 since the pipe string 1000 has its own weight, the pipe string 1000 exerts a downward force on the first compensator 120411 and the second compensator 120412, and the vertical movement of the second compensator 120412 can drive the The pin shaft moves in the vertical direction.
  • the spring can be a telescopic spring.
  • the pin shaft pops up under the action of the spring and pushes up the second compensating core 120412.
  • the side door 120422 is already in a closed state relative to the elevator main body 120401, and the raised keyhole 120413 of the lock tongue 120403 protrudes into the notch of the side door 120422.
  • the second supplementary core 120412 When the hoisting mechanism of the pipe string 1000 is removed, the pipe string 1000 Under the action of its own weight, the second supplementary core 120412 will be pressed downward, and the second supplementary core 120412 can then overcome the force of the spring, so that the pin shaft is inserted into the raised keyhole 120413, and the side door 120422 and the lock tongue 120403 are completed. mechanical lock between.
  • it also includes a turning mechanism 120700; the elevator body 120400 is provided with a turning baffle, the turning mechanism 120700 is connected to the elevator body 120400 through the turning baffle, and the turning mechanism 120700 is used to pass the elevator body 120400 Adjusts the angle of the clamping channel.
  • the inversion mechanism 120700 and the inversion baffle can be fixed by a plurality of bolts.
  • the turning mechanism 120700 may include a turning housing, an installation mechanism, a turning hydraulic drive mechanism, a transmission mechanism, a lifting ring lock block and a swing rod; the lifting ring locking block is connected to the turning casing, and the turning casing is connected to the external lifting ring through the lifting ring locking block Connection, the swing rod is located at the end of the flip casing away from the lifting ring lock block, and the swing rod is used to connect with the flip baffle on the elevator body 120400; the installation mechanism, the flip hydraulic drive mechanism and the transmission mechanism are all located in the flip shell, and the flip hydraulic drive The mechanism is connected with the end face of the inversion housing through the installation mechanism.
  • the installation mechanism is used to adjust the position of the inversion hydraulic drive mechanism in the inversion housing. Flip the housing to rotate.
  • the overturning shell is connected with the external lifting ring through the lifting ring lock block, and the other end of the overturning shell is connected with the elevator body 120400 through the pendulum rod; It includes a screw rod and a fixed seat.
  • the hydraulic cylinder can be used for the overturning hydraulic drive mechanism.
  • the fixed seat is connected to the fixed end of the overturning hydraulic driving mechanism, and the side of the fixing seat away from the overturning hydraulic driving mechanism is fixedly connected with the screw rod.
  • the adjusting nut is connected, and the position of the overturning hydraulic drive mechanism in the overturning casing can be adjusted by the thread movement of the adjusting nut.
  • a flip elevator provided by this embodiment includes the anti-opening mechanism for the elevator; because the technical effect of the flip elevator provided by this embodiment is the same as the anti-opening mechanism for the elevator provided by the above embodiment The technical effect is the same, which will not be repeated here.
  • the manipulator 130 for well workover operation used in the automatic minor workover operation device system 100 will be described in detail below with reference to FIGS. 18 to 24 .
  • the following embodiments and features of the embodiments may be combined with each other without conflict.
  • a manipulator for well workover operations includes: a rotary drive mechanism 130100, a rotary main body 130200, a push-elevator mechanism 130300, and a clamping mechanism 130400; a clamping mechanism 130400
  • Both the pushing and elevator mechanism 130300 are connected with the rotating main body 130200, the rotating driving mechanism 130100 is connected with one end of the rotating main body 130200, and the rotating driving mechanism 130100 is used to drive the clamping mechanism 130400 and the pushing elevator mechanism 130300 in the horizontal direction through the rotating main body 130200.
  • the clamping mechanism 130400 is used to clamp the external pipe string; the pushing elevator mechanism 130300 is used to abut the external elevator to Push the external elevator to move horizontally.
  • the manipulator for workover operation belongs to the structure of automatic workover equipment
  • the rotating body 130200 is used as the supporting body of the overall structure
  • the push-elevator mechanism 130300 and the clamping mechanism 130400 are connected to the rotating body 130200
  • the rotating drive mechanism 130100 drives the rotating body 130200 to rotate
  • the push-elevator mechanism 130300 and the clamping mechanism 130400 will rotate in the horizontal direction with the rotation of the rotating body 130200
  • the rotating body 130200 can drive the clamping mechanism 130400 moves to the center of the wellhead
  • the elevator mechanism 130300 to abut with the external elevator during the movement that is, drives the elevator to move to the center of the wellhead synchronously, so as to use the clamping mechanism 130400 to clamp the pipe in the elevator.
  • the column is clamped and fixed.
  • the rotating body 130200 can include a rotating lower bracket, a rotating fixed bracket 130321, a rotating upper bracket and an upright arm;
  • the rotating driving mechanism 130100 can use a driving motor or a rotating hydraulic cylinder, preferably, the rotating driving mechanism 130100 adopts a rotating hydraulic cylinder.
  • the lower rotating support is connected to the first driving end of the rotating driving mechanism 130100
  • the rotating fixing support 130321 is fixedly connected to the outer cylinder wall of the rotating driving mechanism 130100
  • the upper rotating support is connected to the second driving end of the rotating driving mechanism 130100
  • the upright arm can be connected with the rotating upper bracket and the rotating lower bracket respectively.
  • a rotation control sensing mechanism 130500 is also included; the rotation control sensing mechanism 130500 is located on the rotating body 130200, the rotation driving mechanism 130100 is electrically connected to the rotation control sensing mechanism 130500, and the rotation control sensing mechanism 130500 is connected by electrical signals.
  • the mechanism 130500 is used to control the rotation angle of the rotary drive mechanism 130100.
  • the rotation control sensing mechanism 130500 may include a rotation sensor and a controller that are electrically connected to each other, wherein the rotation sensor is used to detect the rotation angle of the upright arm, and transmit the rotation angle information to the controller, and the controller can The rotation angle of the rotary drive mechanism is controlled according to the control command, and the manipulator can be accurately positioned to the wellhead center and the conveyor takeover position by using the rotation control sensing mechanism 130500 to precisely control the rotation angle of the rotary drive mechanism.
  • a manipulator for workover operations includes: a rotary drive mechanism 130100, a rotary main body 130200, a push-elevator mechanism 130300, and a clamping mechanism 130400;
  • the main body 130200 is connected, the rotary driving mechanism 130100 is connected with one end of the rotary main body 130200, and the rotary driving mechanism 130100 drives the clamping mechanism 130400 and the push-elevator mechanism 130300 by using the rotating main body 130200 to rotate in a circle in the horizontal direction, so that the clamping mechanism 130400 can be rotated in the horizontal direction.
  • the elevator pushing mechanism 130300 is located at the transfer pipe position in the center of the wellhead, so that the manipulator can be accurately positioned to the center of the wellhead and the position where the conveyor takes over; further, the elevator pushing mechanism 130300 is used for abutting with the external elevator to push the external elevator Move in the horizontal direction; use the synchronous movement of the elevator pushing mechanism 130300 relative to the rotating main body 130200, and push the external elevator to the center of the wellhead through the elevator pushing mechanism 130300, so as to realize the effect of the elevator holding the pipe string accurately, and alleviate the problems in the related art.
  • the existing fixed position of the manipulator leads to high requirements on the accuracy of the installation position of the pipe string conveyor, which affects the efficiency of on-site operations, poor adaptability of workover equipment, and inability to overcome the technical problems of elevator swing and poor pipe grasping stability.
  • the elevator pushing mechanism 130300 includes a pushing body 130301, a pushing plate 130302 and an angle adjusting mechanism 130303; one end of the pushing body 130301 is connected to the rotating body 130200 , the other end of the push body 130301 is hinged with the push plate 130302, the two ends of the angle adjustment mechanism 130303 are hinged with one side of the push body 130301 and the push plate 130302 respectively, and the angle adjustment mechanism 130303 is used to drive the push plate 130302 to rotate relative to the push body 130301 , so that the push plate 130302 comes into contact with the external elevator at an angle.
  • the use of the angle adjustment mechanism 130303 can make the push plate 130302 rotate relative to the push body 130301, so that the push plate 130302 can be used to open
  • the type structure can make the push plate 130302 fully fit with the elevator.
  • the angle adjustment mechanism 130303 can use a telescopic hydraulic cylinder, the central position of the push plate 130302 can be hinged with the push body 130301, and the telescopic hydraulic cylinder is inclined between the push plate 130302 and the push body 130301, and the telescopic hydraulic cylinder Both ends are hinged with the push plate 130302 and the push body 130301 respectively.
  • the telescopic hydraulic cylinder pushes one side of the push plate 130302
  • the push plate 130302 can rotate relative to the push body 130301, so that the push plate 130302 can adapt to the deflection angle of the elevator The change.
  • the push body 130301 includes a first push arm 130311, a fixed bracket 130321 and a second push arm 130331; the first push arm 130311 and the second push arm 130331 are connected by the fixed bracket 130321, and the fixed bracket 130321 It is used to set the first push arm 130311 and the second push arm 130331 vertically, the end of the first push arm 130311 away from the second push arm 130331 is connected to the rotating body 130200, and the end of the second push arm 130331 away from the first push arm 130311 Hinged with push plate 130302.
  • the first push arm 130311 can be connected to the rotating body 130200 in various ways, for example, the first push arm 130311 can be detachably connected to the rotating body 130200 through a fixing plate and fixing bolts, or can be directly connected to the rotating body 130200 by welding.
  • the rotating body 130200 is fixedly connected; preferably, the end of the first push arm 130311 is fixedly connected to the fixing plate, the fixing plate is provided with connecting holes, and there are multiple rows of connecting holes along the extending direction of the rotating body 130200.
  • the height adjustment of the push body 130301 on the rotating body 130200 is realized by bolts passing through the connecting holes on the fixing plate and the connecting holes at the predetermined positions of the rotating body 130200, so that the push Plate 130302 better adapts to the couplings of elevator positions of different heights.
  • the fixed bracket 130321 includes a bracket body 3211, a first adjustment pin 3212 and a second adjustment pin 3213; the bracket body 3211 is provided with a slot, the first push arm 130311 and the second push arm 130331 are inserted into the slot of the bracket main body 3211, and the first push arm 130311 can rotate relative to the bracket main body 3211; the bracket main body 3211 is provided with a first fixing hole, a second fixing hole and a third fixing hole, the first The fixing hole and the second fixing hole are located on the same line, the first fixing hole and the third fixing hole are located on the same line, and the connection line between the first fixing hole and the second fixing hole and the first fixing hole and the third fixing hole are on the same line.
  • the connecting line is arranged vertically, and the first adjusting pin 3212 is used to pass through the first fixing hole, the first push arm 130311 and the second push arm 130331 in sequence, so as to fix the first push arm 130311 and the second push arm 130331 to the bracket body
  • the second adjusting pin 3213 is used to connect with the second fixing hole and the third fixing hole respectively, so as to adjust the vertical arrangement of the first push arm 130311 and the second push arm 130331, or to adjust the first
  • the push arm 130311 and the second push arm 130331 are arranged in a straight line.
  • the push main body 130301 has two usage states.
  • the first push arm 130311 and the second push arm 130331 are set in a straight line.
  • the first push arm 130311 is placed along the bracket.
  • the slot of the main body 3211 rotates.
  • the second adjustment pin 3213 is inserted into the second fixing hole and the first push arm 130311 in turn.
  • the first push arm 130311 is fixed; in the use state, the first push arm 130311 and the second push arm 130331 are vertically arranged, and the first push arm 130311 is placed along the slot of the bracket body 3211.
  • the first adjustment pin 3212 is used as the rotation center of the first push arm 130311, the first adjustment pin 3212 is connected with the first fixing hole, and the first adjustment pin 3212 can be respectively connected with the first push arm 130311 and The second push arm 130331 is connected; when the second adjustment pin 3213 is connected to the third fixing hole, in order to ensure the stability of the second push arm 130331, an adjustment pin also needs to be placed in the second fixing hole, so that The second push arm 130331 can be fixed in the slot of the fixing bracket 130321.
  • the clamping mechanism 130400 includes a fixed sleeve 130401, a sliding sleeve 130402, a telescopic drive mechanism 130403 and a clamping assembly 130404; the telescopic drive mechanism 130403 is located in the fixed sleeve 130401, and the telescopic drive mechanism 130403
  • the fixed end of the telescopic drive mechanism 130403 is connected to the inner wall of one end of the fixed sleeve 130401, and the fixed sleeve 130401 is fixedly connected to the rotating body 130200; It is slidably connected with the fixed sleeve 130401, and the end of the sliding sleeve 130402 extending out of the fixed sleeve 130401 is connected with the clamping assembly 130404.
  • the clamping mechanism 130400 further includes a linear motion control sensing mechanism 130405; the linear motion control sensing mechanism 130405 is located in the fixed sleeve 130401, the telescopic drive mechanism 130403 and the linear motion control sensing mechanism 130405 The electrical signal is connected, and the linear motion control sensing mechanism 130405 is used to control the telescopic length of the telescopic drive mechanism 130403.
  • the end of the fixed sleeve 130401 is fixedly connected to the rotating body 130200, and the telescopic drive mechanism 130403 can drive the sliding sleeve 130402 to slide relative to the fixed sleeve 130401, wherein the sliding sleeve 130402 and the fixed sleeve 130401 are between It can be connected by sliding rails and sliding grooves.
  • the telescopic drive mechanism 130403 may use a telescopic hydraulic cylinder
  • the linear motion control sensing mechanism 130405 may include a linear sensor and a controller electrically connected to each other, wherein the linear sensor is used to detect the telescopic length information of the telescopic hydraulic cylinder, and The telescopic length information is transmitted to the controller, and the controller can control the telescopic length of the telescopic hydraulic cylinder according to the control instructions.
  • the clamping and clamping assembly 130404 can be accurately positioned to the Wellhead center and conveyor takeover locations.
  • the clamping assembly 130404 includes a fixed gripper 130414, a movable gripper 130424, a gripping transmission mechanism 130434 and a gripping driving mechanism 130444;
  • the fixed gripper 130414 is connected to one side of the sliding sleeve 130402
  • the clamping transmission mechanism 130434, the movable gripper 130424 and the clamping driving mechanism 130444 are all located inside the sliding sleeve 130402
  • the clamping driving mechanism 130444 is connected to the movable gripper 130424 through the clamping transmission mechanism 130434, and the clamping driving mechanism 130444 is used for
  • the clamping transmission mechanism 130434 drives the movable claw 130424 to rotate relative to the fixed claw 130414 to adjust the clamping distance between the movable claw 130424 and the fixed claw 130414 .
  • the clamping transmission mechanism 130434 includes a gripper connecting arm 4341 and a gripper connecting bracket 4342;
  • the gripping driving mechanism 130444 includes a gripping driving part 4441 and an elastic part 4442;
  • the elastic part 4442 is located in the gripper Between the connection bracket 4342 and the clamping driving part 4441, and the two ends of the elastic part 4442 are in contact with the gripper connecting bracket 4342 and the clamping driving part 4441 respectively, and the clamping driving part 4441 is used for compressing the elastic part 4442 to drive the pawl connection
  • the bracket 4342 reciprocates along the sliding sleeve 130402, and the elastic part 4442 has an elastic tendency to keep the gripper connecting bracket 4342 away from the clamping driving part 4441;
  • the claw connecting arm 4341 has an arc structure, and the claw connecting arm 4341 is used to convert the linear force of the claw connecting bracket 4342 into the rotational force of the movable claw 130424 .
  • the fixed gripper 130414 has a circular arc structure, and one end of the fixed gripper 130414 is fixedly connected to one side of the sliding sleeve 130402 , and the movable gripper 130424 pushes the gripper drive part 4441 to connect the bracket 4342 to further
  • the gripper connecting arm 4341 is driven to perform circular arc movement.
  • the clamping driving part 4441 can use a hydraulic cylinder.
  • the hydraulic cylinder can reciprocate along the extending direction of the sliding sleeve 130402 inside the sliding sleeve 130402.
  • the clamping driving part 4441 is used to drive the movable hand claws 130424 to the direction of the fixed hand claws 130414.
  • the elastic part 4442 can use a compression spring, when the clamping driving part 4441 is extended, the clamping driving part 4441 will squeeze the compression spring , when the movable claw 130424 and the fixed claw 130414 clamp the pipe string, the compression spring will also exert an elastic force close to the fixed claw 130414 to the movable claw 130424, thereby ensuring the stability of clamping the pipe string Further, when it is necessary to clamp a large-diameter pipe string, the clamping drive part 4441 is used to drive the movable gripper 130424 to rotate in the direction of the fixed gripper 130414.
  • the compression spring will continue to drive the movable claw 130424 to move in the direction of the fixed claw 130414 under the force of the elastic tendency, so that the An elastic force close to the fixed claw 130414 is applied to the movable claw 130424, so as to ensure the stability of clamping the pipe string; through the matching structure of the clamping driving part 4441 and the elastic part 4442, the clamping mechanism 130400 can meet the requirements of a variety of The specification of the pipe string is stably clamped, which makes the design more reasonable.
  • a well workover operation equipment provided by this embodiment includes the described manipulator for well workover operation; because the technical effect of the well workover operation equipment provided by this embodiment is the same as the manipulator used for well workover operation provided by the above embodiment The technical effect is the same, which will not be repeated here.
  • the integrated automatic wellhead operation device 140 for use in the automatic minor repair operation device system 100 is described in detail below with reference to FIGS. 25-33 .
  • the following embodiments and features of the embodiments may be combined with each other without conflict.
  • the integrated automatic wellhead operation device includes a bracket 4, a splash-proof buckle 5, a hydraulic clamp 6, a transport mechanism 1, a rotation mechanism 2 and a push mechanism 3, and a splash-proof buckle 5 and the hydraulic clamp 6 are fixedly connected to the bracket 4 .
  • the moving mechanism 1 is provided with a laterally sliding connecting base plate 101, the rotating mechanism 2 is fixed on the connecting base plate 101, the top of the rotating mechanism 2 is the rotating end, the rotating end is connected with the rear end of the pushing mechanism 3, and the front end of the pushing mechanism 3 is fixed Supporting bracket 4.
  • the angle of the bracket 4 is adjusted by the rotating mechanism 2, so that the anti-splash aligner 5 or the hydraulic clamp 6 can be accurately aligned with the center of the wellhead when working.
  • the moving mechanism 1 includes a base 104 , and two lateral guide rails 103 are fixedly connected to the base 104 , and the two guide rails 103 are arranged in parallel.
  • a sliding sleeve 102 is slidably connected to each guide rail 103 , and the two sliding sleeves 102 are respectively fixedly connected to both ends of the connection base plate 101 .
  • a support 105 is arranged behind the base 104 , a first hydraulic cylinder 106 is arranged between the support 105 and the sliding sleeve 102 , and both ends of the first hydraulic cylinder 106 are hinged with the sliding sleeve 102 and the support 105 respectively.
  • Both the support 105 and the first hydraulic cylinder 106 are two sets, and are matched with the two sliding sleeves 102 respectively.
  • the support 105 and the base 104 are respectively bolted to the chassis of the workover rig during use.
  • the first hydraulic cylinder 106 drives the sliding sleeve 102 to move back and forth, and then drives the rotating mechanism 2 and the pushing mechanism 3 to move forward and backward through the connecting bottom plate 101 connected to the sliding sleeve 102 .
  • the rotating mechanism 2 includes a fixing base 202 and a driving mechanism 201 .
  • the fixed seat 202 is fixed on the upper end of the connection base plate 101 , a turntable 204 is rotatably connected above the fixed seat 202 , a turbine 205 is sleeved on the outer periphery of the turntable 204 , the upper end of the turntable 204 is connected with a support beam 203 , and the upper end of the support beam 203 is connected to the push mechanism 3 . backend connection.
  • the driving mechanism 201 includes a hydraulic motor 206 , a worm 207 is mounted on the rotating shaft of the hydraulic motor 206 , and the worm 207 is engaged with the turbine 205 for transmission.
  • the turntable 204 has a ring-shaped structure, a ring groove adapted to the turntable 204 is arranged above the fixing base 202 , and the bottom of the turntable 204 is rotatably connected in the ring groove.
  • the hydraulic motor 206 drives the support beam 203 as the rotating end to rotate, thereby driving the push mechanism 3 to rotate.
  • a knob 208 is fixedly connected to the end of the rotating shaft of the hydraulic motor 206, and manual operation can be realized by adding a knob 208.
  • an extension rod is detachably connected to the knob 208, so that the knob 208 can be rotated more easily.
  • the push mechanism 3 includes a first connecting seat 301 , a second connecting seat 302 , a second hydraulic cylinder 303 and a V-shaped folding arm group, and the V-shaped folding arm groups are preferably two groups arranged in parallel to each other.
  • the V-shaped folding arm group includes a first support arm 305, a second support arm 304, a trapezoidal seat 307 and a connecting rod 306.
  • the first support arms 305 are two arranged parallel to each other, and the upper end of the first support arm 305 is connected to the first support arm 305.
  • a connecting seat 301 is hinged, and the lower end of the first support arm 305 is hinged with the front end of the trapezoidal seat 307 .
  • Two second arms 304 are arranged in parallel with each other, the upper end of the second arm 304 is hinged with the second connecting seat 302, the lower end of the second arm 304 is hinged with the rear end of the trapezoidal seat 307, and one of the second arms 304 is hinged with the rear end of the trapezoid seat 307.
  • the bottom of the support arm 304 is provided with an extension block 308 .
  • One end of the second hydraulic cylinder 303 is hinged with the second connecting seat 302 , and the other end is hinged with the middle of one of the second arms 304 .
  • the push mechanism 3 drives the second support arm 304 to rotate counterclockwise around the second connection seat 302 through the second hydraulic cylinder 303, and makes the second support arm 304 rotate to a vertical state.
  • the extension block 308 at the bottom of the second arm 304 drags the connecting rod 306 backward, so that the first arm 305 rotates clockwise around the trapezoidal seat 307 to fold the V-shaped arm;
  • the push mechanism 3 that can be folded in a V-shaped design realizes the push and withdrawal steps during operation, and after the operation is completed, the push mechanism 3 is folded to cooperate with the moving mechanism 1 to move backward, so that the bracket 4 can be returned more quickly. , to make room for the whereabouts of the elevator.
  • the bracket 4 includes a U-shaped upper floating plate 401 and a lower bottom plate 402.
  • the lower bottom plate 402 is provided with a set of floating balls 403 supporting the upper floating plate 401, and a A group of pin holes is provided with a positioning pin 404 in the pin hole.
  • the lower bottom plate 402 is fixedly connected to the first connecting seat 301 and supports the upper floating plate 401 through the floating balls 403 .
  • the power slips 150 for oil field well workover operations used in the automatic minor workover operation device system 100 will be described in detail below with reference to FIGS. 34 to 36 .
  • the following embodiments and features of the embodiments may be combined with each other without conflict.
  • the power slip for oil field workover operation includes a slip casing 150100 and an inductor 150200; the slip casing 150100 has a first central hole 150110 for the pipe string to pass through; the inductor 150200 is arranged on the slip casing 150100, Used to collect the collar position on the string.
  • the slip casing 150100 has a first central hole 150110 for the pipe string to pass through.
  • the pipe string can pass through the first central hole 150110; due to the induction
  • the sensor 150200 is arranged on the slip housing 150100, so when the coupling on the pipe string reaches the position of the sensor 150200, the sensor 150200 can collect the position of the coupling on the pipe string to realize automatic detection.
  • the detection method of the power slips used in the workover operation in this oilfield can realize automatic operation and improve the work efficiency, and the detection of the sensor 150200 is more accurate than the manual observation.
  • the senor 150200 adopts a point-type sensor; or, the sensor 150200 adopts a ring-shaped sensor, and the ring-shaped sensor can be fixedly sleeved on the outer peripheral side of the slip case 150100 .
  • the senor 150200 can adopt various types.
  • the models of sensors 150200 that can be used are Turck NI10-G18-Y1X; OMRON: HL-5300; PEPPERL-FUCHS: NCB4-12GM40-N0.
  • the sensor 150200 of this model is a proximity switch, also known as a non-contact proximity switch, which is an electronic switch sensor.
  • a proximity switch also known as a non-contact proximity switch, which is an electronic switch sensor.
  • the switch can quickly issue electrical commands without contact, pressure, spark, and accurately reflect the position and stroke of the moving mechanism.
  • the sensor 150200 when the sensor 150200 is a point sensor, there are multiple sensors 150200, and the multiple sensors 150200 are arranged at intervals along the circumferential direction of the slip housing 150100.
  • the multiple sensors 150200 are arranged on the same horizontal plane; in this way, the multiple sensors 150200 can simultaneously collect the collar position information on the pipe string.
  • the multiple sensors 150200 may not be arranged on the same horizontal plane. In this case, when one of the sensors 150200 located below fails to be detected, the other sensors 150200 located above can collect the connections on the pipe string. Hoop location information to reduce false negatives.
  • the slip housing 150100 is provided with fixing holes equal to the number of the sensors 150200; wherein, the sensor 150200 is inserted into the fixing holes, and one end of the sensor 150200 is located in the first central hole 150110, so that Tested on butt ferrules.
  • four sensors 150200 may be provided, and the included angle between two adjacent sensors 150200 is 90°.
  • the number of sensors 150200 may be six, and the included angle between two adjacent sensors 150200 is 60°.
  • the first central hole 150110 is provided with a self-sealing plastic core 150300, the self-sealing plastic core 150300 has a second central hole 150310, the second central hole 150310 communicates with the first central hole 150110 and is coaxially arranged;
  • the holes 150310 are capable of passing the tubing string.
  • the self-sealing rubber core 150300 is added, and the second central hole 150310 and the first central hole 150110 are coaxially arranged, so that the oil column can be located in the center of the wellhead.
  • the first end of the self-sealing rubber core 150300 is clamped in the first central hole 150110, and the second end of the self-sealing rubber core 150300 is located outside the first central hole 150110; the second central hole 150310 includes a coaxial The tapered hole and the straight circular hole are provided, the tapered hole is opened at the first end, and the straight circular hole is opened at the second end.
  • This embodiment also provides a workover rig, which further includes a traveling system and a control system; the traveling system is drivingly connected with the pipe string for lifting the pipe string; the sensor 150200 and the traveling system are both connected to the control system electrical connection.
  • the sensor 150200 when it detects the position of the coupling on the pipe string, it will send a signal to the control system, and the control system will receive the signal and control the traveling system to decelerate or stop to complete the automatic operation.
  • the automatic minor workover operation device system of some embodiments of the present application conveys the discharge equipment 110 through the pipe string, the anti-opening mechanism for elevators and the overturning elevator 120 , the manipulator 130 for well workover operations, and the integrated automatic wellhead operation device 140 , Oilfield workover operations use the mutual cooperation between the power slips 150 to complete the process of running down the pipe and the process of taking up the pipe.
  • FIG. 37 will be used to describe in detail the process of lowering the pipe through the automatic minor repair work device system.
  • Preparations transport and discharge the pipe string used in the automatic minor workover operation device system 110, elevators 120 for workover operations, manipulators 130 for workover operations, integrated automatic wellhead operation device 140, and oilfield workover operations
  • the position of the power slip 150 is precisely positioned relative to the center of the wellhead.
  • Initialization transport the pipe string after the position has been adjusted to the discharge equipment 110, the elevator 120 for workover operations, the manipulator 130 for workover operations, the integrated automatic wellhead operation device 140, and the power card for oilfield workover operations
  • the tile 150 is initialized so that the devices are adjusted to the initial state.
  • the process of transporting the pipe string the first pipe string is sucked by the suction structure 11075 of the discharge device of the pipe string transport and discharge device 110 , the first pipe string is lifted to a predetermined height by the lifting mechanism 1107 , and the first pipe string is lifted by the translation mechanism 1106
  • the pipe string is translated onto the conveying means of the pipe string conveying and discharging apparatus 110 .
  • the moving cart 11032 of the conveying mechanism 1103 clamps one end of the first pipe string and moves along the length direction of the rotating arm 1102 under the driving of the traction drive member 11031, so that the first pipe string is exposed to a predetermined length and reaches the clamping mechanism of the elevator 120 Clamping channel between 120402 and elevator body 120401 for clamping pipe string 1000.
  • FIG. 1 illustrates the cooperation between the pipe string transport discharge equipment 110 and the elevator 120 to realize the pipe string transport process.
  • the process of lifting the pipe string after locking and positioning the elevator main body 120401 by the clamping mechanism 120402 of the elevator 120 for workover operations, the anti-opening ring 120200 is clamped to the elevator main body 120401 and the elevator main body 120401 through the connecting part 120300 respectively.
  • the mechanism 120402 is connected, so that the clamping mechanism 120402 can always be in a locked state to maintain stable clamping of the first pipe string.
  • the moving cart 11032 of the conveying mechanism 1103 is converted from an active push state to a follow-up state. Then, driven by the lifting system 170, the first pipe string is lifted up.
  • FIG. 2 illustrates the cooperation between the elevator 120 for workover operations and the manipulator 130 for workover operations to complete the pipe pushing process.
  • Pipe lowering process the V-shaped folding arm mechanism of the push mechanism 3 of the integrated automatic wellhead operation device moves from the initial position to the predetermined wellhead position and closes and waits for the buckling of the first pipe string. While the pipe string is grasped by the manipulator for workover operation, the anti-splash buckle device in the integrated automatic wellhead operation device is moved to the center of the wellhead, the elevator is lowered, and the pipe string is lowered to the coupling position. Through the opening of the power slips for workover operations in the oil field, the splash-proof buckling device is opened, and the hydraulic tongs are moved to the wellhead position to realize the coupling and buckling.
  • the integrated automatic wellhead operation device returns to the initial position through the V-shaped folding arm mechanism of the push mechanism 3 .
  • the power slips for workover operations in the oil field are switched to the open position, and then the lifting system 170 lowers the first pipe string to a certain height above the power slips, so that the exposed coupling of the second pipe string can be fastened by the hydraulic tongs.
  • the power slips for oilfield workover operations are switched to the closed position, see Fig. 3A, Fig. 3B and Fig. 3C, Figs. Collaborate to complete the downtube process.
  • the cooperative relationship between the power slips 150 for well operation is similar to the running process of the automatic minor repair operation device system.
  • Initialization transport the pipe string after the position has been adjusted to the discharge equipment 110, the elevator 120 for workover operations, the manipulator 130 for workover operations, the integrated automatic wellhead operation device 140, and the power card for oilfield workover operations
  • the tile 150 is initialized so that the devices are adjusted to the initial state
  • the elevator is swung to a vertical position and dropped to the position at the upper end of the power slip for oil field workover operations and at the lower end of the pipe string coupling.
  • the elevator swings back to the horizontal position.
  • the anti-opening ring 120200 is connected to the elevator main body 120401 and the clamping mechanism 120402 through the connecting part 120300 respectively, so that the clamp
  • the holding mechanism 120402 can always be in a locked state to maintain stable clamping of the first pipe string, and the power slips for oil field workover operations are switched to the open position.
  • the coupling of the first pipe string raised to the second pipe string is exposed to a predetermined height above the power slips for oilfield workover operations, and the power slips for oilfield workover operations are switched to the closed position to Clamp the second string.
  • Unloading process The V-shaped folding arm mechanism of the push mechanism 3 of the integrated automatic wellhead operation device moves from the initial position to the predetermined wellhead position (or the collar position).
  • the splash-proof buckle is opened, and the hydraulic tongs move to the wellhead position to release the hoop and buckle.
  • the anti-splash locker moves to the center of the wellhead and closes, clamps the first pipe string, and guides the liquid in the first pipe string into the storage device of the platform through the anti-splash locker to The liquid in the column is collected to protect the environment.
  • the anti-splash buckle is opened, and the V-shaped folding arm mechanism of the push mechanism 3 of the integrated automatic wellhead operation device returns to the initial position; if there is no liquid in the wellhead, the push mechanism 3 of the integrated automatic wellhead operation device The V-shaped folding arm mechanism returns to the initial position, and the elevator is lifted up.
  • Pipe pushing process the manipulator used for workover is gradually rotated from the initial state to the wellhead position, and the lower end of the first pipe string is caught by the push elevator mechanism 130300 and the clamping mechanism 130400, and the rotating body 130200 of the manipulator drives the clamping mechanism 130400 Move to the predetermined position of the moving car 3 of the conveying mechanism 1103, and at the same time push the elevator mechanism 130300 to abut with the external elevator during the movement, that is, synchronously drive the elevator to move to the predetermined position of the moving car 3 of the conveying mechanism 1103. Location;
  • the moving cart 3 of the conveying mechanism 1103 closes and clamps one end of the first pipe string through the pipe string and moves along the length direction of the rotating arm 1102 under the driving of the traction drive part 11031, so that the first pipe string is transported to
  • the pipe string is transported to the transport device of the discharge device 110 .
  • the manipulator moves to the initial position and the elevator opens.
  • the first pipe string is sucked by the holding structure 11075 of the discharge device of the pipe string conveying and discharging device 110 , and the first pipe string is lowered to a predetermined position by the lifting mechanism 1107 .
  • the specific pipe pulling process implemented by the automatic minor repair work device system can be referred to FIG. 38 .
  • the application provides an automatic minor repair operation system for oilfields, a pipe string conveying and discharging equipment used in the automatic minor repair operation device system, an anti-opening mechanism for elevators, a flip elevator, and a manipulator for well workover operations.
  • workover operation equipment, integrated automatic wellhead operation device, power slips for oil field workover operation the automatic minor workover operation device system includes: workover rig, pipe string transportation and discharge equipment, elevators for A manipulator for workover operations, an integrated automatic wellhead operation device, and a power slip for oilfield workover operations, wherein the workover rig is arranged along the first direction of the automatic minor workover operation device system so that the longitudinal direction of the workover rig is the same as the first direction of the workover rig.
  • One direction is parallel, and the tail portion of the workover rig is arranged to be spaced a predetermined distance from the center of the wellhead in a first direction, the first direction being a direction passing through the center of the wellhead along the radial direction of the wellhead, and the pipe string conveying discharge equipment is arranged At the first side of the second direction of the automatic minor workover operation device system, the second direction being a direction passing through the center of the wellhead and perpendicular to the first direction, the elevator for workover operations, the manipulator for workover operations, and
  • the integrated automatic wellhead operation device is arranged on the tail of the workover rig and carried by the workover rig, and the elevator for the workover operation, the manipulator for the workover operation, and the integrated automatic wellhead operation device are arranged along the automatic wellhead operation device.
  • the oilfield workover power slip is arranged at the center of the wellhead, and the oilfield workover power slip is configured to allow the tubing string Toggles between an open position to move through and a closed position to prevent the string from moving through.
  • the automatic minor repair operation device system of the present application significantly improves the practicability of the site and the work efficiency of the oilfield operation, realizes the unmanned operation of the wellhead, greatly reduces the labor intensity of the workers, improves the operation environment, improves the safety factor, and at the same time can Highly accurate centering of the wellhead.
  • the automatic minor repair operation system for oil fields of the present application the pipe string transportation and discharge equipment used in the automatic minor repair operation device system, the anti-opening mechanism for elevators, and the overturned elevators are used for repairing Manipulators and workover equipment for well operations, integrated automatic wellhead operation devices, and power slips for oil field workover operations are reproducible and can be used in a variety of industrial applications.
  • oil field automatic minor repair operation system and the pipe string transportation and discharge equipment used in the automatic minor repair operation device system of the present application can be used in the technical field of oilfield workover operations.

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Abstract

本申请提供了油田用自动小修作业系统以及用于在自动小修作业装置系统中使用的管柱输送排放设备、用于吊卡的防打开机构及翻转吊卡、用于修井作业的机械手及修井作业设备、一体化自动井口作业装置、油田修井作业用动力卡瓦，该自动小修作业装置系统包括：修井机、管柱输送排放设备、用于修井作业的吊卡、用于修井作业的机械手、一体化自动井口作业装置、以及油田修井作业用动力卡瓦，其中，修井机沿自动小修作业装置系统的第一方向布置使得修井机的纵长方向与第一方向平行，并且修井机的尾部被布置成在第一方向上与井口中心间隔开预定距离，第一方向为沿着井口的径向穿过井口中心的方向，管柱输送排放设备被布置在自动小修作业装置系统的第二方向的第一侧处，第二方向为穿过井口中心并与第一方向垂直的方向，用于修井作业的吊卡、用于修井作业的机械手以及一体化自动井口作业装置布置在修井机的尾部上且由修井机承载，并且用于修井作业的吊卡、用于修井作业的机械手以及一体化自动井口作业装置被布置在沿自动小修作业装置系统的第二方向的与第一侧相反的第二侧处，油田修井作业用动力卡瓦被布置在井口中心处，并且油田修井作业用动力卡瓦配置成在允许管柱移动通过的打开位置及阻止管柱移动通过的闭合位置之间进行切换。本申请的自动小修作业装置系统显著提高了现场的实用性以及油田作业的工作效率，实现了井口无人化操作，大大减轻了工人的劳动强度，改善了作业环境，提高了安全系数，同时能够高度精确的找准井口中心。

Description

油田用自动小修作业系统
相关申请的交叉引用
本申请要求于2020年12月09日提交中国国家知识产权局的申请号为202011463305.8、名称为“用于修井作业的机械手及修井作业设备”的中国专利申请的优先权，要求于2021年01月04日提交中国国家知识产权局的申请号为202120001464.X、名称为“油田修井作业用动力卡瓦”的中国专利申请的优先权，要求于2021年01月11日提交中国国家知识产权局的申请号为202120053182.4、名称为“油管输送排放设备”的中国专利申请的优先权，要求于2021年08月23日提交中国国家知识产权局的申请号为202121973995.1、名称为“一体化自动井口作业装置”的中国专利申请的优先权，要求于2021年01月05日提交中国国家知识产权局的申请号为202120008013.9，名称为“用于吊卡的防打开机构及翻转吊卡”的中国专利申请的优先权，这些专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及油田修井作业技术领域，更具体地涉及一种油田用自动小修作业系统，以及用于在自动小修作业装置系统中使用的管柱输送排放设备、用于吊卡的防打开机构及翻转吊卡、用于修井作业的机械手及修井作业设备、一体化自动井口作业装置、油田修井作业用动力卡瓦。
背景技术
目前国际油田修井作业采用人工液压钳配合修井机修井，自动化程度低，劳动强度高，安全系数低。在油田的修井作业中，需要通过输排管机械设备来替代人力，以实现井口与管柱排之间管柱的输送以及管柱的排放。但是，相关的输排管机械设备由于其结构限制，只能实现单方向的管柱输送，在设备放置固定后，无法调整管柱输送方向，对井场的适用性较差。油井周围环境存在很多不确定因素，施工环境以及考虑因素比较复杂，输排管机械设备的布置方向存在限制。
吊卡是在修井作业中起下管柱的重要装置，其性能直接影响到修井作业的效率和安全性，随着油田对降低作业人员劳动强度、提高作业安全性、提高工作效率的迫切需求，目前市场上对作业自动化配套工具动力吊卡的需求与日俱增。相关技术中的吊卡设置有动力锁紧机构，利用动力锁紧机构能够带动侧门的运动，并且当侧门到位后会对侧门实现动力锁紧，从而保证起下管柱过程的作业安全。但是，相关技术中的吊卡在使用过程需要大力上提管柱后快速下放，使卡住的井内管柱松开，此过程中管柱会和大钩剐蹭，在剐蹭的过程中会存在动力锁紧机构失效，造成侧门打开的风险，进而存在安全隐患。
相关技术中的自动化修井作业装置的机械手存在以下问题：机械手所在的位置对管柱输送机安装位置的精度要求较高，给现场设备安装难度加大，耗时较长；另外，由于机械手是安装到井口作业装置的撬块上，同时机械手体量较大，作业前需要依据机械手推管方向来安装撬块，很大程度上影响了现场作业的效率和自动化作业设备的适应性，不能满足修井作业要求；并且相关技术中的机械手仅仅能够对管柱夹持，但是，在管柱下放的过程中，不同的下放速度和天气风力的作用下，会使得外部的吊卡发生一定的偏转，从而使得吊卡在抓管过程中存在无法抓取的情况，使得整体设备稳定性差。
此外，油田井口作业装置普遍与修井机采用分离安装方式，相关井口作业装置实现横向推送和退出动作的结构，一般是依靠横向的滑轨和连接在滑轨上的滑动部件，作业时，选择较短的滑轨虽然方便收纳和运输，但是推送距离短，而较长的滑轨又不便于收纳和运输。在油田小修作业过程中，针对管柱的输送和安装的过程中，自动化修井作业装置的机械手需要对外部的管柱进行夹持固定，从而能够将管柱与吊卡进行连接。
在实现自动化修井作业时，起管过程修井机的游动系统提升管柱，无法检测到接箍提升的位置，因此只能依靠人工观察接箍位置，然后游动系统再进行减速和停止的操作，不能自动完成。
本申请通过油田用自动小修作业系统，以及用于自动小修作业装置系统的管柱输送排放设备、一体化自动井口作业装置、用于修井作业的机械手及修井作业设备、油田修井作业用动力卡瓦、用于吊卡的防打开机构及翻转吊卡实现了井口无人化操作，大大减轻了工人的劳动强度，改善了作业环境，提高了安全系数，同时能够高度精确的找准井口中心。
发明内容
本申请提供了一种油田用自动小修作业系统，所述自动小修作业装置系统可以包括：修井机、管柱输送排放设备、用于修井作业的吊卡、用于修井作业的机械手、一体化自动井口作业装置、以及油田修井作业用动力卡瓦，其特征在于，所述自动小修作业装置系统可以被配置成通过所述管柱输送排放设备、所述用于修井作业的吊卡、所述用于修井作业的机械手、所述一体化自动井口作业装置以及所述油田修井作业用动力卡瓦的相互协作来实现对管柱的下管作业和起管作业，其中，
所述修井机沿所述自动小修作业装置系统的第一方向可以布置使得所述修井机的纵长方向与所述第一方向平行，并且所述修井机的尾部可以被布置成在所述第一方向上与井口中心间隔开预定距离，所述第一方向可以为沿着所述井口的径向穿过所述井口中心的方向，所述管柱输送排放设备可以被布置在所述自动小修作业装置系统的第二方向的第一侧处，所述第二方向为穿过所述井口中心并与所述第一方向垂直的方向，所述用于修井作业的吊卡、所述用于修井作业的机械手以及所述一体化自动井口作业装置可以布置在所述修井机的所述尾部上且由所述修井机承载，并且所述用于修井作业的吊卡、所述用于修井作业的机械手以及所述一体化自动井口作业装置可以被布置在沿所述自动小修作业装置系统的所述第二方向的与所述第一侧相反的第二侧处，所述油田修井作业用动力卡瓦可以被布置在所述井口中心处，并且所述油田修井作业用动力卡瓦可以配置成在允许管柱移动通过的打开位置及阻止管柱移动通过的闭合位置之间进行切换，从而使得：
在所述下管作业中，所述管柱输送排放设备对待进行下管作业的管柱进行拾取并将所拾取的所述管柱输送到所述用于修井作业的吊卡的夹持通道；所述用于修井作业的吊卡对所述管柱进行夹持；所述用于修井作业的吊卡将所述管柱进行上提，所述用于修井作业的机械手对由所述用于修井作业的吊卡夹持的所述管柱进行抓持并将所抓持的所述管柱定位于井口中心的下管位置处；在由所述用于修井作业的机械手抓持所述管柱的同时，所述一体化自动井口作业装置移动到所述井口中心，所述用于修井作业的吊卡将所述管柱下放至接箍位置处，从而通过所述一体化自动井口作业装置对所述管柱进行对扣；通过使所述油田修井作业用动力卡瓦的打开，所述用于修井作业的吊卡对所述管柱进行下放；以及
在所述起管作业中，通过使所述油田修井作业用动力卡瓦打开，所述用于修井作业的吊卡将所述管柱进行上提，以使另一管柱的接箍暴露到指定位置；在使所述油田修井作业用动力卡瓦闭合的情况下，所述一体化自动井口作业装置对经暴露的接箍进行卸扣；所述一体化自动井口作业装置退回，所述用于修井作业的吊卡将所述管柱进行上提，所述用于修井作业的机械手对经卸扣的所述管柱进行夹持并将所述管柱从井口中心移动到能够由所述管柱输送排放设备的输送机 构接收的位置；所述用于修井作业的吊卡将所述管柱进行下放，所述输送机构对所述管柱进行接收并且将所述管柱移动远离所述井口中心。
可选地，所述用于修井作业的机械手可以包括：机械手旋转机构、夹推机构，其中，所述用于修井作业的机械手可以被配置成：在所述下管作业中，通过所述机械手旋转机构带动所述夹推结构在水平方向呈圆周转动，以对由所述吊卡夹持的所述管柱进行抓持并将所抓持的所述管柱定位于井口中心的下管位置处；在所述起管作业中，通过所述机械手旋转机构带动所述夹推结构在水平方向呈圆周转动，以对经卸扣的所述管柱进行夹持并将所述管柱从井口中心移动到能够由所述管柱输送排放设备的所述输送机构接收的位置。
可选地，所述用于修井作业的吊卡可以包括吊卡本体，所述吊卡本体包括吊卡主体和夹持机构，所述夹持机构能够相对于所述吊卡主体向靠近或远离所述吊卡主体的方向转动，以使所述夹持机构和所述吊卡主体之间能够形成用于夹持所述管柱的夹持通道,并且所述夹持机构被配置成在所述下管作业中和所述起管作业中能够对所述管柱进行夹持。
可选地，所述管柱输送排放设备可以包括输送装置和排放装置，所述输送装置可以包括所述输送机构，其中，在所述下管作业中，通过所述输送装置的所述输送机构将所述管柱输送到所述夹持机构和所述吊卡主体之间的夹持通道；在所述起管作业中，通过所述输送装置的所述输送机构对所述管住进行接收并且将所述管柱输送至所述排放装置能够保持所述管柱的位置。
可选地，所述一体化自动井口作业装置可以包括防溅对扣器、液压钳、推送机构、井口作业旋转机构和运移机构，其中，在所述下管作业中，在由所述用于修井作业的机械手抓持所述管柱的同时，通过所述推送机构、所述井口作业旋转机构和所述运移机构将所述一体化自动井口作业装置的所述防溅对扣器移动到所述井口中心，所述用于修井作业的吊卡将所述管柱下放至接箍位置处并通过所述液压钳对所述管柱进行对扣；在所述起管作业中，通过所述液压钳对经暴露的接箍进行卸扣。
可选地，所述油田修井作业用动力卡瓦可以包括：卡瓦壳体和感应器，所述油田修井作业用动力卡瓦可以被配置成通过所述感应器自动检测所述管柱的接箍位置,以在所述打开位置与所述闭合位置之间进行切换。
可选地，所述自动小修作业装置系统可以包括两个用于修井作业的机械手，所述两个用于修井作业的机械手可以分别位于所述修井机的所述尾部的两侧，以及所述管柱输送排放设备可以被布置在所述自动小修作业装置系统的所述第二方向的第一侧且在所述自动小修作业装置系统的所述第一方向的两侧中的至少一侧。
根据本申请的实施方式的自动小修作业装置系统，能够根据油井的周围环境以及实际需要来选择管柱输送排放设备的位置以及自动小修作业装置系统的布局，从而显著提高了油田修井作业的工作效率以及现场实用性。
本申请提供一种管柱输送排放设备，具体技术方案如下：
一种管柱输送排放设备，可以包括输送装置和排放装置；所述输送装置包括第一底座、转动臂和输送机构；所述转动臂具有相对的第一端和第二端，所述第一端铰装在所述第一底座上，所述第二端可绕所述第一端转动；所述输送机构用于带动管柱由所述第一端向所述第二端移动；所述排放装置包括第二底座、导向机构、平移机构、提升机构、排放机构；所述导向机构安装在所述第二底座上；所述平移机构安装在所述导向机构上，并可沿所述导向机构的预设方向移动；所述提升机构安装在所述平移机构上，并用于将所述转动臂上的管柱移动至所述排放机构上；所述排放机构用于放置管柱；其中，所述第二底座的长度方向与所述第一底座的长度方向一致，所述第二底座具有相对的第三端和第四端，所述第三端设有第一安装部，所述第四端设有第二安装部，所述第一底座一端与所述第一安装部或所述第二安装部可拆卸连接。
可选地，所述第一底座一端可以与所述第一安装部通过调距结构相连接，或者，所述第一底座一端可以与所述第二安装部通过调距结构相连接，所述调距结构可以用于调节所述第一底座与所述第一安装部或所述第二安装部之间的距离。
可选地，所述转动臂可以包括臂体、第一伸缩驱动部件、第一传动部件和第二传动部件；所述臂体设有所述第一端和所述第二端；所述第一伸缩驱动部件一端安装在所述第一底座上，另一端与所述第一传动部件中部铰接；所述第一传动部件的下端与所述第一底座铰接，所述第一传动部件的上端与所述第二传动部件的下端铰接；所述第二传动部件的上端与所述臂体铰接。
可选地，所述转动臂可以包括臂体，所述臂体可以包括主体部分、伸缩部分和第二伸缩驱动部件；所述主体部分与所述伸缩部分相连接；所述第二伸缩驱动部件一端与所述主体部分连接，另一端与所述伸缩部分连接，并用于带动所述伸缩部分相对于所述主体部分伸缩。
可选地，还包括测长装置，所述测长装置可以包括位移检测机构和测长限位机构；所述位移检测机构安装在所述转动臂上，并用于检测所述输送机构带动管柱一端移动的距离；所述测长限位机构可以包括第三底座、第三伸缩驱动部件、升降架、摆臂、压簧和传感部件；所述第三底座安装在所述第一底座上，所述升降架和所述第三伸缩驱动部件安装在所述第三底座上，所述第三伸缩驱动部件用于带动所述升降架升降；所述摆臂一端与所述升降架铰接，另一端通过所述压簧与所述升降架连接；所述传感部件安装在所述升降架上，管柱一端带动所述摆臂转动并压缩所述压簧至预设状态时触发所述传感部件。
可选地，所述输送机构可以包括牵引驱动部件和移动车；所述牵引驱动部件安装在所述转动臂上，并与所述移动车连接；所述移动车用于夹持管柱一端，所述移动车安装在所述转动臂上，并在所述牵引驱动部件的带动下沿所述转动臂的长度方向移动。
可选地，所述导向机构可以包括分别安装在所述第二底座上的两导轨，所述导轨可以包括相铰接的主轨道和扩展轨道；所述第二底座设有固定支架，所述主轨道安装在固定支架上，所述扩展轨道安装在可移动支座上。
可选地，所述平移机构可以包括龙门架、行走轮、第一转动驱动部件和齿轮；所述龙门架包括横梁和连接于所述横梁两端的架体，所述横梁用于安装在所述提升机构；所述架体上端与所述横梁连接，下端设有行走轮；所述行走轮安装在所述导向机构上；所述龙门架用于安装所述提升机构，所述龙门架底部安装有所述行走轮，所述行走轮位于所述导向机构上；所述第一转动驱动部件安装在所述龙门架体底部，所述第一转动驱动部件与所述齿轮相连接，并用于带动所述齿轮转动；所述导向机构侧部安装有齿条，所述齿轮与所述齿条相啮合。
可选地，所述提升机构可以包括两支撑杆、两升降机、第二转动驱动部件、转轴和吸持结构；所述支撑杆插设在所述平移机构上，且所述支撑杆的下端穿过所述平移机构；所述升降机安装在所述平移机构的顶部，两个所述升降机分别与两个所述支撑杆一一对应传动连接；所述转轴的两端分别与两个所述升降机传动连接；所述第二转动驱动部件安装在所述平移机构的顶部，所述第二转动驱动部件与所述转轴相连接，并用于带动所述转轴转动，所述吸持结构安装在所述支撑杆的下端。
可选地，所述排放机构可以包括围堰和横担；所述围堰可以与所述第二底座相连接，所述围堰设有废液回收槽；多个所述横担间隔安装在所述废液回收槽内，并将所述废液回收槽分隔成多个槽体，且所述横担的高度大于等于所述围堰侧壁高度。
根据本申请提供的管柱输送排放设备，不仅能够实现管柱的输送和排放，而且通过切换第一底座一端与第一安装部或所述第二安装部的连接，能够改变输送装置的输送方向，扩大了设备对井场的适用范围。
本申请提供了一种用于吊卡的防打开机构及翻转吊卡，以缓解相关技术中存在的吊卡使用的过程中，侧门存在打开的风险，存在安全隐患的技术问题。
本申请提供的一种用于吊卡的防打开机构，可以包括：防打开环、连接部和吊卡本体；
所述吊卡本体可以包括吊卡主体和夹持机构，所述夹持机构和所述吊卡主体连接，所述夹持机构可以包括有侧门，所述夹持机构通过所述侧门能够相对于所述吊卡主体向靠近或远离所述吊卡主体的方向转动，以使所述夹持机构和所述吊卡主体之间能够形成用于夹持管柱的夹持通道；
所述防打开环具有贯穿管柱的通孔，所述防打开环通过所述通孔与所述夹持通道呈同心设置，且所述防打开环通过所述连接部分别与所述吊卡主体和所述夹持机构连接，以将所述夹持机构固定于所述吊卡主体上。
在本申请较佳的实施方式中，所述吊卡主体可以包括第一补芯，所述夹持机构可以包括第二补芯；
所述吊卡主体可以设置有圆弧面，所述第一补芯可以位于所述吊卡主体的圆弧面内，且所述第一补芯与所述吊卡主体的圆弧面连接；
所述侧门可以呈圆弧结构，所述第二补芯位于所述侧门靠近所述吊卡本体的一侧，且所述第二补芯与所述侧门连接，所述侧门通过旋转轴与所述吊卡主体转动连接，所述侧门用于带动所述第二补芯与所述第一补芯抵接，以形成用于夹持管柱的圆环结构。
在本申请较佳的实施方式中，所述防打开环上可以设置有多个第一连接孔，所述第一补芯上可以设置有第二连接孔，所述第二补芯上可以设置有第三连接孔，所述第一连接孔的数量可以大于或等于所述第二连接孔和所述第三连接孔的总和；
所述防打开环可以与所述第一补芯和所述第二补芯形成的圆环结构贴合，所述连接部可以包括第一连接部和第二连接部，所述第一连接部的数量可以与所述第二连接孔的数量对应设置，所述第一连接部用于依次贯穿所述第一连接孔和所述第二连接孔；所述第二连接部的数量与所述第三连接孔的数量对应设置，所述第二连接部用于依次贯穿所述第一连接孔和所述第三连接孔，以将所述防打开环与所述第一补芯和所述第二补芯固定连接。
在本申请较佳的实施方式中，所述第二连接孔的数量可以至少为两个，所述第三连接孔的数量可以至少为两个。
在本申请较佳的实施方式中，还可以包括驱动机构；
所述驱动机构设置于所述吊卡本体上，且所述驱动机构的输出端可以与所述侧门传动连接，所述驱动机构用于带动所述侧门相对于所述吊卡主体转动。
在本申请较佳的实施方式中，所述吊卡本体还可以包括锁舌；
所述锁舌与所述吊卡主体连接，所述夹持机构和所述锁舌能够相对于所述吊卡主体向相对或相反的方向转动，所述锁舌用于与所述夹持机构连接，以将所述夹持机构固定于所述吊卡主体上。
在本申请较佳的实施方式中，所述吊卡本体还可以包括锁紧机构；
所述锁紧机构可以包括销轴和弹簧；所述侧门靠近所述锁舌的一侧设置有槽口，且所述锁舌对应设置有用于与所述槽口配合的凸起锁眼；所述侧门位于所述槽口的上方设置有阶梯孔，所述销轴插设于所述阶梯孔内，且所述销轴与所述第二补芯抵接，所述第二补芯用于带动所述销轴在所述阶梯孔内移动；
所述弹簧套设于所述销轴的外部，且所述弹簧的两端分别与所述销轴和所述阶梯孔的台阶抵接，所述弹簧具有令所述销轴远离所述槽口的弹性趋势。
在本申请较佳的实施方式中，还可以包括翻转机构；
所述吊卡本体上设置有翻转挡板，所述翻转机构通过所述翻转挡板与所述吊卡本体连接，所述翻转机构用于通过所述吊卡本体调节所述夹持通道的角度。
本申请提供了一种翻转吊卡，所述翻转吊卡可以包括所述的用于吊卡的防打开机构。
本申请提供的一种用于吊卡的防打开机构，可以包括：防打开环、连接部和吊卡本体；吊卡本体包括吊卡主体和夹持机构，夹持机构和吊卡主体连接，夹持机构能够相对于吊卡主体向靠近或远离吊卡主体的方向转动，以使夹持机构和吊卡主体之间能够形成用于夹持管柱的夹持通道；防打开环具有贯穿管柱的通孔，防打开环通过通孔与夹持通道呈同心设置，且防打开环通过连接部分别与吊卡主体和夹持机构连接，以将夹持机构固定于吊卡主体上；在实际操作过程中，当夹持通道形成后，将防打开环利用连接部安装在吊卡主体和夹持机构上，使得夹持机构和吊卡主体形成整体结构，从而能够使得夹持机构能够始终处于锁紧状态，防止了夹持机构相对于吊卡主体打开的风险，缓解了相关技术中存在的吊卡使用的过程中，侧门存在打开的风险，存在安全隐患的技术问题。
本申请提供了一种用于修井作业的机械手及修井作业设备，以缓解相关技术中存在的机械手位置固定导致管柱输送机安装位置的精度要求高，影响了现场作业的效率，修井作业设备适应性差，以及无法克服吊卡摆动，抓管稳定性差的技术问题。
本申请提供了一种用于修井作业的机械手，所述用于修井作业的机械手可以包括：旋转驱动机构、旋转主体、推吊卡机构和夹持机构；
所述夹持机构和所述推吊卡机构均与所述旋转主体连接，所述旋转驱动机构与所述旋转主体的一端连接，所述旋转驱动机构用于通过所述旋转主体带动所述夹持机构和所述推吊卡机构在水平方向呈圆周转动，以使所述夹持机构和所述推吊卡机构位于井口中心的接送管位置，所述夹持机构用于夹持外部管柱；
所述推吊卡机构用于与外部吊卡抵接，以推动外部吊卡在水平方向移动。
在本申请较佳的实施方式中，所述推吊卡机构可以包括推动主体、推板和角度调节机构；
所述推动主体的一端与所述旋转主体连接，所述推动主体的另一端与所述推板铰接，所述角度调节机构的两端分别与所述推动主体和所述推板的一侧铰接，所述角度调节机构用于带动所述推板相对于所述推动主体转动，以使所述推板呈角度与外部吊卡抵接。
在本申请较佳的实施方式中，所述推动主体可以包括第一推动臂、固定支架和第二推动臂；
所述第一推动臂和所述第二推动臂通过所述固定支架连接，所述固定支架用于将所述第一推动臂和所述第二推动臂 呈垂直设置，所述第一推动臂远离所述第二推动臂的一端与所述旋转主体连接，所述第二推动臂远离所述第一推动臂的一端与所述推板铰接。
在本申请较佳的实施方式中，所述固定支架可以包括支架主体、第一调节销轴和第二调节销轴；
所述支架主体可以设置有卡槽，所述第一推动臂和所述第二推动臂均插设于所述支架主体的卡槽内，且所述第一推动臂能够相对于所述支架主体转动；
所述支架主体上可以设置有第一固定孔、第二固定孔和第三固定孔，所述第一固定孔和所述第二固定孔位于同一直线上，所述第一固定孔和所述第三固定孔位于同一直线上，且所述第一固定孔和所述第二固定孔的连线与所述第一固定孔和所述第三固定孔的连线呈垂直设置，所述第一调节销轴用于依次贯穿所述第一固定孔、第一推动臂和第二推动臂，以将所述第一推动臂和所述第二推动臂固定于所述支架主体的卡槽内，所述第二调节销轴用于分别与所述第二固定孔和所述第三固定孔连接，以调节所述第一推动臂与所述第二推动臂呈垂直布置，或者，以调节所述第一推动臂与所述第二推动臂呈一条直线布置。
在本申请较佳的实施方式中，所述夹持机构可以包括固定套管、滑动套管、伸缩驱动机构和夹持组件；
所述伸缩驱动机构位于所述固定套管内，所述伸缩驱动机构的固定端与所述固定套管的一端内壁连接，且所述固定套管与所述旋转主体固定连接；
所述伸缩驱动机构的伸缩端与所述滑动套管位于所述固定套管的一端连接，所述滑动套管与所述固定套管滑动连接，且所述滑动套管伸出所述固定套管的一端与所述夹持组件连接。
在本申请较佳的实施方式中，所述夹持机构还可以包括直线运动控制传感机构；
所述直线运动控制传感机构位于所述固定套管中，所述伸缩驱动机构与所述直线运动控制传感机构电信号连接，所述直线运动控制传感机构用于控制所述伸缩驱动机构的伸缩长度。
在本申请较佳的实施方式中，所述夹持组件可以包括固定手爪、活动手爪、夹持传动机构和夹持驱动机构；
所述固定手爪与所述滑动套管的一侧连接，所述夹持传动机构、活动手爪和所述夹持驱动机构均位于所述滑动套管内部，所述夹持驱动机构通过所述夹持传动机构与所述活动手爪传动连接，所述夹持驱动机构用于通过所述夹持传动机构带动所述活动手爪相对于所述固定手爪转动，以调节所述活动手爪与所述固定手爪之间的夹持间距。
在本申请较佳的实施方式中，所述夹持传动机构可以包括手爪连接臂和手爪连接支架；所述夹持驱动机构包括夹持驱动部和弹性部；
所述弹性部位于所述手爪连接支架和所述夹持驱动部之间，且所述弹性部的两端分别与所述手爪连接支架和所述夹持驱动部抵接，所述夹持驱动部用于压缩所述弹性部带动所述手爪连接支架沿着所述滑动套管往复运动，所述弹性部具有令所述手爪连接支架远离所述夹持驱动部的弹性趋势；
所述手爪连接支架通过所述手爪连接臂与所述活动手爪铰接，所述手爪连接臂呈弧形结构，所述手爪连接臂用于将所述手爪连接支架的直线作用力转换成所述活动手爪的转动作用力。
在本申请较佳的实施方式中，还可以包括旋转控制传感机构；
所述旋转控制传感机构位于所述旋转主体上，所述旋转驱动机构与所述旋转控制传感机构电信号连接，所述旋转控制传感机构用于控制所述旋转驱动机构的转动角度。
本申请提供的一种修井作业设备，可以包括所述的用于修井作业的机械手。
本申请提供的一种用于修井作业的机械手，可以包括：旋转驱动机构、旋转主体、推吊卡机构和夹持机构；夹持机构和推吊卡机构均与旋转主体连接，旋转驱动机构与旋转主体的一端连接，旋转驱动机构通过利用旋转主体带动夹持机构和推吊卡机构在水平方向呈圆周转动，从而能够使得夹持机构和推吊卡机构位于井口中心的接送管位置，实现了机械手准确定位到井口中心和输送机接管位置；进一步地，推吊卡机构用于与外部吊卡抵接，以推动外部吊卡在水平方向移动；利用推吊卡机构相对于旋转主体的同步运动，通过推吊卡机构推动外部吊卡至井口中心，实现吊卡准确抱住管柱的效果，缓解了相关技术中存在的机械手位置固定导致管柱输送机安装位置的精度要求高，影响了现场作业的效率，修井作业设备适应性差，以及无法克服吊卡摆动，抓管稳定性差的技术问题。
本申请针对相关技术存在的缺陷，提供一体化自动井口作业装置，通过推送机构、旋转机构和运移机构的配合实现了机械化的作业，并且通过可呈V形折叠设计的推送机构，使运输和收纳更加的方便。
一体化自动井口作业装置，可以包括托架、防溅对扣器、液压钳、运移机构、旋转机构和推送机构，所述防溅对扣器和液压钳固定连接在托架上；
所述运移机构上设有横向滑动的连接底板，所述旋转机构固定在连接底板上，所述旋转机构的顶部为转动端，所述转动端与推送机构的后端连接，所述推送机构的前端固定承托所述的托架；
所述推送机构可以包括第一连接座、第二连接座、第二液压缸和V型折臂组；
所述V型折臂组可以包括均第一支臂、第二支臂、梯形座和连杆，所述第一支臂为相互平行布置的两根，并且第一支臂的上端与第一连接座铰接，下端与梯形座的前端铰接；
所述第二支臂为相互平行布置的两根，并且第二支臂的上端与第二连接座铰接，下端与梯形座的后端铰接，其中一根第二支臂的底部设有延长块，所述延长块的下端与连杆的一端铰接，连杆的另一端与其中一根第一支臂的底部铰接；
所述第二液压缸的一端与第二连接座铰接，另一端与其中一根第二支臂的中部铰接。
优选的，所述运移机构可以包括底座，所述底座上固定连接有两根横向导轨，并且两根导轨平行布置；
每根所述导轨上可以均滑动连接有滑套，两个所述滑套可以分别与连接底板的两端固定连接；
所述底座的后方可以设有支座，所述支座和滑套之间可以设有第一液压缸，所述第一液压缸的两端可以分别与滑套和支座铰接。
优选的，所述支座和第一液压缸可以均为两套，并且可以分别与两个滑套配合。
优选的，所述旋转机构可以包括固定座和驱动机构；
所述固定座可以固定在连接底板的上端，所述固定座的上方转动连接有转盘，所述转盘的外周套装有涡轮，所述转盘的上端连接有支撑梁，所述支撑梁的上端可以与推送机构的后端连接；
所述驱动机构可以包括液压马达，所述液压马达的转轴上安装有蜗杆，所述蜗杆与涡轮啮合传动。
优选的，所述转盘可以呈环状结构，所述固定座的上方可以设有与转盘适配的环槽，所述转盘的底部转动连接在环槽内。
优选的，所述液压马达的转轴末端可以固定连接有旋钮。
优选的，所述V型折臂组可以为相互平行布置的两组。
优选的，所述托架可以包括U型的上层浮动板和下层底板，所述下层底板上设有一组承托上层浮动板的浮动滚珠，所述上层浮动板和下层底板上对应开设有一组销孔，所述销孔内设有定位销。
本申请与相关技术相比较，至少具有以下优点：
本申请通过推送机构、旋转机构和运移机构的配合，实现机械化的防溅对扣或上卸扣作业，并且作业完成后，通过推送机构折叠和运移机构后移，能够更加快速的将液压钳及防溅对扣器退回，给吊卡下落让出足够的空间。
通过可呈V形折叠设计的推送机构，既能够实现作业时的推送和退出步骤，又能够在运输或收纳时进行折叠，折叠后具有更小的体积，从而使运输和收纳更加的方便。
本申请的托架，通过浮动滚珠支撑上层浮动板，液压钳及防溅对扣器则固定在上层浮动板上，再通过定位销与销孔间隙配合，实现液压钳及防溅对扣器的浮动能力。
本申请提供了一种油田修井作业用动力卡瓦，以解决相关技术中存在的自动化修井作业时，无法检测到接箍提升的位置，因此只能依靠人工观察接箍位置的技术问题。
本申请提供一种油田修井作业用动力卡瓦，可以包括：卡瓦壳体和感应器；
所述卡瓦壳体可以具有用于供管柱通过的第一中心孔；
所述感应器可以设置于所述卡瓦壳体，用于采集所述管柱上的接箍位置。
在可选的实施方式中，所述感应器可以采用点式感应器。
在可选的实施方式中，所述感应器可以设置为多个，多个所述感应器可以沿所述卡瓦壳体的周向间隔设置。
在可选的实施方式中，多个所述感应器可以设置于同一水平面上。
在可选的实施方式中，所述卡瓦壳体上可以设有与所述感应器数量相等的固定孔；
所述感应器可以与所述固定孔插接，且所述感应器的一端可以位于所述第一中心孔内。
在可选的实施方式中，所述感应器可以设置为四个，相邻两个所述感应器之间的夹角为90°。
在可选的实施方式中，所述感应器可以采用环状感应器。
在可选的实施方式中，所述第一中心孔内可以设有自封胶芯，所述自封胶芯可以具有第二中心孔，所述第二中心孔与所述第一中心孔连通且同轴设置；
所述第二中心孔能够供所述管柱通过。
在可选的实施方式中，所述自封胶芯的第一端部卡可以设于所述第一中心孔内，所述自封胶芯的第二端部可以位于所述第一中心孔外；
所述第二中心孔可以包括同轴设置的锥形孔和直圆孔，所述锥形孔开可以设于所述第一端部，所述直圆孔开可以设于所述第二端部。
本申请提供的油田修井作业用动力卡瓦，卡瓦壳体具有用于供管柱通过的第一中心孔，在具体工作时，管柱可以通过第一中心孔；由于感应器设置于卡瓦壳体，因此，当管柱上的接箍到达感应器所在位置时，感应器可采集到管柱上的接箍位置，实现自动检测。与相关技术中采用人工观察相比，该油田修井作业用动力卡瓦的检测方式可实现自动化作业，提高工作效率，同时感应器检测相对人工观察更加准确。
附图说明
为了更清楚地说明本申请具体实施方式或相关技术中的技术方案，下面将对具体实施方式或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了自动小修作业装置系统在进行作业时管柱输送排放设备与吊卡之间的相互协作的结构示意图；
图2示出了自动小修作业装置系统在进行作业时用于修井作业的吊卡与用于修井作业的机械手之间的相互协作的结构示意图；
图3A至图3C示出了自动小修作业装置系统在进行作业时一体化自动井口作业装置与动力卡瓦之间的相互协作的结构示意图；
图4为本申请实施方式提供的管柱输送排放设备处于第一状态时的结构示意图；
图5为本申请实施方式提供的管柱输送排放设备处于第二状态时的结构示意图；
图6为本申请实施方式提供的管柱输送排放设备的结构示意图；
图7为图6的A部放大图；
图8为本申请实施方式提供的输送装置的结构示意图；
图9为图8的B部放大图；
图10为本申请实施方式提供的排放装置的结构示意图；
图11为图10的C部放大图。
图12为本申请实施方式提供的用于吊卡的防打开机构的整体结构示意图；
图13为图1实施方式提供的用于吊卡的防打开机构的A处局部放大结构示意图；
图14为本申请实施方式提供的用于吊卡的防打开机构的吊卡本体的结构示意图；
图15为本申请实施方式提供的用于吊卡的防打开机构的吊卡本体的内部结构示意图；
图16为本申请实施方式提供的用于吊卡的防打开机构的吊卡本体关闭状态下的结构示意图；
图17为本申请实施方式提供的用于吊卡的防打开机构的防打开环的结构示意图。
图18为本申请实施方式提供的用于修井作业的机械手的整体结构示意图；
图19为本申请实施方式提供的用于修井作业的机械手的推吊卡机构位的结构示意图；
图20为本申请实施方式提供的用于修井作业的机械手的推吊卡机构位于回收状态下的结构示意图；
图21为本申请实施方式提供的用于修井作业的机械手的夹持机构的结构示意图；
图22为本申请实施方式提供的用于修井作业的机械手的夹持机构的夹持组件的结构示意图；
图23为本申请实施方式提供的用于修井作业的机械手的夹持机构的滑动套管的内部结构示意图；
图24为本申请实施方式提供的用于修井作业的机械手的夹持机构的夹持组件夹持管柱的剖面结构示意图。
图25为本申请展开状态的结构示意图；
图26为本申请折叠状态的结构示意图；
图27为本申请使用状态的结构示意图；
图28为运移机构的结构示意图；
图29为旋转机构的结构示意图；
图30为固定座和转盘的配合结构示意图；
图31为蜗轮蜗杆的配合结构示意图；
图32为推送机构的结构示意图；
图33为托架的结构示意图；
图34为本申请实施方式提供的油田修井作业用动力卡瓦的结构示意图；
图35为本申请实施方式提供的油田修井作业用动力卡瓦的主视图；
图36为本申请实施方式提供的油田修井作业用动力卡瓦的剖视图；
图37示出了通过本申请的实施方式的油田用自动小修作业系统来实现下管过程的流程图；以及
图38示出了通过本申请的实施方式的油田用自动小修作业系统来实现起管过程的流程图。
图标：
1101-第一底座；11011-调距结构；111-螺杆；112-螺母；
1102-转动臂；11021-臂体；211-主体部分；212-伸缩部分；213-第二伸缩驱动部件；11022-第一伸缩驱动部件；11023-第一传动部件；11024-第二传动部件；
1103-输送机构；11031-牵引驱动部件；11032-移动车；
1104-第二底座；11041-第一安装部；11042-第二安装部；
1105-导向机构；11051-主轨道；11052-扩展轨道；11053-齿条；
1106-平移机构；11061-龙门架；611-横梁；612-架体；11062-行走轮；11063-第一转动驱动部件；
1107-提升机构；11071-支撑杆；11072-升降机；11073-第二转动驱动部件；11074-转轴；11075-吸持结构；
1108-排放机构；11081-围堰；11082-横担；
1109-测长限位机构；11091-第三底座；11092-第三伸缩驱动部件；11093-升降架；11094-摆臂；11095-压簧。
120100-管柱；120200-防打开环；120201-第一连接孔；120202-通孔；120300-连接部；120400-吊卡本体；120401-吊卡主体；120411-第一补芯；120421-第二连接孔；120402-夹持机构；120412-第二补芯；120422-侧门；120432-第三连接孔；120403-锁舌；120413-凸起锁眼；120500-驱动机构；120600-锁紧机构；120700-翻转机构。
130100-旋转驱动机构；130200-旋转主体；130300-推吊卡机构；130301-推动主体；130311-第一推动臂；130321-固定支架；3211-支架主体；3212-第一调节销轴；3213-第二调节销轴；130331-第二推动臂；130302-推板；130303-角度调节机构；130400-夹持机构；130401-固定套管；130402-滑动套管；130403-伸缩驱动机构；130404-夹持组件；130414-固定手爪；130424-活动手爪；130434-夹持传动机构；4341-手爪连接臂；4342-手爪连接支架；130444-夹持驱动机构；4441-夹持驱动部；4442-弹性部；130405-直线运动控制传感机构；130500-旋转控制传感机构。
1、运移机构，2、旋转机构，3、推送机构，4、托架，5、防溅对扣器，6、液压钳，101、连接底板，102、滑套，103、导轨，104、底座，105、支座，106、第一液压缸，201、驱动机构，202、固定座，203、支撑梁，204、转盘，205、涡轮，206、液压马达，207、蜗杆，208、旋钮，301、第一连接座，302、第二连接座，303、第二液压缸，304、第二支臂，305、第一支臂，306、连杆，307、梯形座，308、延长块，401、上层浮动板，402、下层底板，403、浮动滚珠，404、定位销。
150100-卡瓦壳体；150110-第一中心孔；
150200-感应器；
150300-自封胶芯；150310-第二中心孔。
具体实施方式
下面将结合实施方式对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合图1至图4对根据本申请的一些实施方式的自动小修作业装置系统100进行描述。
根据本申请的一些实施方式的一种自动小修作业装置系统100，可以包括：修井机160、管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、以及油田修井作业用动力卡瓦150，其特征在于，自动小修作业装置系统100被配置成通过管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140以及油田修井作业用动力卡瓦150的相互协作来实现对管柱的下管作业和起管作业。
在根据本申请的一些实施方式中，修井机160可以沿自动小修作业装置系统100的第一方向布置使得修井机160的纵长方向与第一方向平行，并且修井机160的尾部被布置成在第一方向上与井口中心间隔开预定距离,第一方向为沿着井口的径向穿过井口中心的方向，管柱输送排放设备110被布置在自动小修作业装置系统100的第二方向的第一侧处，第二方向为穿过井口中心并与第一方向垂直的方向,用于修井作业的吊卡120、用于修井作业的机械手130以及一体化自动井口作业装置140布置在修井机160的尾部上且由修井机160承载，并且用于修井作业的吊卡120、用于修井作业的机械手130以及一体化自动井口作业装置140被布置在沿自动小修作业装置系统100的第二方向的与第一侧相反的第二侧处，油田修井作业用动力卡瓦150被布置在井口中心处,并且油田修井作业用动力卡瓦150配置成在允许管柱移动通过的打开位置及阻止管柱移动通过的闭合位置之间进行切换。
根据本申请的一些实施方式的自动小修作业装置系统100，在下管作业中，管柱输送排放设备110对待进行下管作业的管柱进行拾取并将所拾取的管柱输送到用于修井作业的吊卡120的夹持通道，参见图1，图1示出了管柱输送排放设备110与用于修井作业的吊卡120之间的相互协作以实现输送管柱过程；用于修井作业的吊卡对管柱进行夹持；用于修井作业的吊卡将管柱进行上提，用于修井作业的机械手130对由用于修井作业的吊卡夹持的管柱进行抓持并将所抓持的管柱定位于井口中心的下管位置处，参见图2，图2示出了用于修井作业的吊卡120与用于修井作业的机械手130之间的相互协作以完成推管过程；在由用于修井作业的机械手130抓持管柱的同时,一体化自动井口作业装置140的防溅对扣器移动到所述井口中心，所述用于修井作业的吊卡将管柱下放至井口中心的接箍位置处，从而通过一体化自动井口作业装置140对管柱进行对扣；通过使油田修井作业用动力卡瓦150打开，同时所述防溅对扣装置打开，用于修井作业的吊卡120对管柱进行下放，参见图3A、图3B和图3C，图3A至图3C示出了一体化自动井口作业装置的推送机构3与油田修井作业用动力卡瓦150之间的相互协作以完成下管过程。
根据本申请的一些实施方式的自动小修作业装置系统100，在起管作业中，通过使油田修井作业用动力卡瓦150打开，用于修井作业的吊卡120将管柱进行上提，以使另一管柱的接箍暴露到指定位置；在使油田修井作业用动力卡瓦150闭合的情况下，一体化自动井口作业装置140对经暴露的接箍进行卸扣；一体化自动井口作业装置退回，用于修井作业的吊卡将管柱进行上提，用于修井作业的机械手130对经卸扣的管柱进行夹持并将管柱从井口中心移动到能够由管柱输送排放设备110的输送机构接收的位置；用于修井作业的吊卡将所述管柱进行下放，输送机构对管柱进行接收并且将管柱移动远离井口中心。
在根据本申请的一些实施方式的自动小修作业装置系统100中，用于修井作业的机械手130包括：机械手旋转机构、夹推机构，其中，用于修井作业的机械手130被配置成：在下管作业中，通过机械手旋转机构带动夹推结构在水平方向呈圆周转动，以对由吊卡夹持的管柱进行抓持并将所抓持的管柱定位于井口中心的下管位置处；在起管作业中，通过机械手旋转机构带动夹推结构在水平方向呈圆周转动，以对经卸扣的管柱进行夹持并将管柱从井口中心移动到能够由管柱输送排放设备110的输送机构接收的位置。
在根据本申请的一些实施方式的自动小修作业装置系统100中，用于修井作业的吊卡120包括吊卡本体，吊卡本体包括吊卡主体和夹持机构，夹持机构能够相对于吊卡主体向靠近或远离吊卡主体的方向转动，以使夹持机构和吊卡主体之间能够形成用于夹持管柱的夹持通道,并且夹持机构被配置成在下管作业中和起管作业中能够对管柱进行夹持。
在根据本申请的一些实施方式的自动小修作业装置系统100中，管柱输送排放设备110包括输送装置和排放装置，输送装置包括输送机构,其中,在下管作业中，通过输送装置的输送机构将管柱输送到夹持机构和吊卡主体之间的夹持通道；在起管作业中，通过输送装置的输送机构对管住进行接收并且将管柱输送至排放装置能够保持管柱的位置。
在根据本申请的一些实施方式的自动小修作业装置系统100中，一体化自动井口作业装置140包括液压钳、推送机构、井口作业旋转机构和运移机构，其中,在下管作业中，在由用于修井作业的机械手130抓持管柱的同时,通过推送机构、井口作业旋转机构和运移机构来将管柱从井口中心的下管位置处移动至井口中心的接箍位置处并通过液压钳对管柱进行对扣；在起管作业中，通过液压钳对管柱的经暴露的接箍进行卸扣。
在根据本申请的一些实施方式的自动小修作业装置系统100中，其特征在于，油田修井作业用动力卡瓦150包括：卡瓦壳体和感应器，油田修井作业用动力卡瓦150被配置成通过感应器自动检测管柱的接箍位置,以在打开位置与闭合位置之间进行切换。
在根据本申请的一些实施方式的自动小修作业装置系统100中，其特征在于，自动小修作业装置系统100包括两个用于修井作业的机械手130，两个用于修井作业的机械手130分别位于修井机160的尾部的两侧，以及管柱输送排放设备110被布置在自动小修作业装置系统100的第二方向的第一侧且在自动小修作业装置系统100的第一方向的两侧中的至少一侧，以增加自动小修作业装置系统现场的实用性。油井周围环境存在很多不确定因素，施工环境以及考虑因素比较复杂。根据本申请的实施方式的自动小修作业装置系统100，能够根据油井的周围环境以及实际需要来选择管柱输送排放设备110的位置以及自动小修作业装置系统100的布局，从而显著提高了油田修井作业的工作效率以及现场实用性。
下面结合附图对用于在自动小修作业装置系统100中使用的管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140以及油田修井作业用动力卡瓦150进行详细的描述。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。
相关领域的管柱输送排放设备只能实现单方向的管柱输送，原因在于其输送装置和排放装置为一体式结构，设备进场固定后，无法单独调整输送装置的方向，有鉴于此，本实施方式提出了一种管柱输送排放设备，旨在通过对输送装置和排放装置的结构形式和连接方式的改进来解决该问题。
具体的，结合附图4、5和6所示，本实施方式提供的管柱输送排放设备，包括输送装置和排放装置；其中，本实施方式的输送装置包括第一底座1101、转动臂1102和输送机构1103；转动臂1102具有相对的第一端和第二端，第一端铰装在第一底座1101上，第二端可绕第一端转动，具体的转动实现方式在下述中给出；本实施方式的输送机构1103用于夹持并带动管柱由第一端向第二端移动，当管柱完全位于输送装置后，通过转动臂1102的转动带动管柱至提升工位，然后通过排放装置进行排放作业。
本实施方式的排放装置包括第二底座1104、导向机构1105、平移机构1106、提升机构1107、排放机构1108；其中，本实施方式的导向机构1105安装在第二底座1104上，平移机构1106安装在导向机构1105上，并可沿导向机构1105的预设方向移动；本实施方式的提升机构1107安装在平移机构1106上，并用于将位于提升工位处的管柱移动至排放机构1108上，然后通过排放机构1108进行管柱的排放，在排放过程中通过提升机构1107和平移机构1106来调整管柱下放到排放机构1108的位置。
本实施方式的第二底座1104的长度方向与第一底座1101的长度方向一致，或者说是两者平行设置，并且第一底座1101和第二底座1104的长度相近，本实施方式的第二底座1104具有相对的第三端和第四端，第三端靠近上述的第一端，第四端靠近上述的第二端，本实施方式的第三端设有第一安装部11041，第四端设有第二安装部11042，如图4所示，本实施方式的第一底座1101一端可以选择性的与一侧的第一安装部11041可拆卸连接，也可以如图5所示，第一底座1101的一端与另一侧的第二安装部11042可拆卸连接，具体的可拆卸连接方式有多种，只要能够实现第一底座1101一端的稳固即可，而且本实施方式的第一底座1101的另一端也可以与第二底座1104连接，例如当第一底座1101的一端与第一安装部11041连接，第一底座1101的另一端与第二安装部11042连接，以提高连接的稳定性。
通过上述结构改进，不仅能够实现管柱的输送功能和排放功能，而且通过切换第一底座1101一端与第一安装部11041或第二安装部11042的连接，来掉转输送装置的输送方向，扩大了设备对井场的适用范围。
结合附图6和7所示，为了进一步提高设备对井场的适用范围，本实施方式还将输送装置在第二底座1104上的位置设计为可以调节。具体的，是本实施方式的第一底座1101与第一安装部11041通过调距结构11011相连接，或者，本实施方式的第一底座1101与第一安装部11041通过调距结构11011相连接，本实施方式的调距结构11011用于调节第一底座1101与第一安装部11041或第二安装部11042之间的距离；本实施方式的调距结构11011可以包括螺杆111和螺母112，螺杆111分别连接本实施方式的第一底座1101和本实施方式的第一安装部11041或第二安装部11042，通过调节第一底座1101与螺杆111连接的位置来调整第一底座1101与第一安装部11041或第二安装部11042之间的距离。
结合附图8所示，为了实现转动臂1102的平稳转动，本实施方式对其结构进行改进，具体的，本实施方式的转动臂1102包括臂体11021、第一伸缩驱动部件11022、第一传动部件11023和第二传动部件11024。
其中，本实施方式的臂体11021具有上述的第一端和第二端，本实施方式的第一伸缩驱动部件11022一端安装在第一底座1101上，另一端与第一传动部件11023的中部铰接；优选的，本实施方式的第一传动部件11023为等腰三角架结构，以保证其结构强度。本实施方式的第一传动部件11023的下端铰装在第一底座1101上，第一传动部件11023的上端与第二传动部件11024的下端铰接；本实施方式的第二传动部件11024的上端与臂体11021铰接。
在动作时，第一伸缩驱动部件11022伸缩带动第一传动部件11023移动，进而带动第二传动部件11024和臂体11021转动，转动过程平稳可靠。本实施方式的第一伸缩驱动部件11022和下述的第二伸缩驱动部件213等可以是液压缸、气缸等直线往复运动结构。
另外，为了使得转动臂1102能够容置不同长度的管柱，本实施方式对臂体11021结构做出优化，再结合附图8所示，本实施方式的臂体11021包括主体部分211、伸缩部分212和第二伸缩驱动部件213；主体部分211与伸缩部分212相连接；本实施方式的第二伸缩驱动部件213一端与主体部分211连接，另一端与伸缩部分212连接，并用于带动伸缩部分212相对于主体部分211伸缩，以调节转动臂1102的长度。
本实施方式的输送机构1103包括牵引驱动部件11031和移动车11032；牵引驱动部件11031安装在转动臂1102上，并与移动车11032连接，牵引驱动部件11031可以具有任意一种能够带动移动车11032移动的牵引结构；本实施方式的移动车11032用于夹持管柱一端，夹持方式为机械自动夹持，移动车11032安装在转动臂1102上，并在牵引驱动部件11031的带动下沿转动臂1102的长度方向移动。
另外，为了实现管柱长度的测定，本实施方式的管柱输送排放设备还包括测长装置，测长装置包括位移检测机构(图中未示出)和测长限位机构1109，本实施方式的位移检测机构安装在转动臂1102上，并用于检测移动车11032的位移量，位移检测机构可以是位移传感器等部件。
结合附图9所示，本实施方式的测长限位机构1109包括第三底座11091、第三伸缩驱动部件11092、升降架11093、摆臂11094、压簧11095和传感部件(图中未示出)；其中，本实施方式的第三底座11091安装在第一底座1101上，并且靠近转动臂1102的第二端设置，本实施方式的升降架11093和第三伸缩驱动部件11092安装在第三底座11091上，本实施方式的第三伸缩驱动部件11092用于带动升降架11093升降；本实施方式的摆臂11094一端与升降架11093铰接，另一端通过压簧11095与升降架11093连接；本实施方式的传感部件安装在升降架11093上，当管柱被移动车11032带动移动至第二端时，管柱与摆臂11094相抵，带动摆臂11094转动并压缩压簧11095至预设状态时触发传感部件，传感部件可以是接触传感器等结构。
管柱由上管柱装置(图中未示出)提供给移动小车，移动小车带动管柱的一端移动，在检测时，需要将转动臂1102转动至水平状态，并且基于管柱的长度，本实施方式的转动臂1102可以通过上述的第二伸缩驱动部件213带动转动臂1102伸缩至与管柱相等的长度，当管柱的一端移动至顶抵本实施方式的摆臂11094时，传感部件发出感应信号，管柱被测长限位机构1109限位，设备的控制装置(图中未示出)接收信号并得出管柱的长度，具体的长度计算是基于移动车11032的移动距离得出。本实施方式的整个测长过程由本实施方式的控制装置实现，控制装置可以是控制器或者处理器等能够进行接收信号、数据处理和发送控制指令的结构。
结合附图10和11所示，本实施方式的导向机构1105包括分别安装在第二底座1104上的两导轨，为了便于设备的运输，本实施方式将导轨设计成可折叠结构，具体的，是本实施方式的导轨包括相铰接的主轨道11051和扩展轨道11052；本实施方式的第二底座1104设有固定支架，固定支架的两侧即为上述的第一安装部11041和第二安装部11042，本实施方式的主轨道11051安装在固定支架上，扩展轨道11052安装在可移动支座上。
为了提高平移机构1106的结构稳定性和行走稳定性，本实施方式的平移机构1106包括龙门架11061、行走轮11062、第一转动驱动部件11063和齿轮(图中未示出)；具体的，本实施方式的龙门架11061包括横梁611和连接于横梁611两端的架体612，横梁611用于安装在提升机构1107；架体612上端与横梁611连接，架体612下端设有行走轮11062；行走轮11062安装在导向机构1105上。通过龙门架11061提升了设备的整体高度，进而降低了对导向机构1105的高度要求。
本实施方式的第一转动驱动部件11063安装在龙门架11061底部，第一转动驱动部件11063与齿轮相连接，并用于带动齿轮转动；导向机构1105的导轨侧部安装有齿条11053，齿轮与齿条11053相啮合，通过本实施方式的第一转动驱动部件11063带动齿轮转动，进而带动本实施方式的行走轮11062和龙门架11061以及提升机构1107运动，不仅实现了平移，而且通过侧部的齿条11053与齿轮之间的连接能够对行走轮11062和龙门架11061进行一定的限位，以提高行走过程中的稳定性。
再结合附图10所示，本实施方式的提升机构1107包括两支撑杆11071、两升降机11072、第二转动驱动部件11073、转轴11074和吸持结构11075；本实施方式的支撑杆11071插设在平移机构1106上，且支撑杆11071的下端穿过平移机构1106；本实施方式的升降机11072安装在平移机构1106的顶部，两个升降机11072分别与两个支撑杆11071一一对应传动连接；转轴11074的两端分别与两个升降机11072传动连接；本实施方式的第二转动驱动部件11073安装在平移机构1106的顶部，第二转动驱动部件11073与转轴11074相连接，并用于带动转轴11074转动，第二转动驱动部件11073与上述第一转动驱动部件11063均包括电机等输出扭矩的结构。
在升降时，第二转动驱动部件11073带动转轴11074转动，转轴11074带动升降机11072动作，并使得支撑杆11071中的伸缩部分212升降，进而带动本实施方式的吸持结构11075升降，本实施方式的升降机11072可以是具有任意一种将回转运动转化为直线运动的结构，例如齿轮齿条11053结构等。
本实施方式的吸持结构11075安装在支撑杆11071的下端，吸持结构11075用于磁吸管柱，吸持结构11075包括电磁吸管盘，电磁吸管盘为断电具有磁性，通电不具有磁性，保证了操作过程的安全性。
本实施方式的排放机构1108包括围堰11081和横担11082；围堰11081呈盒体状，其形状与第二底座1104相近，围 堰11081与第二底座1104相连接，围堰11081设有废液回收槽；多个横担11082间隔安装在废液回收槽内，并将废液回收槽分隔成多个槽体，且横担11082的高度大于等于围堰11081侧壁高度，放管时，每一层管柱排布完成后，加设一层横担11082，防止管柱堆叠在一起影响废液排出。
下面结合图12至图17对用于在自动小修作业装置系统100中使用的用于修井作业的吊卡120进行详细的描述。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。
如图12、图13、图14、图15、图16及图17所示，本实施方式提供的一种用于吊卡的防打开机构，包括：防打开环120200、连接部120300和吊卡本体120400；吊卡本体120400包括吊卡主体120401和夹持机构120402，夹持机构120402和吊卡主体120401连接，夹持机构120402包括有侧门120422，夹持机构120402通过侧门120422能够相对于吊卡主体120401向靠近或远离吊卡主体120401的方向转动，以使夹持机构120402和吊卡主体120401之间能够形成用于夹持管柱1000的夹持通道；防打开环120200具有贯穿管柱1000的通孔120202，防打开环120200通过通孔120202与夹持通道呈同心设置，且防打开环120200通过连接部120300分别与吊卡主体120401和夹持机构120402连接，以将夹持机构120402固定于吊卡主体120401上。
需要说明的是，本实施方式提供的用于吊卡的防打开机构是油田自动修井作业中用于悬持管柱1000的结构，通过利用夹持机构120402能够相对于吊卡主体120401进行相对运动，从而能够实现夹持机构120402和吊卡主体120401对管柱1000的夹持，并且将夹持机构120402对吊卡主体120401锁紧定位后，此时可以将防打开环120200通过连接部120300分别与吊卡主体120401和夹持机构120402连接，使得夹持机构120402能够始终处于锁紧状态，并且此时吊卡主体120401、夹持机构120402和防打开环120200形成了整体结构，保证了对管柱1000夹持的稳定性。
可选地，防打开环120200可以采用金属结构环，其中防打开环120200可以采用套设于夹持机构120402和吊卡主体120401的补芯外部的结构，也可以采用贴附于夹持机构120402和吊卡主体120401的补芯端部的结构，并且防打开环120200利用连接部120300使得夹持机构120402和吊卡主体120401形成一个整体，从而能够使得夹持机构120402的锁紧机构120600一直处于锁紧状态，防止了夹持机构120402相对吊卡主体120401打开的风险。
本实施方式提供的一种用于吊卡的防打开机构，包括：防打开环120200、连接部120300和吊卡本体120400；吊卡本体120400包括吊卡主体120401和夹持机构120402，夹持机构120402和吊卡主体120401连接，夹持机构120402能够相对于吊卡主体120401向靠近或远离吊卡主体120401的方向转动，以使夹持机构120402和吊卡主体120401之间能够形成用于夹持管柱1000的夹持通道；防打开环120200具有贯穿管柱1000的通孔120202，防打开环120200通过通孔120202与夹持通道呈同心设置，且防打开环120200通过连接部120300分别与吊卡主体120401和夹持机构120402连接，以将夹持机构120402固定于吊卡主体120401上；在实际操作过程中，当夹持通道形成后，将防打开环120200利用连接部120300安装在吊卡主体120401和夹持机构120402上，使得夹持机构120402和吊卡主体120401形成整体结构，从而能够使得夹持机构120402能够始终处于锁紧状态，防止了夹持机构120402相对于吊卡主体120401打开的风险，缓解了相关技术中存在的吊卡使用的过程中，侧门120422存在打开的风险，存在安全隐患的技术问题。
在上述实施方式的基础上，进一步地，在本申请较佳的实施方式中，吊卡主体120401包括第一补芯120411，夹持机构120402包括第二补芯120412和侧门120422；吊卡主体120401设置有圆弧面，第一补芯120411位于吊卡主体120401的圆弧面内，且第一补芯120411与吊卡主体120401的圆弧面连接；侧门120422呈圆弧结构，第二补芯120412位于侧门120422靠近吊卡本体120400的一侧，且第二补芯120412与侧门120422连接，侧门120422通过旋转轴与吊卡主体120401转动连接，侧门120422用于带动第二补芯120412与第一补芯120411抵接，以形成用于夹持管柱1000的圆环结构。
在本申请较佳的实施方式中，还包括驱动机构120500；驱动机构120500设置于吊卡本体120400上，且驱动机构120500的输出端与侧门120422传动连接，驱动机构120500用于带动侧门120422相对于吊卡主体120401转动。
可选地，吊卡主体120401设置有开口槽，并且吊卡主体120401呈圆弧结构，侧门120422可以采用圆弧形门，其中，侧门120422与吊卡主体120401的一侧可以通过旋转轴连接，侧门120422利用旋转轴的转动作用，能够以旋转轴为中心相对于吊卡主体120401转动；当需要对管柱1000进行夹持时，利用驱动机构120500带动侧门120422进行转动，直至侧门120422与吊卡主体120401的另一侧边缘完全抵接，此时侧门120422上的第二补芯120412和吊卡主体120401上的第一补芯120411完成夹持通道的闭合；由于夹持通道需要对管柱1000进行夹持，为了保证夹持过程中的可靠性，第一补芯120411和第二补芯120412的端部依次抵接，从而形成了夹持管柱1000的圆环结构，此时第一补芯120411和第二补芯120412能够对管柱1000施加更加稳定的夹持力。
可选地，驱动机构120500可以采用液压缸驱动，具体地，驱动机构120500的活塞杆带动侧门120422相对于旋转轴进行转动，当第二补芯120412与第一补芯120411完全抵接时，此时液压缸达到满行程，并且液压缸能够保持侧门120422在锁闭状态的锁紧夹持；在此时锁紧夹持状态作用力下，通过防打开环120200与第一补芯120411和第二补芯120412形成的圆环结构连接固定，从而能够更好的保持夹持通道的稳定性。
在本申请较佳的实施方式中，防打开环120200上设置有多个第一连接孔120201，第一补芯120411上设置有第二连接孔120421，第二补芯120412上设置有第三连接孔120432，第一连接孔120201的数量大于或等于第二连接孔120421和第三连接孔120432的总和；防打开环120200与第一补芯120411和第二补芯120412形成的圆环结构贴合，连接部120300包括第一连接部和第二连接部，第一连接部的数量与第二连接孔120421的数量对应设置，第一连接部用于依次贯穿第一连接孔120201和第二连接孔120421；第二连接部的数量与第三连接孔120432的数量对应设置，第二连接部用于依次贯穿第一连接孔120201和第三连接孔120432，以将防打开环120200与第一补芯120411和第二补芯120412固定连接。
在本申请较佳的实施方式中，第二连接孔120421的数量至少为两个，第三连接孔120432的数量至少为两个。
本实施方式中，连接部120300可以采用连接螺栓，即第一连接部和第二连接部均可以采用螺栓，并且在第一补芯120411和第二补芯120412的第二连接孔120421和第三连接孔120432内均设置有螺纹段，当防打开环120200与第一补芯120411和第二补芯120412贴合后，此时将第一连接孔120201的位置分别与第二连接孔120421和第三连接孔120432的位置匹配对应，利用连接螺栓贯穿第一连接孔120201后，能够分别与第二连接孔120421或第三连接孔120432内部的螺纹段进行螺纹连接，保证了防打开环120200能够分别与第一补芯120411和第二补芯120412形成整体连接；另外，连接部120300也可以采用销轴的方式，此处对此不再赘述。
可选地，第一连接孔120201的数量可以采用五个，第二连接孔120421的数量可以为三个，第三连接孔120432的数量可以为两个，并且第二连接孔120421沿着第一补芯120411的端部均匀布置，第三连接孔120432沿着第二补芯120412的端部均匀布置，第一连接孔120201沿着防打开环120200的表面均匀布置，从而能够使得第一连接孔120201分别与第 二连接孔120421和第三连接孔120432贴合对应。
在本申请较佳的实施方式中，吊卡本体120400还包括锁舌120403；锁舌120403与吊卡主体120401连接，夹持机构120402和锁舌120403能够相对于吊卡主体120401向相对或相反的方向转动，锁舌120403用于与夹持机构120402连接，以将夹持机构120402固定于吊卡主体120401上。
在本申请较佳的实施方式中，吊卡本体120400还包括锁紧机构120600；锁紧机构120600包括销轴和弹簧；侧门120422靠近锁舌120403的一侧设置有槽口，且锁舌120403对应设置有用于与槽口配合的凸起锁眼120413；侧门120422位于槽口的上方设置有阶梯孔，销轴插设于阶梯孔内，且销轴与第二补芯120412抵接，第二补芯120412用于带动销轴在阶梯孔内移动；弹簧套设于销轴的外部，且弹簧的两端分别与销轴和阶梯孔的台阶抵接，弹簧具有令销轴远离槽口的弹性趋势。
本实施方式中，由于管柱1000具有自重，因此管柱1000会对第一补芯120411和第二补芯120412施加向下的作用力，利用第二补芯120412在竖直方向的运动能够带动销轴在竖直方向进行运动。
可选地，弹簧可以采用伸缩弹簧，在没有管柱1000作用下，销轴在弹簧的作用下弹出，并把第二补芯120412顶起，当有管柱1000进入到夹持通道内时，此时侧门120422相对于吊卡主体120401已经处于关闭状态，并且锁舌120403的凸起锁眼120413伸入到侧门120422的槽口内，当撤掉管柱1000的吊装机构时，此时管柱1000在自重的作用下会向下挤压第二补芯120412，第二补芯120412进而能够克服弹簧的作用力，使得销轴插设于凸起锁眼120413内，完成了侧门120422和锁舌120403之间的机械锁定。
在本申请较佳的实施方式中，还包括翻转机构120700；吊卡本体120400上设置有翻转挡板，翻转机构120700通过翻转挡板与吊卡本体120400连接，翻转机构120700用于通过吊卡本体120400调节夹持通道的角度。
可选地，翻转机构120700与翻转挡板之间可以通过多个螺栓进行固定。可选地，翻转机构120700可以包括翻转壳体、安装机构、翻转液压驱动机构、传动机构、吊环锁块和摆杆；吊环锁块与翻转壳体连接，翻转壳体通过吊环锁块与外部吊环连接，摆杆位于翻转壳体远离吊环锁块的一端，摆杆用于与吊卡本体120400上的翻转挡板连接；安装机构、翻转液压驱动机构和传动机构均位于翻转壳体内，翻转液压驱动机构通过安装机构与翻转壳体的端面连接，安装机构用于调节翻转液压驱动机构在翻转壳体的位置，翻转液压驱动机构的输出端通过传动机构与摆杆传动连接，以带动摆杆相对于翻转壳体转动。
翻转壳体一端通过吊环锁块与外部的吊环连接，翻转壳体的另一端通过摆杆与吊卡本体120400连接；翻转液压驱动机构通过安装机构与翻转壳体的内壁连接；其中，安装机构可以包括螺杆和固定座，翻转液压驱动机构可以采用液压缸，固定座与翻转液压驱动机构固定端连接，并且固定座远离翻转液压驱动机构的一侧与螺杆固定连接，螺杆能够伸出翻转壳体与调节螺母连接，利用调节螺母的螺纹活动能够调节翻转液压驱动机构在翻转壳体内的位置。
本实施方式提供的一种翻转吊卡，包括所述的用于吊卡的防打开机构；由于本实施方式提供的翻转吊卡的技术效果与上述实施方式提供的用于吊卡的防打开机构的技术效果相同，此处对此不再赘述。
下面结合图18至图24对用于在自动小修作业装置系统100中使用的用于修井作业的机械手130进行详细的描述。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。
如图18-图24所示，本实施方式提供的一种用于修井作业的机械手，包括：旋转驱动机构130100、旋转主体130200、推吊卡机构130300和夹持机构130400；夹持机构130400和推吊卡机构130300均与旋转主体130200连接，旋转驱动机构130100与旋转主体130200的一端连接，旋转驱动机构130100用于通过旋转主体130200带动夹持机构130400和推吊卡机构130300在水平方向呈圆周转动，以使夹持机构130400和推吊卡机构130300位于井口中心的接送管位置，夹持机构130400用于夹持外部管柱；推吊卡机构130300用于与外部吊卡抵接，以推动外部吊卡在水平方向移动。
需要说明的是，本实施方式提供的用于修井作业的机械手属于自动化修井设备的结构，旋转主体130200作为整体结构的支撑主体，推吊卡机构130300和夹持机构130400与旋转主体130200连接，当旋转驱动机构130100带动旋转主体130200进行转动时，此时推吊卡机构130300和夹持机构130400会随着旋转主体130200的转动在水平方向进行转动，其中，旋转主体130200能够带动夹持机构130400运动至井口中心位置，同时推吊卡机构130300在运动的过程中，能够与外部的吊卡抵接，即同步带动吊卡运动至井口中心，从而利用夹持机构130400对吊卡中的管柱进行夹持固定。
可选地，旋转主体130200可以包括旋转下支架、旋转固定支架130321、旋转上支架和直立臂；旋转驱动机构130100可以采用驱动电机或者旋转液压缸，优选地，旋转驱动机构130100采用旋转液压缸。
本实施方式中，旋转下支架与旋转驱动机构130100的第一驱动端连接，旋转固定支架130321与旋转驱动机构130100的外筒壁固定连接，旋转上支架与旋转驱动机构130100的第二驱动端连接，并且直立臂能够分别与旋转上支架和旋转下支架连接，当旋转驱动机构130100相对于旋转固定支架130321进行转动时，此时旋转驱动机构130100的第一驱动端和第二驱动端同步带动旋转上支架和旋转下支架进行转动，以使直立臂能够在圆周方向进行转动。其中，沿着直立臂的延伸方向分别与推吊卡机构130300和夹持机构130400连接。
在本申请较佳的实施方式中，还包括旋转控制传感机构130500；旋转控制传感机构130500位于旋转主体130200上，旋转驱动机构130100与旋转控制传感机构130500电信号连接，旋转控制传感机构130500用于控制旋转驱动机构130100的转动角度。
可选地，旋转控制传感机构130500可以包括相互电信号连接的转动传感器和控制器，其中，转动传感器用于检测直立臂的转动角度，并且将此转动角度信息传输至控制器，控制器能够根据控制指令控制转动驱动机构的转动角度，通过利用旋转控制传感机构130500的精确控制转动驱动机构的旋转角度，能够实现机械手准确定位到井口中心和输送机接管位置。
本实施方式提供的一种用于修井作业的机械手，包括：旋转驱动机构130100、旋转主体130200、推吊卡机构130300和夹持机构130400；夹持机构130400和推吊卡机构130300均与旋转主体130200连接，旋转驱动机构130100与旋转主体130200的一端连接，旋转驱动机构130100通过利用旋转主体130200带动夹持机构130400和推吊卡机构130300在水平方向呈圆周转动，从而能够使得夹持机构130400和推吊卡机构130300位于井口中心的接送管位置，实现了机械手准确定位到井口中心和输送机接管位置；进一步地，推吊卡机构130300用于与外部吊卡抵接，以推动外部吊卡在水平方向移动；利用推吊卡机构130300相对于旋转主体130200的同步运动，通过推吊卡机构130300推动外部吊卡至井口中心，实现吊卡准确抱住管柱的效果，缓解了相关技术中存在的机械手位置固定导致管柱输送机安装位置的精度要求高，影响了现场作业的效率，修井作业设备适应性差，以及无法克服吊卡摆动，抓管稳定性差的技术问题。
在上述实施方式的基础上，进一步地，在本申请较佳的实施方式中，推吊卡机构130300包括推动主体130301、推板 130302和角度调节机构130303；推动主体130301的一端与旋转主体130200连接，推动主体130301的另一端与推板130302铰接，角度调节机构130303的两端分别与推动主体130301和推板130302的一侧铰接，角度调节机构130303用于带动推板130302相对于推动主体130301转动，以使推板130302呈角度与外部吊卡抵接。
本实施方式中，由于外部吊卡在风力以及下放速度的影响下会发生位置偏移，利用角度调节机构130303能够使得推板130302相对于推动主体130301转动，从而能够，利用推板130302呈张开型结构能够使得推板130302完全与吊卡贴合。
可选地，角度调节机构130303可以采用伸缩液压缸，推板130302的中心位置可以与推动主体130301铰接，并且伸缩液压缸呈倾斜设置于推板130302和推动主体130301之间，并且伸缩液压缸的两端分别与推板130302和推动主体130301铰接，当伸缩液压缸推动推板130302的一侧时，此时推板130302能够相对于推动主体130301转动，从而能够使得推板130302适应吊卡偏转角度的变化。
在本申请较佳的实施方式中，推动主体130301包括第一推动臂130311、固定支架130321和第二推动臂130331；第一推动臂130311和第二推动臂130331通过固定支架130321连接，固定支架130321用于将第一推动臂130311和第二推动臂130331呈垂直设置，第一推动臂130311远离第二推动臂130331的一端与旋转主体130200连接，第二推动臂130331远离第一推动臂130311的一端与推板130302铰接。
可选地，第一推动臂130311与旋转主体130200的连接方式可以为多种，例如：第一推动臂130311通过固定板和固定螺栓与旋转主体130200可拆卸连接，或者可以直接通过焊接的方式与旋转主体130200固定连接；优选地，第一推动臂130311的端部与固定板实现固定连接，固定板上设置有连接孔，沿着旋转主体130200的延伸方向设置有多排连接孔，当需要将第一推动臂130311与旋转主体130200连接时，通过螺栓贯穿固定板上的连接孔和旋转主体130200预定的位置的连接孔，实现了推动主体130301在旋转主体130200上的高度调节，从而能够使得推板130302更好的适应不同高度的吊卡位置的接箍。
在本申请较佳的实施方式中，固定支架130321包括支架主体3211、第一调节销轴3212和第二调节销轴3213；支架主体3211设置有卡槽，第一推动臂130311和第二推动臂130331均插设于支架主体3211的卡槽内，且第一推动臂130311能够相对于支架主体3211转动；支架主体3211上设置有第一固定孔、第二固定孔和第三固定孔，第一固定孔和第二固定孔位于同一直线上，第一固定孔和第三固定孔位于同一直线上，且第一固定孔和第二固定孔的连线与第一固定孔和第三固定孔的连线呈垂直设置，第一调节销轴3212用于依次贯穿第一固定孔、第一推动臂130311和第二推动臂130331，以将第一推动臂130311和第二推动臂130331固定于支架主体3211的卡槽内，第二调节销轴3213用于分别与第二固定孔和第三固定孔连接，以调节第一推动臂130311与第二推动臂130331呈垂直布置，或者，以调节第一推动臂130311与第二推动臂130331呈一条直线布置。
本实施方式中，推动主体130301存在两种使用状态，在运输时为了满足运输要求，将第一推动臂130311和第二推动臂130331设置为一条直线，此时将第一推动臂130311沿着支架主体3211的卡槽进行转动，当第一推动臂130311和第二推动臂130331呈一条直线时，此时将第二调节销轴3213依次插设在第二固定孔和第一推动臂130311的固定孔内，从而将第一推动臂130311进行固定；在使用状态下，将第一推动臂130311和第二推动臂130331呈垂直设置，此时将第一推动臂130311沿着支架主体3211的卡槽进行转动，当第一推动臂130311和第二推动臂130331呈垂直设置时，此时将第二调节销轴3213依次插设在第三固定孔和第一推动臂130311的固定孔内，从而将第一推动臂130311进行固定。
需要说明的是，第一调节销轴3212作为第一推动臂130311的转动中心，第一调节销轴3212与第一固定孔连接，并且第一调节销轴3212能够分别与第一推动臂130311和第二推动臂130331连接；当第二调节销轴3213与第三固定孔连接时，此时为了保证第二推动臂130331的稳定性，在第二固定孔同样需要放置有一个调节销轴，从而能够使得第二推动臂130331固定在固定支架130321的卡槽内。
在本申请较佳的实施方式中，夹持机构130400包括固定套管130401、滑动套管130402、伸缩驱动机构130403和夹持组件130404；伸缩驱动机构130403位于固定套管130401内，伸缩驱动机构130403的固定端与固定套管130401的一端内壁连接，且固定套管130401与旋转主体130200固定连接；伸缩驱动机构130403的伸缩端与滑动套管130402位于固定套管130401的一端连接，滑动套管130402与固定套管130401滑动连接，且滑动套管130402伸出固定套管130401的一端与夹持组件130404连接。
在本申请较佳的实施方式中，夹持机构130400还包括直线运动控制传感机构130405；直线运动控制传感机构130405位于固定套管130401中，伸缩驱动机构130403与直线运动控制传感机构130405电信号连接，直线运动控制传感机构130405用于控制伸缩驱动机构130403的伸缩长度。
本实施方式中，固定套管130401的端部与旋转主体130200固定连接，并且伸缩驱动机构130403能够带动滑动套管130402相对于固定套管130401滑动，其中滑动套管130402与固定套管130401之间可以通过滑轨和滑槽配合连接。
可选地，伸缩驱动机构130403可以采用伸缩液压缸，直线运动控制传感机构130405可以包括相互电信号连接的直线传感器和控制器，其中，直线传感器用于检测伸缩液压缸的伸缩长度信息，并且将此伸缩长度信息传输至控制器，控制器能够根据控制指令控制伸缩液压缸的伸缩长度，通过利用直线传感器的精确控制伸缩驱动机构130403的伸缩长度，能够实现夹持夹持组件130404准确定位到井口中心和输送机接管位置。
在本申请较佳的实施方式中，夹持组件130404包括固定手爪130414、活动手爪130424、夹持传动机构130434和夹持驱动机构130444；固定手爪130414与滑动套管130402的一侧连接，夹持传动机构130434、活动手爪130424和夹持驱动机构130444均位于滑动套管130402内部，夹持驱动机构130444通过夹持传动机构130434与活动手爪130424传动连接，夹持驱动机构130444用于通过夹持传动机构130434带动活动手爪130424相对于固定手爪130414转动，以调节活动手爪130424与固定手爪130414之间的夹持间距。
在本申请较佳的实施方式中，夹持传动机构130434包括手爪连接臂4341和手爪连接支架4342；夹持驱动机构130444包括夹持驱动部4441和弹性部4442；弹性部4442位于手爪连接支架4342和夹持驱动部4441之间，且弹性部4442的两端分别与手爪连接支架4342和夹持驱动部4441抵接，夹持驱动部4441用于压缩弹性部4442带动手爪连接支架4342沿着滑动套管130402往复运动，弹性部4442具有令手爪连接支架4342远离夹持驱动部4441的弹性趋势；手爪连接支架4342通过手爪连接臂4341与活动手爪130424铰接，手爪连接臂4341呈弧形结构，手爪连接臂4341用于将手爪连接支架4342的直线作用力转换成活动手爪130424的转动作用力。
本实施方式中，固定手爪130414呈圆弧结构，并且固定手爪130414的一端与滑动套管130402的一侧固定连接，活动手爪130424是通过夹持驱动部4441推动手爪连接支架4342进而带动手爪连接臂4341进行圆弧运动，可选地，夹持 驱动部4441可以采用液压缸，液压缸能够在滑动套管130402内部沿着滑动套管130402的延伸方向往复运动，当液压缸在直线方向带动手爪连接支架4342进行往复运动时，由于手爪连接臂4341呈弧形结构，从而手爪连接臂4341能够将直线作用力转化成活动手爪130424的开合驱动力。
本实施方式中，由于固定手爪130414和活动手爪130424对管柱进行夹持，当需要夹持大管径管柱时，利用夹持驱动部4441带动活动手爪130424向固定手爪130414的方向进行夹持转动，从而能够对管柱进行夹持固定；可选地，弹性部4442可以采用压缩弹簧，当夹持驱动部4441伸长时，此时夹持驱动部4441会挤压压缩弹簧，当活动手爪130424和固定手爪130414对管柱进行夹持时，压缩弹簧还会向活动手爪130424施加一个靠近固定手爪130414的弹性作用力，进而能够保证夹持管柱的稳定性；进一步地，当需要夹持大管径管柱时，利用夹持驱动部4441带动活动手爪130424向固定手爪130414的方向进行夹持转动，当夹持驱动部4441达到满行程后，仍然无法保证活动手爪130424和固定手爪130414对管柱进行稳定夹持时，此时压缩弹簧还会在弹性趋势的作用力下继续带动活动手爪130424向固定手爪130414的方向进行运动，从而向活动手爪130424施加一个靠近固定手爪130414的弹性作用力，进而能够保证夹持管柱的稳定性；通过夹持驱动部4441和弹性部4442的配合结构能够满足夹持机构130400对多种规格的管柱进行稳定夹持，使得设计更加合理。
本实施方式提供的一种修井作业设备，包括所述的用于修井作业的机械手；由于本实施方式提供的修井作业设备的技术效果与上述实施方式提供的用于修井作业的机械手的技术效果相同，此处对此不再赘述。
下面结合图25至图33对用于在自动小修作业装置系统100中使用的一体化自动井口作业装置140进行详细的描述。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。
下面参考图25至图27描述根据本申请的一些实施方式。参见图25至图27所示，一体化自动井口作业装置，包括托架4、防溅对扣器5、液压钳6、运移机构1、旋转机构2和推送机构3，防溅对扣器5和液压钳6固定连接在托架4上。
运移机构1上设有横向滑动的连接底板101，旋转机构2固定在连接底板101上，旋转机构2的顶部为转动端，转动端与推送机构3的后端连接，推送机构3的前端固定承托的托架4。
工作时，将运移机构1的底部固定在修井机底盘上，修井机到达井口适当的位置后立起井架，通过运移机构1将防溅对扣器5或液压钳6推至靠近井口中心位置。
然后通过旋转机构2调节托架4的角度，使防溅对扣器5或液压钳6工作时能准确的对准井口中心，进行作业。
待作业完成后，控制推送机构3和将运移机构1将托架4退回，给下一工序的吊卡下落让出足够的空间。
本申请通过运移机构1、旋转机构2和推送机构3配合，实现机械化的防溅对扣和上卸扣作业。
下面参考图28描述根据本申请的另一些实施方式。
本实施方式是在上述实施方式的基础上进一步优化，具体如下所示。
参见图28所示，运移机构1包括底座104，底座104上固定连接有两根横向导轨103，并且两根导轨103平行布置。
每根导轨103上均滑动连接有滑套102，两个滑套102分别与连接底板101的两端固定连接。
底座104的后方设有支座105，支座105和滑套102之间设有第一液压缸106，第一液压缸106的两端分别与滑套102和支座105铰接。
支座105和第一液压缸106均为两套，并且分别与两个滑套102配合，在使用时支座105和底座104分别与修井机底盘螺栓连接。
本实施方式通过第一液压缸106带动滑套102前后移动，再通过与滑套102连接的连接底板101，实现带动旋转机构2和推送机构3前后移动。
下面参考图29至图31描述根据本申请的又一些实施方式。
本实施方式是在上述实施方式的基础上进一步优化，具体如下所示。
参见图29至图31所示，旋转机构2包括固定座202和驱动机构201。
固定座202固定在连接底板101的上端，固定座202的上方转动连接有转盘204，转盘204的外周套装有涡轮205，转盘204的上端连接有支撑梁203，支撑梁203的上端与推送机构3的后端连接。
驱动机构201包括液压马达206，液压马达206的转轴上安装有蜗杆207，蜗杆207与涡轮205啮合传动。
转盘204呈环状结构，固定座202的上方设有与转盘204适配的环槽，转盘204的底部转动连接在环槽内。
本实施方式通过液压马达206旋转驱动作为转动端的支撑梁203旋转，从而带动推送机构3旋转。
另外，液压马达206的转轴末端固定连接有旋钮208，通过增加旋钮208可实现手动作业，另外旋钮208上可拆卸连接延长杆，以便在更加轻松的转动旋钮208。
下面参考图32描述根据本申请的再一些实施方式。
本实施方式是在上述实施方式的基础上进一步优化，具体如下所示。
参见图32所示，推送机构3包括第一连接座301、第二连接座302、第二液压缸303和V型折臂组，V型折臂组优选为相互平行布置的两组。
V型折臂组包括均第一支臂305、第二支臂304、梯形座307和连杆306，第一支臂305为相互平行布置的两根，并且第一支臂305的上端与第一连接座301铰接，第一支臂305的下端与梯形座307的前端铰接。
第二支臂304为相互平行布置的两根，并且第二支臂304的上端与第二连接座302铰接，第二支臂304的下端与梯形座307的后端铰接，其中一根第二支臂304的底部设有延长块308，延长块308的下端与连杆306的一端铰接，连杆306的另一端与其中一根第一支臂305的底部铰接。
第二液压缸303的一端与第二连接座302铰接，另一端与其中一根第二支臂304的中部铰接。
推送机构3在展开状态下，通过第二液压缸303带动第二支臂304围绕第二连接座302逆时针旋转，并使第二支臂304旋转呈竖直状态。
与此同时，第二支臂304底部的延长块308向后拖动连杆306，从而使第一支臂305围绕梯形座307顺时针旋转，将V型折臂的折叠；
本实施方式通过可呈V形折叠设计的推送机构3，实现作业时的推送和退出步骤，并且作业完成后，通过推送机构3折叠配合运移机构1后移，更加快速的将托架4退回，给吊卡下落让出空间。
另外，还能够在运输或收纳时折叠，折叠后具有更小的体积，从而使运输和收纳更加的方便。
下面参考图33描述根据本申请的再又一些实施方式。
本实施方式是在上述实施方式的基础上进一步优化，具体如下所示。
参考图33，托架4包括U型的上层浮动板401和下层底板402，下层底板402上设有一组承托上层浮动板401的浮动滚珠403，上层浮动板401和下层底板402上对应开设有一组销孔，所述销孔内设有定位销404。
使用时，下层底板402固定连接在第一连接座301上，并通过浮动滚珠403支撑上层浮动板401，液压钳6及防溅对扣器5则固定在上层浮动板401上。
通过定位销404与销孔间隙配合，以及浮动滚珠403与上层浮动板401间的滚动，实现液压钳6及防溅对扣器5的浮动能力。
下面结合图34至图36对用于在自动小修作业装置系统100中使用的油田修井作业用动力卡瓦150进行详细的描述。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。
本实施方式提供一种油田修井作业用动力卡瓦，如图34至图36所示。该油田修井作业用动力卡瓦包括卡瓦壳体150100和感应器150200；卡瓦壳体150100具有用于供管柱通过的第一中心孔150110；感应器150200设置于卡瓦壳体150100，用于采集管柱上的接箍位置。
本实施方式提供的油田修井作业用动力卡瓦，卡瓦壳体150100具有用于供管柱通过的第一中心孔150110，在具体工作时，管柱可以通过第一中心孔150110；由于感应器150200设置于卡瓦壳体150100，因此，当管柱上的接箍到达感应器150200所在位置时，感应器150200可采集到管柱上的接箍位置，实现自动检测。与相关技术中采用人工观察相比，该油田修井作业用动力卡瓦的检测方式可实现自动化作业，提高工作效率，同时感应器150200检测相对人工观察更加准确。
具体的，感应器150200采用点式感应器；或者，感应器150200采用环状感应器，环状感应器可固定套设于卡瓦壳体150100的外周侧。
其中，感应器150200可以采用多种类型。示例性地，可采用的感应器150200的型号为图尔克NI10-G18-Y1X；OMRON：HL-5300；PEPPERL-FUCHS：NCB4-12GM40-N0。
以图尔克NI10-G18-Y1X为例，该型号的感应器150200为接近开关，又称无触点接近开关，是一种电子开关量传感器。例如，当金属检测体(如接箍)接近开关的感应区域，开关就能无接触、无压力、无火花、迅速发出电气指令，准确反应出运动机构的位置和行程。
本实施方式中，感应器150200采用点式感应器时，感应器150200设置为多个，多个感应器150200沿卡瓦壳体150100的周向间隔设置。
其中，多个感应器150200中的一个或多个采集到接箍位置信息时，代表管柱上的接箍到达了设定设置。
本实施方式中，多个感应器150200设置于同一水平面上；如此设置，可使多个感应器150200同时采集到管柱上的接箍位置信息。
其他实施方式中，多个感应器150200还可不设置于同一水平面，此时，当位于下面的其中一个感应器150200出现故障无法检测时，位于上面的其他感应器150200可以采集到管柱上的接箍位置信息，以减少漏报的情况发生。
如图36所示，卡瓦壳体150100上设有与感应器150200数量相等的固定孔；其中，感应器150200与固定孔插接，且感应器150200的一端位于第一中心孔150110内，以便于对接箍进行检测。
可选的，感应器150200可设置为四个，相邻两个感应器150200之间的夹角为90°。
其他实施方式中，感应器150200可设置为六个，相邻两个感应器150200之间的夹角为60°。
请继续参照图36，第一中心孔150110内设有自封胶芯150300，自封胶芯150300具有第二中心孔150310，第二中心孔150310与第一中心孔150110连通且同轴设置；第二中心孔150310能够供管柱通过。
其中，增设自封胶芯150300，且第二中心孔150310与第一中心孔150110同轴设置，能够使油柱处于井口中心。
请再次参照图36，自封胶芯150300的第一端部卡设于第一中心孔150110内，自封胶芯150300的第二端部位于第一中心孔150110外；第二中心孔150310包括同轴设置的锥形孔和直圆孔，锥形孔开设于第一端部，直圆孔开设于第二端部。
本实施方式还提供一种修井机，该修井机还包括游动系统和控制系统；游动系统与管柱传动连接，用于提升管柱；感应器150200和游动系统均与控制系统电连接。
具体工作时，当感应器150200检测到管柱上的接箍位置时，将会发信号给控制系统，控制系统接收该信号，将控制游动系统减速或停止，完成自动操作。
本申请的一些实施方式的自动小修作业装置系统通过管柱输送排放设备110、用于吊卡的防打开机构及翻转吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150之间的相互协作来完成下管过程和起管过程。
下面结合图1至图3C以及图37来详细描述通过自动小修作业装置系统来实现下管过程。
根据一些实施方式的通过自动小修作业装置系统实现的下管过程可以包括以下步骤：
准备工作：将自动小修作业装置系统中使用的管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150的位置相对于井口中心进行精准定位。
初始化：将已经调整了位置之后的管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150进行初始化，以使得这些装置调整到初始状态。
输送管柱过程：通过管柱输送排放设备110的排放装置的吸持结构11075将第一管柱吸持，通过提升机构1107将该第一管柱提升到预定高度，通过平移机构1106将第一管柱平移到所述管柱输送排放设备110的输送装置上。通过输送机构1103的移动车11032夹持第一管柱一端并且在牵引驱动部件11031的带动下沿转动臂1102的长度方向移动，以使第一管柱露出预定长度到达吊卡120的夹持机构120402和吊卡主体120401之间的用于夹持管柱1000的夹持通道。参见图1，图1示出了管柱输送排放设备110与吊卡120之间的相互协作以实现输送管柱过程。
上提管柱过程：通过将用于修井作业的吊卡120的夹持机构120402对吊卡主体120401锁紧定位后，将防打开环120200通过连接部120300分别与吊卡主体120401和夹持机构120402连接，使得夹持机构120402能够始终处于锁紧状态，保持对第一管柱的稳定夹持，此时，输送机构1103的移动车11032由主动推送状态转换为随动状态。然后在提升系统170的带动下使第一管柱上提。
推管过程：提升系统170上升到一定高度之后，用于修井作业的机械手130从初始状态逐渐旋转至设定位置，通过推吊卡机构130300和夹持机构130400将第一管柱下端接住，机械手的旋转主体130200带动夹持机构130400运动至井 口中心位置，同时推吊卡机构130300在运动的过程中，能够与外部的吊卡抵接，即同步带动吊卡运动至井口中心。参见图2，图2示出了用于修井作业的吊卡120与用于修井作业的机械手130之间的相互协作以完成推管过程。
下管过程：一体化自动井口作业装置的推送机构3的V型折臂机构从初始位置移动到预定井口位置并关闭等待第一管柱的对扣。在由用于修井作业的机械手抓持管柱的同时，一体化自动井口作业装置中的防溅对扣装置移动到井口中心，吊卡下放，将管柱下放到接箍位置处。通过使所述油田修井作业用动力卡瓦的打开，防溅对扣器打开，液压钳移动到井口位置实现接箍和对扣。一体化自动井口作业装置通过推送机构3的V型折臂机构退回到初始位置。油田修井作业用动力卡瓦切换到打开位置，然后提升系统170将第一管柱下放至动力卡瓦上方一定高度，使得第二管柱的露出接箍可以被液压钳可上扣的位置，油田修井作业用动力卡瓦切换到闭合位置，参见图3A、图3B和图3C，图3A至图3C示出了一体化自动井口作业装置的推送机构3与动力卡瓦150之间的相互协作以完成下管过程。
根据一些实施方式的通过自动小修作业装置系统实现的具体下管过程可以参见图37。
下面结合图38来详细描述通过自动小修作业装置系统来实现起管过程。自动小修作业装置系统的起管过程中管柱输送排放设备110、用于吊卡的防打开机构及翻转吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150之间相互协作关系与自动小修作业装置系统的下管过程相似。
根据一些实施方式的通过自动小修作业装置系统实现的起管过程可以包括以下步骤：
准备工作：将自动小修作业装置系统中使用的管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150的位置相对于井口中心进行精准定位；
初始化：将已经调整了位置之后的管柱输送排放设备110、用于修井作业的吊卡120、用于修井作业的机械手130、一体化自动井口作业装置140、油田修井作业用动力卡瓦150进行初始化，以使得这些装置调整到初始状态；
对扣上提：吊卡侧摆至竖直位置并下落至位于油田修井作业用动力卡瓦的上端且位于管柱接箍的下端的位置。吊卡摆动回水平位置，通过将吊卡的夹持机构120402对吊卡主体120401锁紧定位后，将防打开环120200通过连接部120300分别与吊卡主体120401和夹持机构120402连接，使得夹持机构120402能够始终处于锁紧状态，保持对第一管柱的稳定夹持，油田修井作业用动力卡瓦切换到打开位置。然后在提升系统170的带动下使第一管柱上提至第二管柱的接箍露出油田修井作业用动力卡瓦上方预定高度，油田修井作业用动力卡瓦切换到闭合位置，以将第二管柱夹持住。
卸箍过程：一体化自动井口作业装置的推送机构3的V型折臂机构从初始位置移动到预定井口位置(或接箍位置)。防溅对扣器打开，液压钳移动到井口位置实现卸箍和卸扣。在井口内存在液体的情况下，防溅对扣器移动到井口中心位置并关闭，夹持第一管柱，通过防溅对扣器将第一管柱中的液体导入平台的储存装置，以对管柱中的液体进行收集，实现对环境的保护。然后防溅对扣器打开，一体化自动井口作业装置的推送机构3的V型折臂机构退回至初始位置；如果井口内不存在液体的情况下，一体化自动井口作业装置的推送机构3的V型折臂机构退回至初始位置，所述吊卡上提。
推管过程：用于修井作业的机械手从初始状态逐渐旋转至井口位置，通过推吊卡机构130300和夹持机构130400将第一管柱下端接住，机械手的旋转主体130200带动夹持机构130400运动至输送机构1103的移动车3的预定位置，同时推吊卡机构130300在运动的过程中，能够与外部的吊卡抵接，即同步带动吊卡运动至输送机构1103的移动车3的预定位置；
输送管柱过程：输送机构1103的移动车3关闭并夹持通过管柱第一管柱一端并且在牵引驱动部件11031的带动下沿转动臂1102的长度方向移动，以使第一管柱输送至所述管柱输送排放设备110的输送装置上。机械手移动到初始位置，吊卡打开。通过管柱输送排放设备110的排放装置的吸持结构11075将第一管柱吸持，通过提升机构1107将该第一管柱下放至预定位置。
根据一些实施方式的通过自动小修作业装置系统实现的具体起管过程可以参见图38。
最后应说明的是：以上各实施方式仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施方式对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施方式所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施方式技术方案的范围。
工业实用性
本申请提供了一种油田用自动小修作业系统以及用于在自动小修作业装置系统中使用的管柱输送排放设备、用于吊卡的防打开机构及翻转吊卡、用于修井作业的机械手及修井作业设备、一体化自动井口作业装置、油田修井作业用动力卡瓦，该自动小修作业装置系统包括：修井机、管柱输送排放设备、用于修井作业的吊卡、用于修井作业的机械手、一体化自动井口作业装置、以及油田修井作业用动力卡瓦，其中，修井机沿自动小修作业装置系统的第一方向布置使得修井机的纵长方向与第一方向平行，并且修井机的尾部被布置成在第一方向上与井口中心间隔开预定距离，第一方向为沿着井口的径向穿过井口中心的方向，管柱输送排放设备被布置在自动小修作业装置系统的第二方向的第一侧处，第二方向为穿过井口中心并与第一方向垂直的方向，用于修井作业的吊卡、用于修井作业的机械手以及一体化自动井口作业装置布置在修井机的尾部上且由修井机承载，并且用于修井作业的吊卡、用于修井作业的机械手以及一体化自动井口作业装置被布置在沿自动小修作业装置系统的第二方向的与第一侧相反的第二侧处，油田修井作业用动力卡瓦被布置在井口中心处，并且油田修井作业用动力卡瓦配置成在允许管柱移动通过的打开位置及阻止管柱移动通过的闭合位置之间进行切换。本申请的自动小修作业装置系统显著提高了现场的实用性以及油田作业的工作效率，实现了井口无人化操作，大大减轻了工人的劳动强度，改善了作业环境，提高了安全系数，同时能够高度精确的找准井口中心。
此外，可以理解的是，本申请的油田用自动小修作业系统以及用于在自动小修作业装置系统中使用的管柱输送排放设备、用于吊卡的防打开机构及翻转吊卡、用于修井作业的机械手及修井作业设备、一体化自动井口作业装置、油田修井作业用动力卡瓦是可以重现的，并且可以用在多种工业应用中。例如，本申请的油田用自动小修作业系统以及用于在自动小修作业装置系统中使用的管柱输送排放设备、用于吊卡的防打开机构及翻转吊卡、用于修井作业的机械手及修井作业设备、一体化自动井口作业装置、油田修井作业用动力卡瓦可以用于油田修井作业技术领域。

Claims (53)

  1. 一种油田用自动小修作业系统，所述自动小修作业装置系统包括：修井机、管柱输送排放设备、用于修井作业的吊卡、用于修井作业的机械手、一体化自动井口作业装置、以及油田修井作业用动力卡瓦，其特征在于，所述自动小修作业装置系统被配置成通过所述管柱输送排放设备、所述用于修井作业的吊卡、所述用于修井作业的机械手、所述一体化自动井口作业装置以及所述油田修井作业用动力卡瓦的相互协作来实现对管柱的下管作业和起管作业，其中，
    所述修井机沿所述自动小修作业装置系统的第一方向被布置使得所述修井机的纵长方向与所述第一方向平行，并且所述修井机的尾部被布置成在所述第一方向上与井口中心间隔开预定距离，所述第一方向为沿着所述井口的径向穿过所述井口中心的方向，所述管柱输送排放设备被布置在所述自动小修作业装置系统的第二方向的第一侧处，所述第二方向为穿过所述井口中心并与所述第一方向垂直的方向，所述用于修井作业的吊卡、所述用于修井作业的机械手以及所述一体化自动井口作业装置布置在所述修井机的所述尾部上且由所述修井机承载，并且所述用于修井作业的吊卡、所述用于修井作业的机械手以及所述一体化自动井口作业装置被布置在沿所述自动小修作业装置系统的所述第二方向的与所述第一侧相反的第二侧处，所述油田修井作业用动力卡瓦被布置在所述井口中心处，并且所述油田修井作业用动力卡瓦配置成在允许管柱移动通过的打开位置及阻止管柱移动通过的闭合位置之间进行切换，从而使得：
    在所述下管作业中，所述管柱输送排放设备对待进行下管作业的管柱进行拾取并将所拾取的所述管柱输送到所述用于修井作业的吊卡的夹持通道；所述用于修井作业的吊卡对所述管柱进行夹持；所述用于修井作业的吊卡将所述管柱进行上提，所述用于修井作业的机械手对由所述用于修井作业的吊卡夹持的所述管柱进行抓持并将所抓持的所述管柱定位于井口中心的下管位置处；在由所述用于修井作业的机械手抓持所述管柱的同时，所述一体化自动井口作业装置移动到所述井口中心，所述用于修井作业的吊卡将所述管柱下放至接箍位置处，从而通过所述一体化自动井口作业装置对所述管柱进行对扣；通过使所述油田修井作业用动力卡瓦打开，所述用于修井作业的吊卡对所述管柱进行下放；以及
    在所述起管作业中，通过使所述油田修井作业用动力卡瓦打开，所述用于修井作业的吊卡将所述管柱进行上提，以使另一管柱的接箍暴露到指定位置；在使所述油田修井作业用动力卡瓦闭合的情况下，所述一体化自动井口作业装置对经暴露的接箍进行卸扣；所述一体化自动井口作业装置退回，所述用于修井作业的吊卡将所述管柱进行上提，所述用于修井作业的机械手对经卸扣的所述管柱进行夹持并将所述管柱从井口中心移动到能够由所述管柱输送排放设备的输送机构接收的位置；所述用于修井作业的吊卡将所述管柱进行下放，所述输送机构对所述管柱进行接收并且将所述管柱移动远离所述井口中心。
  2. 根据权利要求1所述的油田用自动小修作业系统，其特征在于，所述用于修井作业的机械手包括：机械手旋转机构、夹推机构，其中，所述用于修井作业的机械手被配置成：在所述下管作业中，通过所述机械手旋转机构带动所述夹推结构在水平方向呈圆周转动，以对由所述吊卡夹持的所述管柱进行抓持并将所抓持的所述管柱定位于井口中心的下管位置处；在所述起管作业中，通过所述机械手旋转机构带动所述夹推结构在水平方向呈圆周转动，以对经卸扣的所述管柱进行夹持并将所述管柱从井口中心移动到能够由所述管柱输送排放设备的所述输送机构接收的位置。
  3. 根据权利要求1或2所述的油田用自动小修作业系统，其特征在于，所述用于修井作业的吊卡包括吊卡本体，所述吊卡本体包括吊卡主体和夹持机构，所述夹持机构能够相对于所述吊卡主体向靠近或远离所述吊卡主体的方向转动，以使所述夹持机构和所述吊卡主体之间能够形成用于夹持所述管柱的夹持通道,并且所述夹持机构被配置成在所述下管作业中和所述起管作业中能够对所述管柱进行夹持。
  4. 根据权利要求3所述的油田用自动小修作业系统，其特征在于，所述管柱输送排放设备包括输送装置和排放装置，所述输送装置包括所述输送机构，其中，在所述下管作业中，通过所述输送装置的所述输送机构将所述管柱输送到所述夹持机构和所述吊卡主体之间的夹持通道；在所述起管作业中，通过所述输送装置的所述输送机构对所述管柱进行接收并且将所述管柱输送至所述排放装置能够保持所述管柱的位置。
  5. 根据权利要求1至4中任一项所述的油田用自动小修作业系统，其特征在于，所述一体化自动井口作业装置包括防溅对扣器、液压钳、推送机构、井口作业旋转机构和运移机构，其中，在所述下管作业中，在由所述用于修井作业的机械手抓持所述管柱的同时,通过所述推送机构、所述井口作业旋转机构和所述运移机构将所述一体化自动井口作业装置的所述防溅对扣器移动到所述井口中心，所述用于修井作业的吊卡将所述管柱下放至接箍位置处并通过所述液压钳对所述管柱进行对扣；在所述起管作业中，通过所述液压钳对经暴露的接箍进行卸扣。
  6. 根据权利要求1至5中任一项所述的油田用自动小修作业系统，其特征在于，所述油田修井作业用动力卡瓦包括：卡瓦壳体和感应器，所述油田修井作业用动力卡瓦被配置成通过所述感应器自动检测所述管柱的接箍位置,以在所述打开位置与所述闭合位置之间进行切换。
  7. 根据权利要求1至6中任一项所述的油田用自动小修作业系统，其特征在于，所述自动小修作业装置系统包括两个用于修井作业的机械手，所述两个用于修井作业的机械手分别位于所述修井机的所述尾部的两侧，以及所述管柱输送排放设备被布置在所述自动小修作业装置系统的所述第二方向的所述第一侧且在所述自动小修作业装置系统的所述第一方向的两侧中的至少一侧处。
  8. 一种管柱输送排放设备，所述管柱输送排放设备在根据权利要求1至7中任一项所述的油田用自动小修作业系统中使用，其特征在于，包括输送装置和排放装置；
    所述输送装置包括第一底座、转动臂和输送机构；所述转动臂具有相对的第一端和第二端，所述第一端铰装在所述第一底座上，所述第二端可绕所述第一端转动；所述输送机构用于带动管柱由所述第一端向所述第二端移动；
    所述排放装置包括第二底座、导向机构、平移机构、提升机构、排放机构；所述导向机构安装在所述第二底座上；所述平移机构安装在所述导向机构上，并可沿所述导向机构的预设方向移动；所述提升机构安装在所述平移机构上，并用于将所述转动臂上的管柱移动至所述排放机构上；所述排放机构用于放置管柱；
    其中，所述第二底座具有相对的第三端和第四端，所述第三端设有第一安装部，所述第四端设有第二安装部，所述第一底座一端与所述第一安装部或所述第二安装部可拆卸连接。
  9. 根据权利要求8所述的管柱输送排放设备，其特征在于，所述第一底座一端与所述第一安装部通过调距结构相连接，或者，所述第一底座一端与所述第二安装部通过调距结构相连接，所述调距结构用于调节所述第一底座与所述第一安装部或所述第二安装部之间的距离。
  10. 根据权利要求8或9所述的管柱输送排放设备，其特征在于，所述转动臂包括臂体、第一伸缩驱动部件、第一传动部件和第二传动部件；
    所述臂体设有所述第一端和所述第二端；
    所述第一伸缩驱动部件一端安装在所述第一底座上，另一端与所述第一传动部件中部铰接；
    所述第一传动部件的下端与所述第一底座铰接，所述第一传动部件的上端与所述第二传动部件的下端铰接；
    所述第二传动部件的上端与所述臂体铰接。
  11. 根据权利要求8或9所述的管柱输送排放设备，其特征在于，所述转动臂包括臂体，所述臂体包括主体部分、伸缩部分和第二伸缩驱动部件；
    所述主体部分与所述伸缩部分相连接；
    所述第二伸缩驱动部件一端与所述主体部分连接，另一端与所述伸缩部分连接，并用于带动所述伸缩部分相对于所述主体部分伸缩。
  12. 根据权利要求11所述的管柱输送排放设备，其特征在于，还包括测长装置，所述测长装置包括位移检测机构和测长限位机构；
    所述位移检测机构安装在所述转动臂上，并用于检测所述输送机构带动管柱一端移动的距离；
    所述测长限位机构包括第三底座、第三伸缩驱动部件、升降架、摆臂、压簧和传感部件；所述第三底座安装在所述第一底座上，所述升降架和所述第三伸缩驱动部件安装在所述第三底座上，所述第三伸缩驱动部件用于带动所述升降架升降；所述摆臂一端与所述升降架铰接，另一端通过所述压簧与所述升降架连接；所述传感部件安装在所述升降架上，管柱一端带动所述摆臂转动并压缩所述压簧至预设状态时触发所述传感部件。
  13. 根据权利要求8-12中任一项所述的管柱输送排放设备，其特征在于，所述输送机构包括牵引驱动部件和移动车；
    所述牵引驱动部件安装在所述转动臂上，并与所述移动车连接；
    所述移动车用于夹持管柱一端，所述移动车安装在所述转动臂上，并在所述牵引驱动部件的带动下沿所述转动臂的长度方向移动。
  14. 根据权利要求8-12中任一项所述的管柱输送排放设备，其特征在于，所述导向机构包括分别安装在所述第二底座上的两导轨，所述导轨包括相铰接的主轨道和扩展轨道；所述第二底座设有固定支架，所述主轨道安装在固定支架上，所述扩展轨道安装在可移动支座上。
  15. 根据权利要求8-12中任一项所述的管柱输送排放设备，其特征在于，所述平移机构包括龙门架、行走轮、第一转动驱动部件和齿轮；
    所述龙门架包括横梁和连接于所述横梁两端的架体，所述横梁用于安装在所述提升机构，所述架体上端与所述横梁连接，下端设有行走轮，所述行走轮安装在所述导向机构上；
    所述第一转动驱动部件安装在所述架体底部，所述第一转动驱动部件与所述齿轮相连接，并用于带动所述齿轮转动；
    所述导向机构侧部安装有齿条，所述齿轮与所述齿条相啮合。
  16. 根据权利要求8-12中任一项所述的管柱输送排放设备，其特征在于，所述提升机构包括两支撑杆、两升降机、第二转动驱动部件、转轴和吸持结构；
    所述支撑杆插设在所述平移机构上，且所述支撑杆的下端穿过所述平移机构；
    所述升降机安装在所述平移机构的顶部，两个所述升降机分别与两个所述支撑杆一一对应传动连接；
    所述转轴的两端分别与两个所述升降机传动连接；
    所述第二转动驱动部件安装在所述平移机构的顶部，所述第二转动驱动部件与所述转轴相连接，并用于带动所述转轴转动；
    所述吸持结构安装在所述支撑杆的下端。
  17. 根据权利要求8-12任一项所述的管柱输送排放设备，其特征在于，所述排放机构包括围堰和横担；
    所述围堰与所述第二底座相连接，所述围堰设有废液回收槽；
    多个所述横担间隔安装在所述废液回收槽内，并将所述废液回收槽分隔成多个槽体，且所述横担的高度大于等于所述围堰侧壁高度。
  18. 一种用于吊卡的防打开机构，所述用于吊卡的防打开机构在根据权利要求1至7中任一项所述的油田用自动小修作业系统中使用，其特征在于，包括：防打开环、连接部和吊卡本体；
    所述吊卡本体包括吊卡主体和夹持机构，所述夹持机构和所述吊卡主体连接，所述夹持机构包括有侧门，所述夹持机构通过所述侧门能够相对于所述吊卡主体向靠近或远离所述吊卡主体的方向转动，以使所述夹持机构和所述吊卡主体之间能够形成用于夹持管柱的夹持通道；
    所述防打开环具有贯穿管柱的通孔，所述防打开环通过所述通孔与所述夹持通道呈同心设置，且所述防打开环通过所述连接部分别与所述吊卡主体和所述夹持机构连接，以将所述夹持机构固定于所述吊卡主体上。
  19. 根据权利要求18所述的用于吊卡的防打开机构，其特征在于，所述吊卡主体包括第一补芯，所述夹持机构包括第二补芯；
    所述吊卡主体设置有圆弧面，所述第一补芯位于所述吊卡主体的圆弧面内，且所述第一补芯与所述吊卡主体的圆弧面连接；
    所述侧门呈圆弧结构，所述第二补芯位于所述侧门靠近所述吊卡本体的一侧，且所述第二补芯与所述侧门连接，所述侧门通过旋转轴与所述吊卡主体转动连接，所述侧门用于带动所述第二补芯与所述第一补芯抵接，以形成用于夹持管柱的圆环结构。
  20. 根据权利要求19所述的用于吊卡的防打开机构，其特征在于，所述防打开环上设置有多个第一连接孔，所述第一补芯上设置有第二连接孔，所述第二补芯上设置有第三连接孔，所述第一连接孔的数量大于或等于所述第二连接孔和所述第三连接孔的总和；
    所述防打开环与所述第一补芯和所述第二补芯形成的圆环结构贴合，所述连接部包括第一连接部和第二连接部，所述第一连接部的数量与所述第二连接孔的数量对应设置，所述第一连接部用于依次贯穿所述第一连接孔和所述第二连接孔；所述第二连接部的数量与所述第三连接孔的数量对应设置，所述第二连接部用于依次贯穿所述第一连接孔和所述第三连接孔，以将所述防打开环与所述第一补芯和所述第二补芯固定连接。
  21. 根据权利要求20所述的用于吊卡的防打开机构，其特征在于，所述第二连接孔的数量至少为两个，所述第三连接孔的数量至少为两个。
  22. 根据权利要求19所述的用于吊卡的防打开机构，其特征在于，还包括驱动机构；
    所述驱动机构设置于所述吊卡本体上，且所述驱动机构的输出端与所述侧门传动连接，所述驱动机构用于带动所述侧门相对于所述吊卡主体转动。
  23. 根据权利要求19-22任一项所述的用于吊卡的防打开机构，其特征在于，所述吊卡本体还包括锁舌；
    所述锁舌与所述吊卡主体连接，所述夹持机构和所述锁舌能够相对于所述吊卡主体向相对或相反的方向转动，所述锁舌用于与所述夹持机构连接，以将所述夹持机构固定于所述吊卡主体上。
  24. 根据权利要求23所述的用于吊卡的防打开机构，其特征在于，所述吊卡本体还包括锁紧机构；
    所述锁紧机构包括销轴和弹簧；所述侧门靠近所述锁舌的一侧设置有槽口，且所述锁舌对应设置有用于与所述槽口配合的凸起锁眼；所述侧门位于所述槽口的上方设置有阶梯孔，所述销轴插设于所述阶梯孔内，且所述销轴与所述第二补芯抵接，所述第二补芯用于带动所述销轴在所述阶梯孔内移动；
    所述弹簧套设于所述销轴的外部，且所述弹簧的两端分别与所述销轴和所述阶梯孔的台阶抵接，所述弹簧具有令所述销轴远离所述槽口的弹性趋势。
  25. 根据权利要求24所述的用于吊卡的防打开机构，其特征在于，还包括翻转机构；
    所述吊卡本体上设置有翻转挡板，所述翻转机构通过所述翻转挡板与所述吊卡本体连接，所述翻转机构用于通过所述吊卡本体调节所述夹持通道的角度。
  26. 一种翻转吊卡，其特征在于，包括如权利要求18-25任一项所述的用于吊卡的防打开机构。
  27. 一种用于修井作业的机械手，所述用于修井作业的机械手在根据权利要求1至7中任一项所述的油田用自动小修作业系统中使用，其特征在于，所述用于修井作业的机械手包括机械手旋转机构、夹推机构，所述机械手旋转机构包括旋转驱动机构和旋转主体，所述夹推机构包括夹持机构和推吊卡机构；
    所述夹持机构和所述推吊卡机构均与所述旋转主体连接，所述旋转驱动机构与所述旋转主体的一端连接，所述旋转驱动机构用于通过所述旋转主体带动所述夹持机构和所述推吊卡机构在水平方向呈圆周转动，以使所述夹持机构和所述推吊卡机构位于井口中心的接送管位置，所述夹持机构用于夹持外部管柱；
    所述推吊卡机构用于与外部吊卡抵接，以推动外部吊卡在水平方向移动。
  28. 根据权利要求27所述的用于修井作业的机械手，其特征在于，所述推吊卡机构包括推动主体、推板和角度调节机构；
    所述推动主体的一端与所述旋转主体连接，所述推动主体的另一端与所述推板铰接，所述角度调节机构的两端分别与所述推动主体和所述推板的一侧铰接，所述角度调节机构用于带动所述推板相对于所述推动主体转动，以使所述推板呈角度与外部吊卡抵接。
  29. 根据权利要求28所述的用于修井作业的机械手，其特征在于，所述推动主体包括第一推动臂、固定支架和第二推动臂；
    所述第一推动臂和所述第二推动臂通过所述固定支架连接，所述固定支架用于将所述第一推动臂和所述第二推动臂呈垂直设置，所述第一推动臂远离所述第二推动臂的一端与所述旋转主体连接，所述第二推动臂远离所述第一推动臂的一端与所述推板铰接。
  30. 根据权利要求29所述的用于修井作业的机械手，其特征在于，所述固定支架包括支架主体、第一调节销轴和第二调节销轴；
    所述支架主体设置有卡槽，所述第一推动臂和所述第二推动臂均插设于所述支架主体的卡槽内，且所述第一推动臂能够相对于所述支架主体转动；
    所述支架主体上设置有第一固定孔、第二固定孔和第三固定孔，所述第一固定孔和所述第二固定孔位于同一直线上，所述第一固定孔和所述第三固定孔位于同一直线上，且所述第一固定孔和所述第二固定孔的连线与所述第一固定孔和所述第三固定孔的连线呈垂直设置，所述第一调节销轴用于依次贯穿所述第一固定孔、第一推动臂和第二推动臂，以将所述第一推动臂和所述第二推动臂固定于所述支架主体的卡槽内，所述第二调节销轴用于分别与所述第二固定孔和所述第三固定孔连接，以调节所述第一推动臂与所述第二推动臂呈垂直布置，或者，以调节所述第一推动臂与所述第二推动臂呈一条直线布置。
  31. 根据权利要求27所述的用于修井作业的机械手，其特征在于，所述夹持机构包括固定套管、滑动套管、伸缩驱动机构和夹持组件；
    所述伸缩驱动机构位于所述固定套管内，所述伸缩驱动机构的固定端与所述固定套管的一端内壁连接，且所述固定套管与所述旋转主体固定连接；
    所述伸缩驱动机构的伸缩端与所述滑动套管位于所述固定套管的一端连接，所述滑动套管与所述固定套管滑动连接，且所述滑动套管伸出所述固定套管的一端与所述夹持组件连接。
  32. 根据权利要求31所述的用于修井作业的机械手，其特征在于，所述夹持机构还包括直线运动控制传感机构；
    所述直线运动控制传感机构位于所述固定套管中，所述伸缩驱动机构与所述直线运动控制传感机构电信号连接，所述直线运动控制传感机构用于控制所述伸缩驱动机构的伸缩长度。
  33. 根据权利要求32所述的用于修井作业的机械手，其特征在于，所述夹持组件包括固定手爪、活动手爪、夹持传动机构和夹持驱动机构；
    所述固定手爪与所述滑动套管的一侧连接，所述夹持传动机构、活动手爪和所述夹持驱动机构均位于所述滑动套管内部，所述夹持驱动机构通过所述夹持传动机构与所述活动手爪传动连接，所述夹持驱动机构用于通过所述夹持传动机构带动所述活动手爪相对于所述固定手爪转动，以调节所述活动手爪与所述固定手爪之间的夹持间距。
  34. 根据权利要求33所述的用于修井作业的机械手，其特征在于，所述夹持传动机构包括手爪连接臂和手爪连接支架；所述夹持驱动机构包括夹持驱动部和弹性部；
    所述弹性部位于所述手爪连接支架和所述夹持驱动部之间，且所述弹性部的两端分别与所述手爪连接支架和所述夹持驱动部抵接，所述夹持驱动部用于压缩所述弹性部带动所述手爪连接支架沿着所述滑动套管往复运动，所述弹性部具有令所述手爪连接支架远离所述夹持驱动部的弹性趋势；
    所述手爪连接支架通过所述手爪连接臂与所述活动手爪铰接，所述手爪连接臂呈弧形结构，所述手爪连接臂用于将所述手爪连接支架的直线作用力转换成所述活动手爪的转动作用力。
  35. 根据权利要求27-34中任一项所述的用于修井作业的机械手，其特征在于，还包括旋转控制传感机构；
    所述旋转控制传感机构位于所述旋转主体上，所述旋转驱动机构与所述旋转控制传感机构电信号连接，所述旋转控制传感机构用于控制所述旋转驱动机构的转动角度。
  36. 一种修井作业设备，其特征在于，包括如权利要求27-35中任一项所述的用于修井作业的机械手。
  37. 一种一体化自动井口作业装置，所述一体化自动井口作业装置在根据权利要求1至7中任一项所述的油田用自动小修作业系统中使用，包括托架、防溅对扣器、液压钳、运移机构、旋转机构和推送机构，所述防溅对扣器和液压钳固定连接在托架上，其特征在于：
    所述运移机构上设有横向滑动的连接底板，所述旋转机构固定在连接底板上，所述旋转机构的顶部为转动端，所述转动端与推送机构的后端连接，所述推送机构的前端固定承托所述的托架；
    所述推送机构包括第一连接座、第二连接座、第二液压缸和V型折臂组；
    所述V型折臂组包括均第一支臂、第二支臂、梯形座和连杆，所述第一支臂为相互平行布置的两根，并且第一支臂的上端与第一连接座铰接，下端与梯形座的前端铰接；
    所述第二支臂为相互平行布置的两根，并且第二支臂的上端与第二连接座铰接，下端与梯形座的后端铰接，其中一根第二支臂的底部设有延长块，所述延长块的下端与连杆的一端铰接，连杆的另一端与其中一根第一支臂的底部铰接；
    所述第二液压缸的一端与第二连接座铰接，另一端与其中一根第二支臂的中部铰接。
  38. 根据权利要求37所述的一体化自动井口作业装置，其特征在于：所述运移机构包括底座，所述底座上固定连接有两根横向导轨，并且两根导轨平行布置；
    每根所述导轨上均滑动连接有滑套，两个所述滑套分别与连接底板的两端固定连接；
    所述底座的后方设有支座，所述支座和滑套之间设有第一液压缸，所述第一液压缸的两端分别与滑套和支座铰接。
  39. 根据权利要求38所述的一体化自动井口作业装置，其特征在于：所述支座和第一液压缸均为两套，并且分别与两个滑套配合。
  40. 根据权利要求37所述的一体化自动井口作业装置，其特征在于：所述旋转机构包括固定座和驱动机构；
    所述固定座固定在连接底板的上端，所述固定座的上方转动连接有转盘，所述转盘的外周套装有涡轮，所述转盘的上端连接有支撑梁，所述支撑梁的上端与推送机构的后端连接；
    所述驱动机构包括液压马达，所述液压马达的转轴上安装有蜗杆，所述蜗杆与涡轮啮合传动。
  41. 根据权利要求40所述的一体化自动井口作业装置，其特征在于：所述转盘呈环状结构，所述固定座的上方设有与转盘适配的环槽，所述转盘的底部转动连接在环槽内。
  42. 根据权利要求40所述的一体化自动井口作业装置，其特征在于：所述液压马达的转轴末端固定连接有旋钮。
  43. 根据权利要求37所述的一体化自动井口作业装置，其特征在于：所述V型折臂组为相互平行布置的两组。
  44. 根据权利要求37-43中任一项所述的一体化自动井口作业装置，其特征在于：所述托架包括U型的上层浮动板和下层底板，所述下层底板上设有一组承托上层浮动板的浮动滚珠，所述上层浮动板和下层底板上对应开设有一组销孔，所述销孔内设有定位销。
  45. 一种油田修井作业用动力卡瓦，所述油田修井作业用动力卡瓦在根据权利要求1至7中任一项所述的油田用自动小修作业系统中使用，其特征在于，包括：卡瓦壳体(100)和感应器(200)；
    所述卡瓦壳体(100)具有用于供管柱通过的第一中心孔(110)；
    所述感应器(200)设置于所述卡瓦壳体(100)，用于采集所述管柱上的接箍位置。
  46. 根据权利要求45所述的油田修井作业用动力卡瓦，其特征在于，所述感应器(200)采用点式感应器。
  47. 根据权利要求46所述的油田修井作业用动力卡瓦，其特征在于，所述感应器(200)设置为多个，多个所述感应器(200)沿所述卡瓦壳体(100)的周向间隔设置。
  48. 根据权利要求47所述的油田修井作业用动力卡瓦，其特征在于，多个所述感应器(200)设置于同一水平面上。
  49. 根据权利要求48所述的油田修井作业用动力卡瓦，其特征在于，所述卡瓦壳体(100)上设有与所述感应器(200)数量相等的固定孔；
    所述感应器(200)与所述固定孔插接，且所述感应器(200)的一端位于所述第一中心孔(110)内。
  50. 根据权利要求47所述的油田修井作业用动力卡瓦，其特征在于，所述感应器(200)设置为四个，相邻两个所述感应器(200)之间的夹角为90°。
  51. 根据权利要求45所述的油田修井作业用动力卡瓦，其特征在于，所述感应器(200)采用环状感应器。
  52. 根据权利要求45-51中任一项所述的油田修井作业用动力卡瓦，其特征在于，所述第一中心孔(110)内设有自封胶芯(300)，所述自封胶芯(300)具有第二中心孔(310)，所述第二中心孔(310)与所述第一中心孔(110)连通且同轴设置；
    所述第二中心孔(310)能够供所述管柱通过。
  53. 根据权利要求52所述的油田修井作业用动力卡瓦，其特征在于，所述自封胶芯(300)的第一端部卡设于所述第一中心孔(110)内，所述自封胶芯(300)的第二端部位于所述第一中心孔(110)外；
    所述第二中心孔(310)包括同轴设置的锥形孔和直圆孔，所述锥形孔开设于所述第一端部，所述直圆孔开设于所述第二端部。
PCT/CN2021/136799 2020-12-09 2021-12-09 油田用自动小修作业系统 WO2022121984A1 (zh)

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