WO2024065422A1 - 自动化带压作业装置及其作业方法 - Google Patents

自动化带压作业装置及其作业方法 Download PDF

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Publication number
WO2024065422A1
WO2024065422A1 PCT/CN2022/122720 CN2022122720W WO2024065422A1 WO 2024065422 A1 WO2024065422 A1 WO 2024065422A1 CN 2022122720 W CN2022122720 W CN 2022122720W WO 2024065422 A1 WO2024065422 A1 WO 2024065422A1
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WO
WIPO (PCT)
Prior art keywords
oil pipe
pipe
lifting
pressure
straightening
Prior art date
Application number
PCT/CN2022/122720
Other languages
English (en)
French (fr)
Inventor
王鑫
王丰良
高峰
王建伟
林豪杰
杜君龙
李�根
刘悦蕾
赵志成
赵全
任文明
迟世伟
Original Assignee
天津渤海杰瑞石油装备有限公司
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
Application filed by 天津渤海杰瑞石油装备有限公司 filed Critical 天津渤海杰瑞石油装备有限公司
Priority to PCT/CN2022/122720 priority Critical patent/WO2024065422A1/zh
Priority to CN202211386306.6A priority patent/CN115949354A/zh
Publication of WO2024065422A1 publication Critical patent/WO2024065422A1/zh

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Classifications

    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F11/00—Treatment of sludge; Devices therefor
    • C02F11/12—Treatment of sludge; Devices therefor by de-watering, drying or thickening
    • C02F11/121—Treatment of sludge; Devices therefor by de-watering, drying or thickening by mechanical de-watering
    • C02F11/122—Treatment of sludge; Devices therefor by de-watering, drying or thickening by mechanical de-watering using filter presses
    • 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
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/02—Couplings; joints
    • E21B17/04—Couplings; joints between rod or the like and bit or between rod and rod or the like
    • 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
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/10—Slips; Spiders ; Catching devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; 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
    • 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
    • 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
    • E21B33/00—Sealing or packing boreholes or wells
    • E21B33/02—Surface sealing or packing
    • E21B33/03—Well heads; Setting-up thereof
    • E21B33/06—Blow-out preventers, i.e. apparatus closing around a drill pipe, e.g. annular blow-out preventers
    • 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
    • E21B47/00—Survey of boreholes or wells

Definitions

  • the present application generally relates to the technical field of petroleum equipment, and specifically discloses an automated pressure operation device and an operation method thereof.
  • Pressure work is a process technology that forcibly completes well repair operations while maintaining high well pressure in the well.
  • most operations of conventional pressure work are completed by personnel standing on the wellhead platform.
  • During the construction process once a blowout or dangerous gas leakage occurs, it will seriously threaten the life safety of the operator.
  • mechanical devices are currently used to replace manual labor during conventional pressure work, but the reliability of the existing automated pressure work devices in continuous operation is poor.
  • the purpose of the present application is to provide an automated pressure-operating device and an operating method thereof, so as to solve the technical problem of poor continuous operation reliability of the hydraulic end of a reciprocating pump in the prior art.
  • an automated pressure working device comprising:
  • the pressure-operated machine is fixed on the wellhead;
  • a support platform is arranged on the belt pressure working machine, and a transverse pulley is slidably arranged on the support platform;
  • a pipe lifting mechanism comprising a mast and a pipe lifting pulley, wherein the mast is arranged on the belt pressure working machine, and the pipe lifting pulley is slidably arranged on the mast and is used to pull the end of the oil pipe;
  • a pipe delivery mechanism arranged at one side of the belt pressure working machine, for delivering the oil pipe to the pipe lifting pulley or receiving the oil pipe output by the pipe lifting pulley;
  • a first straightening mechanism disposed on the supporting platform, for straightening the oil pipe between the pipe lifting mechanism and the pipe delivery mechanism;
  • a second righting mechanism arranged on the transverse pulley, the second righting mechanism comprising a righting cylinder, the upper portion of the righting cylinder being provided with a trumpet guide port;
  • the hydraulic pliers are arranged on the transverse pulley and are used for rotating the oil pipe to complete the make-up or make-out of the two oil pipe couplings.
  • the pipe transport mechanism includes a power pipe bridge and a catwalk machine arranged at one end of the power pipe bridge, the power pipe bridge is used to carry the oil pipe, and the catwalk machine is used to lift the oil pipe so that the oil pipe can be transported between the power pipe bridge and the pipe lifting pulley.
  • the catwalk machine includes:
  • a base wherein a slide groove is provided on the base
  • a load-bearing platform one end of which is slidably disposed in the slide groove;
  • a lifting assembly used for lifting the load-bearing platform so that the load-bearing platform and the base form a certain angle
  • a turning assembly comprising a turning groove and a turning cylinder, wherein the turning groove is hinged to the top of the carrying platform, and the output end of the turning cylinder is connected to the turning groove, so that the turning groove can turn toward both sides of the carrying platform;
  • a pushing component is arranged on the turning groove, and the pushing component comprises a pushing ramp which can slide along the length direction of the turning groove and a pushing oil cylinder which drives the pushing ramp to slide;
  • a gripper assembly disposed on one side of the base, for grabbing the oil pipe on the power pipe bridge to the pushing ramp;
  • a guide arm is arranged on one side of the base and is used for guiding the oil pipe on the pushing ramp to the power pipe bridge.
  • the first straightening mechanism includes:
  • a flipping mechanical arm is rotatably disposed on the base
  • a telescopic mechanical arm disposed at an end of the flipping mechanical arm away from the base
  • a straightening guide wheel is arranged at the output end of the telescopic mechanical arm and is used for straightening the oil pipe.
  • the belt pressure working machine includes:
  • a lifting cylinder is arranged on the connecting frame
  • a connecting plate arranged at the top output end of the lifting cylinder
  • a movable slip group is arranged on the connecting plate
  • a fixed slip group is disposed on the connecting frame and is located directly below the movable slip group
  • An upper coupling detection device is arranged on the traveling slip group and is used for detecting the coupling of the oil pipe.
  • the pressure-carrying machine further includes an upper gate blowout preventer arranged at the bottom of the connecting frame and a lower gate blowout preventer located below the upper gate blowout preventer, and a blowout valve, a balancing valve and a lower coupling detection device are arranged between the upper gate blowout preventer and the lower gate blowout preventer.
  • the automated pressure-bearing operation device also includes an overflow spraying mechanism arranged on the support platform, and the overflow spraying mechanism includes a telescopic component, a downward pressure component, a rotating component and a closing valve.
  • the downward pressure component is arranged at the output end of the telescopic component
  • the rotating component is arranged at the bottom output end of the downward pressure component
  • the closing valve is arranged at the power output end of the rotating component, which is used to seal the coupling of the oil pipe.
  • an automated pressure-carrying operation method which is applied to the automated pressure-carrying operation device mentioned above, and the automated pressure-carrying operation method includes a tubing lowering operation, and the tubing lowering operation includes: delivering the tubing to a tubing lifting pulley through a tubing delivery mechanism; the tubing lifting pulley pulls the top of the tubing to move upward, and supports the bottom of the tubing through a first straightening mechanism to allow the tubing to detach from the tubing delivery mechanism; preliminarily straightens the tubing through the first straightening mechanism, so that the bottom of the tubing can be inserted into the trumpet guide port of the second straightening mechanism; accurately straightens the tubing through the second straightening mechanism to complete the buckling of the two tubings; buckles the two tubing couplings through hydraulic pliers; and lowers the tubing into the wellbore through a pressure-carrying operation machine.
  • the belt pressure operation machine includes: a connecting frame, a lifting cylinder, a connecting plate, a movable cava group, a fixed cava group and an upper coupling detection device
  • the automated belt pressure operation method also includes: driving the connecting plate to move upward by the lifting cylinder until the upper coupling detection device detects the upper end surface of the coupling of the oil pipe, and obtaining the first extension height of the piston rod of the lifting cylinder;
  • the lifting cylinder drives the upper coupling detection device to move downward a preset distance, and closes the movable cava group, wherein the preset distance is the distance between the coupling height positioning point and the coupling signal identification point;
  • the lifting cylinder drives the oil pipe downward and stops at the second extension height of the piston rod, wherein the second extension height is the reference stop height of the cylinder for lifting when the hydraulic clamp is unhooked, and at this time, the end of the oil pipe is just located at the hydraulic clamp.
  • the automated pressure-carrying operation method also includes an operation for pulling out an oil pipe
  • the operation for pulling out an oil pipe includes: pulling out the oil pipe from the wellbore by the pressure-carrying operation machine; holding the oil pipe by the gripper of the pipe lifting pulley and moving upward along the oil pipe, stopping under the coupling of the oil pipe, the first straightening mechanism holding the lower end of the oil pipe, and using the hydraulic pliers to detach the couplings of the two oil pipes; pushing the bottom of the oil pipe by the first straightening mechanism, and at the same time, the pipe lifting pulley drives the oil pipe downward until the lower end of the oil pipe is delivered to the pipe delivery mechanism; the first straightening mechanism is reset, and the pipe lifting pulley continues to descend until the oil pipe is completely delivered to the pipe delivery mechanism.
  • the oil pipe is erected and transported to the pipe lifting pulley through the pipe delivery mechanism, and the end of the oil pipe is pulled upward by the pipe lifting pulley.
  • the bottom of the oil pipe is about to leave the pipe delivery mechanism, the bottom of the oil pipe is straightened by the first straightening mechanism to prevent the oil pipe from swinging and colliding with the mast, and the oil pipe can be initially straightened.
  • the bottom of the oil pipe is straightened by the first straightening mechanism so that when the pipe lifting pulley lowers the oil pipe, the bottom of the oil pipe can be accurately inserted into the trumpet guide port, and then enters the straightening cylinder to complete the buckling with the oil pipe coupling below, which can achieve accurate straightening and buckling of the oil pipe, and the buckling of the oil pipe coupling is completed by hydraulic pliers, and the buckled oil pipe is lowered into the wellbore by the pressure-carrying operation machine, thereby improving the reliability of continuous operation.
  • FIG1 is a front view schematic diagram of the structure of an automated pressure working device provided in an embodiment of the present application.
  • FIG2 is a schematic side view of the structure of an automated pressure-operating device provided in an embodiment of the present application.
  • FIG3 is a schematic diagram of a three-dimensional structure of a support platform provided in an embodiment of the present application.
  • FIG4 is a schematic structural diagram of a pipe delivery mechanism provided in an embodiment of the present application.
  • FIG5 is a schematic diagram showing a side view of a catwalk machine provided in an embodiment of the present application.
  • FIG6 is a front view structural schematic diagram of a catwalk machine provided in an embodiment of the present application.
  • FIG7 is a schematic diagram showing a three-dimensional structure of a transverse pulley, a second righting mechanism, a hydraulic clamp and a mud splash box provided in an embodiment of the present application;
  • FIG8 is a schematic diagram of a three-dimensional structure of a first righting mechanism provided in an embodiment of the present application.
  • FIG9 is a schematic diagram showing a three-dimensional structure of a belt pressure working machine provided in an embodiment of the present application.
  • FIG10 is a schematic diagram showing a process flow of positioning a coupling height of a belt pressure working machine provided in an embodiment of the present application
  • FIG. 11 is a schematic diagram of the three-dimensional structure of an overflow blowout prevention mechanism provided in an embodiment of the present application.
  • Second righting mechanism 61. Righting cylinder; 62. Horn guide port;
  • a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.
  • a process, method, system, product, or apparatus comprising a series of steps or units need not be limited to those steps or units expressly listed, but may include other steps or units not expressly listed or inherent to such process, method, product, or apparatus.
  • an element defined by the phrase "comprising a " does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
  • spatially relative terms such as “above”, “above”, “on the upper surface of”, “above”, etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as “above other devices or structures” or “above other devices or structures” will be positioned as “below other devices or structures” or “below other devices or structures”. Thus, the exemplary term “above” can include both “above” and “below”. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.
  • the embodiment of the present application discloses an automated pressure-operating device, comprising: a pressure-operating machine 1, fixed on a wellhead b; a support platform 2, arranged on the pressure-operating machine 1, on which a traverse pulley 21 is slidably arranged; a pipe-lifting mechanism 3, comprising a mast 31 and a pipe-lifting pulley 32, the mast 31 being arranged on the pressure-operating machine 1, the pipe-lifting pulley 32 being slidably arranged on the mast 31, and being used to pull the end of the oil pipe a; a pipe-feeding mechanism 4, arranged on one side of the pressure-operating machine 1, and being used to deliver the oil pipe a to the oil pipe a; and a pipe-feeding mechanism 4, arranged on one side of the pressure-operating machine 1, and being used to deliver the oil pipe a to the oil pipe a.
  • the pipe lifting pulley 32 transports the oil pipe a or receives the oil pipe a output by the pipe lifting pulley 32; a first straightening mechanism 5 is arranged on the supporting platform 2, and is used to straighten the oil pipe a between the pipe lifting mechanism 3 and the pipe feeding mechanism 4; a second straightening mechanism 6 is arranged on the transverse pulley 21, and the second straightening mechanism 6 includes a straightening cylinder 61, and a trumpet guide port 62 is arranged on the upper part of the straightening cylinder 61; and a hydraulic pliers 7 is arranged on the transverse pulley 21, and is used to rotate the oil pipe a to complete the buckling or detachment of the two couplings of the oil pipe a.
  • the oil pipe a is erected and conveyed to the pipe lifting pulley 32 by the pipe delivery mechanism 4, and the end of the oil pipe a is pulled upward by the pipe lifting pulley 32.
  • the bottom of the oil pipe a is about to leave the pipe delivery mechanism 4, the bottom of the oil pipe a is straightened by the first straightening mechanism 5 to prevent the oil pipe a from swinging and colliding with the mast 31, and the oil pipe a can be initially straightened.
  • the bottom of the oil pipe a is straightened by the first straightening mechanism 5, so that when the pipe lifting pulley 32 lowers the oil pipe a, the bottom of the oil pipe a can be accurately inserted into the trumpet guide port 62, and then enters the straightening cylinder 61 to complete the buckling with the oil pipe a coupling below, so that the oil pipe a can be accurately straightened and buckled, and the buckling of the oil pipe a coupling is completed by the hydraulic clamp 7, and the buckled oil pipe a is lowered into the wellbore by the belt pressure operation machine 1, so as to improve the reliability of continuous operation.
  • the pipe lifting pulley 32 pulls the top coupling of the oil pipe a
  • the first straightening mechanism 5 straightens the bottom of the oil pipe a
  • the couplings of the two oil pipes a are detached by the hydraulic pliers 7.
  • the pipe lifting pulley 32 lowers the oil pipe a, so that the bottom of the oil pipe a slides into the pipe delivery mechanism 4, and the pipe lifting pulley 32 continues to lower the oil pipe a until the oil pipe a is completely transferred to the pipe delivery mechanism 4, and the pipe delivery mechanism 4 completes the placement of the oil pipe a.
  • a mud splash box 8 is also provided on the traverse pulley 21. After the hydraulic clamp 7 is shackled, the hydraulic clamp 7 retreats, and the mud splash box 8 reaches the center of the wellhead b.
  • the mud splash box 8 embraces the bottom of the oil pipe a, and the pipe lifting pulley 32 drives the oil pipe a upward, so that the bottom of the oil pipe a is separated from the coupling, and the liquid in the upper oil pipe a is completely discharged into the mud splash box 8, and discharged into the dirty liquid recovery device along the mud splash box 8 pipeline. After the liquid is discharged, the mud splash box 8 is opened, and the traverse pulley 21 returns to the preparation station. For gas wells, when there is no liquid in the oil pipe a, the mud splash box 8 may not be provided.
  • the pipe delivery mechanism 4 includes a power pipe bridge 41 and a catwalk machine 42 disposed at one end of the power pipe bridge 41, wherein the power pipe bridge 41 is used to carry the oil pipe a, and the catwalk machine 42 is used to lift the oil pipe a so that the oil pipe a is transported between the power pipe bridge 41 and the pipe lifting pulley 32.
  • the oil pipe a is horizontally laid on the power pipe bridge 41, and a tilting cylinder 411 is disposed at the bottom of the power pipe bridge 41, which can control the tilting degree of the power pipe bridge 41 so that the oil pipe a rolls on the power pipe bridge 41.
  • the oil pipe a on the power pipe bridge 41 needs to roll to the side of the catwalk machine 42 to facilitate the catwalk machine 42 to grab it.
  • the catwalk machine 42 places the oil pipe a on the power pipe bridge 41, and the oil pipe a needs to roll on the power pipe bridge 41 toward the end away from the catwalk machine 42.
  • the pipe delivery mechanism 4 generally includes hoisting or lifting the oil pipe a horizontally and then rotating it 90 degrees to a vertical state. Hoisting requires special hoisting equipment, which requires a larger space for movement.
  • the catwalk machine 42 includes: a base 421, on which a slide groove 422 is arranged; a bearing platform 423, one end of which is slidably arranged in the slide groove 422; a lifting component 424, which is used to lift the bearing platform 423 so that the bearing platform 423 and the base 421 form a certain angle; a flipping component 425, including a flipping groove 4251 and a flipping cylinder 4252, the flipping groove 4251 is hinged to the top of the bearing platform 423, and the output end of the flipping cylinder 4252 is connected to the flipping groove 4251 so that the flipping groove 4251 can be flipped toward both sides of the supporting platform 423; the pushing component 426 is arranged on the flip groove 4251, and the pushing component 426 includes a pushing ramp 4261 that can slide along the length direction of the flip groove 4251 and a pushing cylinder 4262 that drives the pushing ramp 4261 to slide; the gripper component 427 is arranged on one side of the base 421, and
  • the slide groove 422 is arranged along the length direction of the base 421, and the lifting assembly 424 includes a lifting cylinder 4241 and a support arm 4242.
  • One end of the support arm 4242 is hinged to the base 421, and the other end is hinged to the bottom of the bearing platform 423.
  • One end of the lifting cylinder 4241 is hinged to the base 421, and the other end is hinged to the support arm 4242.
  • the support arm 4242 can be propped up by the lifting cylinder 4241, and the support arm 4242 props up the bearing platform 423 to a certain angle, so that the horizontal oil pipe a is erected to a certain angle, and then the pushing ramp 4261 is pushed by the pushing cylinder 4262, so that the oil pipe a a is transported along the pushing ramp 4261 until the gripper of the pipe lifting pulley 32 can grab the end coupling of the oil pipe a, and then the pushing ramp 4261 continues to transport the oil pipe a, and at the same time the pipe lifting pulley 32 pulls the end of the oil pipe a upward.
  • the gripper assembly 427 is controlled by the oil cylinder so that the gripper assembly 427 can hook the oil pipe a on the power pipe bridge 41, and then move the oil pipe a on the power pipe bridge 41 to the push ramp 4261.
  • the flip cylinder 4252 drives the flip groove 4251 to tilt so that the oil pipe a enters the push ramp 4261.
  • the oil pipe a in the push ramp 4261 is transported to the power pipe bridge 41, it is overlapped on the power pipe bridge 41 through the guide arm 428, and then the push ramp 4261 is tilted through the flip groove 4251, so that the oil pipe a in the push ramp 4261 rolls out and rolls onto the power pipe bridge 41 through the guide arm 428.
  • the first straightening mechanism 5 includes: a base 51; a flipping mechanical arm 52, which is rotatably arranged on the base 51; a telescopic mechanical arm 53, which is arranged at the end of the flipping mechanical arm 52 away from the base 51; and a straightening guide wheel 54, which is arranged at the output end of the telescopic mechanical arm 53 and is used to straighten the oil pipe a.
  • the front and rear positions of the straightening guide wheel 54 can be adjusted by flipping the mechanical arm 52, and the left and right positions of the straightening guide wheel 54 can be adjusted by telescopic mechanical arm 53, so that the oil pipe a can be inserted between the straightening guide wheels 54.
  • two straightening guide wheels 54 are provided, and the oil pipe a is between the two straightening guide wheels 54, so as to limit the oil pipe a without affecting the up and down movement of the oil pipe a.
  • the first straightening mechanical device is independent of the pipe lifting mechanism 3 and the pipe delivery mechanism 4, and is independently installed on the support platform 2.
  • the base 421 is stable, with fewer moving parts, less cumulative error during movement, and high straightening accuracy.
  • the power cylinder of the first straightening device flipping mechanical arm 52 and the telescopic oil cylinder of the telescopic mechanical arm 53 are integrated with oil cylinder displacement sensors. Through the real-time displacement feedback of the displacement sensor, the displacement of each power cylinder is accurately controlled to improve the fixed-point straightening accuracy of the straightening guide wheel 54.
  • the two straightening guide wheels 54 can rotate to adjust the angles of the two straightening guide wheels 54.
  • the horizontal gap between the two straightening guide wheels 54 can be increased as much as possible to facilitate the entry of the oil pipe a. Then the straightening guide wheels 54 rotate so that the oil pipe a abuts against the two straightening guide wheels 54, thereby effectively limiting the position and straightening the oil pipe a.
  • the belt pressure working machine 1 includes: a connecting frame 11, a lifting cylinder 12, a connecting plate 13, a floating slip group 14, a fixed slip group 15 and an upper coupling detection device 16, wherein:
  • the lifting cylinder 12 is arranged on the connecting frame 11 .
  • the connecting plate 13 is arranged at the top output end of the lifting cylinder 12 .
  • the movable slip group 14 is arranged on the connecting plate 13 .
  • the fixed slip group 15 is disposed on the connecting frame 11 and is located directly below the movable slip group 14 .
  • the upper coupling detection device 16 is disposed on the traveling slip group 14 and is used to detect the coupling of the oil pipe a.
  • the hydraulic pliers 7 are arranged on the transverse pulley 21, and the height of the hydraulic pliers 7 is fixed, that is, the hydraulic pliers 7 can slide horizontally at a fixed height.
  • the hydraulic pliers 7 include a back-up pliers and a main pliers. The back-up pliers fix the oil pipe a below, and the main pliers rotate the oil pipe a above, thereby realizing the making up or breaking of the couplings of the two oil pipes a.
  • the lifting cylinder 12 drives the connecting plate 13 and the upper coupling detection device 16 upward until the upper coupling detection device 16 detects the upper end face of the coupling of the oil pipe a.
  • the controller immediately collects the piston rod extension height fed back by the displacement sensor of the lifting cylinder 12; during the reverse downward movement of the lifting cylinder 12, the lifting cylinder 12 moves downward to a preset height, wherein the preset height is the distance between the coupling height positioning point and the coupling signal identification point, which is a fixed height determined by the product structural characteristics to meet the requirements of the upper and lower buckles of the hydraulic clamp 7.
  • the floating slip group 14 is closed, and the lifting cylinder 12 drives the oil pipe a downward and stops at the preset height of the piston rod extension.
  • the preset height is the reference stop height of the lifter when the hydraulic clamp 7 is upper and lower buckles are shattered. This distance is also determined by the product structural characteristics to meet the fixed height required for the upper and lower buckles of the hydraulic clamp 7, thereby achieving precise control of the height of the butt clamp.
  • the pressure operation machine 1 drives the oil pipe a upward or downward through the alternating operation of the floating slip group and the fixed slip group 15.
  • the floating slip group 14 is opened, and the lifting cylinder 12 drives the floating slip group 14 upward; after the lifting cylinder rises to the top, the floating slip group 14 is closed, and the fixed slip group 15 is opened; the lifting cylinder 12 drives the floating slip group 14 and the pipe string downward, and after the floating slip group 14 and the pipe string descend to the bottom, the fixed slip group 15 is closed, and the floating slip group 14 is opened again, and the lifting cylinder 12 moves upward again, and so on and so forth, and the oil pipe a is continuously lowered into the wellbore by the floating slip group 14 and the fixed slip group 15 being inverted.
  • the fixed slip group 15 in the present application includes a load-bearing fixed slip and a downward pressure fixed slip
  • the floating slip group includes a load-bearing floating slip and a downward pressure floating slip, which are respectively used when the well pressure is greater than the weight of the oil pipe a and the well pressure is less than the weight of the oil pipe a.
  • the belt pressure working machine 1 also includes an upper gate blowout preventer 171 arranged at the bottom of the connecting frame 11 and a lower gate blowout preventer 172 located below the upper gate blowout preventer 171, and a blowout valve 181, a balancing valve 182 and a lower coupling detection device 19 are arranged between the upper gate blowout preventer 171 and the lower gate blowout preventer 172.
  • the upper gate blowout preventer 171 and the lower gate blowout preventer 172 play a role in preventing blowout.
  • the specific operation is to detect the position of the coupling by the lower coupling detection device 19.
  • the operation of the lifting cylinder 12 is stopped, the upper gate blowout preventer 171 is closed, and the balance valve 182 is opened.
  • the high-pressure fluid is discharged from the balance valve 18 2 Enter the annular area between the upper ram BOP 171 and the lower ram BOP 172.
  • the pressure-carrying machine 1 in the present application further includes an annular blowout preventer 173, the interior of which has a sealing valve core that holds the oil pipe a.
  • the annular blowout preventer 173 can replace the upper gate blowout preventer 171 and the lower gate blowout preventer 172 to allow the oil pipe a to directly pass through the rubber core of the annular blowout preventer 173 with sufficient rubber and sufficient elasticity, thereby improving the operating efficiency.
  • the automated pressure-bearing operation device also includes an overflow spraying mechanism 9 arranged on the support platform 2, and the overflow spraying mechanism 9 includes a telescopic component 91, a downward pressure component 92, a rotating component 93 and a closing valve 94.
  • the downward pressure component 92 is arranged at the output end of the telescopic component 91
  • the rotating component 93 is arranged at the bottom output end of the downward pressure component 92
  • the closing valve 94 is arranged at the power output end of the rotating component 93, which is used to seal the coupling of the oil pipe a.
  • the overflow emergency spray device can push the valve to the center of the wellhead b and insert the valve into the coupling, and close the valve 94 after the buckle is completed, thereby improving the rescue efficiency and reducing the risk of personnel rescue.
  • the automated pressure-carrying device through the pipe delivery mechanism 4, erects the oil pipe a and delivers it to the pipe lifting pulley 32, and the pipe lifting pulley 32 pulls the end of the oil pipe a upward.
  • the bottom of the oil pipe a is about to leave the pipe delivery mechanism 4, the bottom of the oil pipe a is straightened by the first straightening mechanism 5 to prevent the oil pipe a from swinging and colliding with the mast 31, and the oil pipe a can be initially straightened.
  • the bottom of the oil pipe a is straightened by the first straightening mechanism 5, so that when the pipe lifting pulley 32 lowers the oil pipe a, the bottom of the oil pipe a can be accurately inserted into the trumpet guide port 62, and then enters the straightening cylinder 61 to be buckled with the coupling of the oil pipe a below, so that the accurate straightening and buckling of the oil pipe a can be achieved, the buckling of the coupling of the oil pipe a is completed by the hydraulic clamp 7, and the buckled oil pipe a is lowered into the wellbore by the pressure-carrying machine 1, so as to improve the reliability of continuous operation.
  • the embodiment of the present application provides an automated pressure-carrying operation method, which is applied to the automated pressure-carrying operation device described above.
  • the automated pressure-carrying operation method includes running into a tubing a operation, and the running into a tubing a operation includes:
  • the pipe lifting pulley 32 pulls the top of the oil pipe a to move upward, and supports the bottom of the oil pipe a through the first straightening mechanism 5, so that the oil pipe a is separated from the pipe delivery mechanism 4;
  • the belt pressure operation machine 1 includes: a connecting frame 11, a lifting cylinder 12, a connecting plate 13, a movable slip group 14, a fixed slip group 15 and an upper coupling detection device 16, and the automated belt pressure operation method also includes:
  • the lifting cylinder 12 drives the upper coupling detection device 16 to move downward a preset distance M, and closes the traveling slip group 14, wherein the preset distance M is the distance between the coupling height positioning point and the coupling signal identification point;
  • the lifting cylinder 12 drives the oil pipe a downward and stops at the second extension height N of the piston rod, wherein the second extension height N is the reference stopping height of the lifting cylinder when the buckle is removed from the hydraulic pliers 7, and at this time, the end of the oil pipe a is just located at the hydraulic pliers 7.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a specific operation of lowering the oil pipe A in this application includes:
  • the pipe lifting pulley 32 pulls the top of the oil pipe a to move upward, and supports the bottom of the oil pipe a through the first straightening mechanism 5, so that the oil pipe a is separated from the pipe delivery mechanism 4;
  • the lifting cylinder 12 drives the upper coupling detection device 16 to move downward a preset distance, and closes the traveling slip group 14, wherein the preset distance is the distance between the coupling height positioning point and the coupling signal identification point;
  • the lifting cylinder 12 drives the oil pipe a downward and stops at the second extension height of the piston rod, wherein the second extension height is the reference stop height of the lifting cylinder when the hydraulic clamp 7 is shattered, and at this time, the end of the oil pipe a is just located at the hydraulic clamp 7;
  • the automated pressure operation method further includes an operation of pulling out the oil pipe a, and the operation of pulling out the oil pipe a includes:
  • the pipe lifting trolley 32 holds the oil pipe a with its gripper and moves upward along the oil pipe a, stopping below the coupling of the oil pipe a, the first straightening mechanism 5 holds the lower end of the oil pipe a, and the two couplings of the oil pipe a are detached by the hydraulic pliers 7;
  • the present application embodiment provides a specific operation of pulling out an oil pipe, including:
  • the pipe lifting trolley 32 holds the oil pipe a with its gripper and moves upward along the oil pipe a, stopping below the coupling of the oil pipe a, the first straightening mechanism 5 holds the lower end of the oil pipe a, and the two couplings of the oil pipe a are detached by the hydraulic pliers 7;
  • the traverse pulley 21 drives the hydraulic clamp 7 to be pushed out, and the mud splash box 8 reaches the center of the wellhead b.
  • the mud splash box 8 embraces the oil pipe a, and the pipe lifting pulley 32 moves upward to disengage the bottom coupling of the oil pipe a, and all the liquid in the upper oil pipe a is discharged into the mud splash box 8 and discharged;

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Abstract

本申请总体来说涉及石油装备技术领域，具体公开了一种自动化带压作业装置及其作业方法，该自动化带压作业装置包括带压作业机、支撑平台、提管机构、送管机构、第一扶正机构、第二扶正机构和液压钳，带压作业机固定于井口上；支撑平台设置于带压作业机上，支撑平台上滑动设置有横移滑车；提管机构包括桅杆和提管滑车；送管机构设置于带压作业机的一侧，用于向提管滑车输送油管或者接收提管滑车输出的油管；第一扶正机构设置于支撑平台上，用于扶正提管机构和送管机构之间的油管；第二扶正机构设置于横移滑车上，第二扶正机构包括扶正筒，扶正筒的上部设置有喇叭导向口；该自动化带压作业装置提高自动化带压作业连续运行的可靠性。

Description

自动化带压作业装置及其作业方法 技术领域
本申请总体来说涉及石油装备技术领域，具体公开了一种自动化带压作业装置及其作业方法。
背景技术
带压作业是在保持井内高井压的情况下，强制进行修完井作业的工艺技术。目前常规带压施工作业的大部分操作，全部是由人员站立在井口平台上来完成的。施工作业过程中，一旦发生井喷和危险气体泄露，将严重威胁到操作的生命安全。为了降低人工劳动强度，目前常规带压作业过程中，尝试使用机械装置代替人工，但是现有的自动化带压作业装置连续运行的可靠性较差。
发明内容
本申请的目的在于提供一种自动化带压作业装置及其作业方法，以解决现有技术中往复泵液力端连续运行可靠性较差的技术问题。
根据本申请的第一个方面，提供了一种自动化带压作业装置，包括：
带压作业机，固定于井口上；
支撑平台，设置于所述带压作业机上，所述支撑平台上滑动设置有横移滑车；
提管机构，包括桅杆和提管滑车，所述桅杆设置于所述带压作业机上，所述提管滑车滑动设置于所述桅杆上，用于牵引油管的端部；
送管机构，设置于所述带压作业机的一侧，用于向所述提管滑车输送所述油管或者接收所述提管滑车输出的油管；
第一扶正机构，设置于所述支撑平台上，用于扶正所述提管机构和所述送管机构之间的所述油管；
第二扶正机构，设置于所述横移滑车上，所述第二扶正机构包括扶 正筒，所述扶正筒的上部设置有喇叭导向口；以及
液压钳，设置于所述横移滑车上，用于旋转所述油管，以完成两个所述油管接箍的上扣或者卸扣。
根据本申请的一实施方式，所述送管机构包括动力管桥和设置于所述动力管桥一端的猫道机，所述动力管桥用于承载所述油管，所述猫道机用于举升所述油管，以使所述油管在所述动力管桥和所述提管滑车之间输送。
根据本申请的一实施方式，所述猫道机包括：
底座，所述底座上设置有滑槽；
承载平台，所述承载平台的一端滑动设置于所述滑槽内；
起升组件，用于起升所述承载平台，以使所述承载平台与所述底座呈一定夹角；
翻转组件，包括翻转槽和翻转油缸，所述翻转槽与所述承载平台的顶部铰接，所述翻转油缸的输出端与所述翻转槽连接，以使所述翻转槽可朝向所述承载平台的两侧翻转；
推送组件，设置于所述翻转槽上，且所述推送组件包括可沿所述翻转槽的长度方向滑动的推送坡道及带动所述推送坡道滑动的推送油缸；
抓手组件，设置于所述底座的一侧，用于抓取所述动力管桥上的油管至所述推送坡道；以及
导向臂，设置于所述底座的一侧，用于导送所述推送坡道上的油管至所述动力管桥。
根据本申请的一实施方式，所述第一扶正机构包括：
基座；
翻转机械臂，可转动设置于所述基座上；
伸缩机械臂，设置于所述翻转机械臂的远离所述基座一端；以及
扶正导轮，设置于所述伸缩机械臂的输出端，用于扶正所述油管。
根据本申请的一实施方式，所述带压作业机包括：
连接框架；
举升油缸，设置于所述连接框架上；
连接板，设置于所述举升油缸的顶部输出端；
游动卡瓦组，设置于所述连接板上；
固定卡瓦组，设置于所述连接框架上，且位于所述游动卡瓦组的正下方；以及
上接箍检测装置，设置于所述游动卡瓦组上，用于检测所述油管的接箍。
根据本申请的一实施方式，所述带压作业机还包括设置于所述连接框架底部的上闸板防喷器及位于所述上闸板防喷器下方的下闸板防喷器，所述上闸板防喷器和所述下闸板防喷器之间设置有放喷阀、平衡阀和下接箍检测装置。
根据本申请的一实施方式，所述自动化带压作业装置还包括设置于所述支撑平台上的溢流抢喷机构，所述溢流抢喷机构包括伸缩组件、下压组件、旋转组件和关闭阀门，所述下压组件设置于伸缩组件的输出端，所述旋转组件设置于所述下压组件的底部输出端，所述关闭阀门设置于所述旋转组件的动力输出端，用于封堵所述油管的接箍。
根据本申请实施例的第二个方面，提供了一种自动化带压作业方法，应用于上述的自动化带压作业装置，所述自动化带压作业方法包括下入油管作业，所述下入油管作业包括：通过送管机构将油管输送给提管滑车；所述提管滑车牵引所述油管的顶部向上移动，通过第一扶正机构对所述油管的底部进行支撑，以使所述油管脱离所述送管机构；通过所述第一扶正机构对油管进行初步扶正，以使油管的底部可以插入第二扶正机构的喇叭导向口；通过所述第二扶正机构对油管进行精准扶正，完成两油管的对扣；通过液压钳完成两个油管接箍的上扣；通过带压作业机将油管下入井筒。
在一个具体的实施例中，所述带压作业机包括：连接框架、举升油缸、连接板、游动卡瓦组、固定卡瓦组以及上接箍检测装置，所述自动化带压作业方法还包括：通过所述举升油缸带动所述连接板向上移动，直至所述上接箍检测装置检测到所述油管的所述接箍的上端面，获取所述举升油缸的活塞杆的第一伸出高度；所述举升油缸带动所述上接箍检 测装置向下移动预设距离，并关闭所述游动卡瓦组，其中，所述预设距离为接箍高度定位点至接箍信号识别点之间的距离；所述举升油缸带动所述油管下行，并停止在所述活塞杆的第二伸出高度处，其中，所述第二伸出高度为所述液压钳上卸扣时举升所述油缸的基准停止高度，此时所述油管的端部刚好位于所述液压钳处。
在一个具体的实施例中，所述自动化带压作业方法还包括起出油管作业，所述起出油管作业包括：通过所述带压作业机将所述油管自所述井筒中起出；通过所述提管滑车的抓手抱住所述油管并沿所述油管上行，停留在所述油管的接箍下方，所述第一扶正机构扶住所述油管的下端，通过所述液压钳对两个所述油管的接箍进行卸扣；通过所述第一扶正机构推动所述油管的底部，同时所述提管滑车带动所述油管下行，直至所述油管的下端输送给所述送管机构；所述第一扶正机构复位，所述提管滑车继续下行，直至所述油管完全输送到所述送管机构上。
由上述技术方案可知，本申请的一种自动化带压作业装置及其作业方法的优点和积极效果在于：通过送管机构将油管竖起并输送给提管滑车，由提管滑车牵引油管的端部上行，在油管的底部即将脱离送管机构时，通过第一扶正机构对油管的底部进行扶正，避免油管摆动与桅杆发生磕碰，并且可以对油管进行初步扶正，因为桅杆难以保证竖直性，所以通过第一扶正机构对油管的底部进行扶正，以便提管滑车下放油管时使得油管的底部精准插入喇叭导向口，然后进入扶正筒与下方的油管接箍完成对扣，可以实现油管的精准扶正对扣，通过液压钳完成油管接箍的上扣，通过带压作业机将上扣后的油管下入井筒内，提高连续运行可靠性。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见 地，对于本领域普通技术人员而言，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示出本申请实施例提供的一种自动化带压作业装置的正视结构示意图；
图2示出本申请实施例提供的一种自动化带压作业装置的侧视结构示意图；
图3示出本申请实施例提供的支撑平台处的立体结构示意图；
图4示出本申请实施例提供的一种送管机构的结构示意图；
图5示出本申请实施例提供的一种猫道机的侧视结构示意图；
图6示出本申请实施例提供的一种猫道机的正视结构示意图；
图7示出本申请实施例提供的一种横移滑车、第二扶正机构、液压钳和泥浆防溅盒的立体结构示意图；
图8示出本申请实施例提供的一种第一扶正机构的立体结构示意图；
图9示出本申请实施例提供的一种带压作业机的立体结构示意图；
图10示出本申请实施例提供的带压作业机定位接箍高度的流程示意图；
图11示出本申请实施例提供的一种溢流防喷机构的立体结构示意图。
其中，附图标记说明如下：
a、油管；b、井口；
1、带压作业机；11、连接框架；12、举升油缸；13、连接板；14、游动卡瓦组；15、固定卡瓦组；16、上接箍检测装置；171、上闸板防喷器；172、下闸板防喷器；173、环形防喷器；181、防喷阀；182、平衡阀；19、下接箍检测装置；
2、支撑平台；21、横移滑车；
3、提管机构；31、桅杆；32、提管滑车；
4、送管机构；41、动力管桥；411、倾斜油缸；42、猫道机；421、底座；422、滑槽；423、承载平台；424、起升组件；4241、起升油缸；4242、支撑臂；425、翻转组件；4251、翻转槽；4252、翻转油缸；426、 推送组件；4261、推送坡道；4262、推送油缸；427、抓手组件；428、导向臂；
5、第一扶正机构；51、基座；52、翻转机械臂；53、伸缩机械臂；54、扶正导轮；
6、第二扶正机构；61、扶正筒；62、喇叭导向口；
7、液压钳；
8、泥浆防溅盒；
9、溢流防喷机构；91、伸缩组件；92、下压组件；93、旋转组件；94、开关阀门。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式例如能够以除了在这里图示或描述的那些以外的顺序实施。
而且，术语“包括”、“包含”和“具有”以及他们的任何变形或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在 包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
参照图1至图11，本申请实施例公开了一种提供了一种自动化带压作业装置，包括：带压作业机1，固定于井口b上；支撑平台2，设置于所述带压作业机1上，所述支撑平台2上滑动设置有横移滑车21；提管机构3，包括桅杆31和提管滑车32，所述桅杆31设置于所述带压作业机1上，所述提管滑车32滑动设置于所述桅杆31上，用于牵引油管a的端部；送管机构4，设置于所述带压作业机1的一侧，用于向所述提管滑车32输送所述油管a或者接收所述提管滑车32输出的油管a；第一扶正机构5，设置于所述支撑平台2上，用于扶正所述提管机构3和所述送管机构4之间的所述油管a；第二扶正机构6，设置于所述横移滑车21上，所述第二扶正机构6包括扶正筒61，所述扶正筒61的上部设置有喇叭导向口62；以及液压钳7，设置于所述横移滑车21上，用于旋转所述油管a，以完成两个所述油管a接箍的上扣或者卸扣。
本申请中，通过送管机构4将油管a竖起并输送给提管滑车32，由提管滑车32牵引油管a的端部上行，在油管a的底部即将脱离送管机构4时，通过第一扶正机构5对油管a的底部进行扶正，避免油管a摆动与桅杆31发生磕碰，并且可以对油管a进行初步扶正，因为桅杆31难以保证竖直性，所以通过第一扶正机构5对油管a的底部进行扶正，以便提管滑车32下放油管a时使得油管a的底部精准插入喇叭导向口 62，然后进入扶正筒61与下方的油管a接箍完成对扣，可以实现油管a的精准扶正对扣，通过液压钳7完成油管a接箍的上扣，通过带压作业机1将上扣后的油管a下入井筒内，提高连续运行可靠性。
具体的，在起出油管a时，通过带压作业机1将油管a提出井筒，提管滑车32牵引油管a的顶部接箍，第一扶正机构5对油管a的底部进行扶正，然后通过液压钳7对两个油管a的接箍进行卸扣，完成卸扣后，通过第一扶正机构5向外推动油管a的底部，同时提管滑车32下放油管a，使得油管a的底部滑入送管机构4，提管滑车32继续下放油管a，直到油管a完全过渡到送管机构4上，送管机构4完成油管a的放置即可。
在一个可选的实施例中，横移滑车21上还设置有泥浆防溅盒8，在液压钳7卸扣后，液压钳7后退，泥浆防溅盒8到达井口b中心，泥浆防溅盒8抱合住油管a的底部，提管滑车32带动油管a上行，使得油管a的底部脱离接箍，上部油管a内的液体全部泄放到泥浆防溅盒8内，并沿泥浆防溅盒8管路泄放至污液回收装置内。液体泄放后，泥浆防溅盒8打开，横移滑车21回到准备工位。对于气井，油管a内没有液体时，可以不设置泥浆防溅盒8。
在一个具体的实施例中，所述送管机构4包括动力管桥41和设置于所述动力管桥41一端的猫道机42，所述动力管桥41用于承载所述油管a，所述猫道机42用于举升所述油管a，以使所述油管a在所述动力管桥41和所述提管滑车32之间输送。具体的，油管a水平铺放在动力管桥41上，动力管桥41的底部设置有倾斜油缸411，可以控制动力管桥41的倾斜程度，以便油管a在动力管桥41上滚动，具体为，在下放油管a时，需要动力管桥41上的油管a滚动到猫道机42一侧，方便猫道机42抓取，在起出油管a时，猫道机42将油管a放置到动力管桥41上，需要油管a在动力管桥41上向远离猫道机42的一端滚动。
相关技术中，送管机构4一般包括吊装或者将油管a水平提升然后旋转90°成为竖直状态，吊装需要专门的吊装设备，后者需要较大的活动空间。
在一个具体的实施例中，所述猫道机42包括：底座421，所述底座421上设置有滑槽422；承载平台423，所述承载平台423的一端滑动设置于所述滑槽422内；起升组件424，用于起升所述承载平台423，以使所述承载平台423与所述底座421呈一定夹角；翻转组件425，包括翻转槽4251和翻转油缸4252，所述翻转槽4251与所述承载平台423的顶部铰接，所述翻转油缸4252的输出端与所述翻转槽4251连接，以使所述翻转槽4251可朝向所述承载平台423的两侧翻转；推送组件426，设置于所述翻转槽4251上，且所述推送组件426包括可沿所述翻转槽4251的长度方向滑动的推送坡道4261及带动所述推送坡道4261滑动的推送油缸4262；抓手组件427，设置于所述底座421的一侧，用于抓取所述动力管桥41上的油管a至所述推送坡道4261；以及导向臂428，设置于所述底座421的一侧，用于导送所述推送坡道4261上的油管a至所述动力管桥41。
具体的，滑槽422沿底座421的长度方向设置，起升组件424包括起升油缸4241和支撑臂4242，支撑臂4242的一端与底座421铰接，另一端与承载平台423的底部铰接，起升油缸4241的一端与底座421铰接，另一端与支撑臂4242铰接，通过起升油缸4241可以将支撑臂4242撑起，支撑臂4242将承载平台423撑起一定角度，从而将水平状态的油管a竖起一定角度，然后通过推送油缸4262推动推送坡道4261，使得油管a沿推送坡道4261输送，直至提管滑车32的抓手可以抓取油管a的端部接箍，然后推送坡道4261继续对油管a进行输送，同时提管滑车32牵引油管a的端部上行，当油管a的底部脱离推送坡道4261时，油管a会发生摆动，存在油管a与桅杆31发生磕碰的情况或者油管a脱落的情况，此时通过第一扶正机构5对油管a的底部进行扶正，配合提管滑车32对油管a的顶部进行固定，从而对油管a进行稳固，避免油管a在过渡时摆动发生磕碰或者脱落的情况。
抓手组件427由油缸控制，使得抓手组件427可以钩住动力管桥41上的油管a，然后将动力管桥41上的油管a移动到推送坡道4261上，在将油管a移动到推送坡道4261上时，翻转油缸4252带动翻转槽4251 倾斜，以便油管a进入推送坡道4261中。推送坡道4261中的油管a输送到动力管桥41上时，通过导向臂428搭接在动力管桥41上，然后通过翻转槽4251带动推送坡道4261倾斜，使得推送坡道4261内的油管a滚出并通过导向臂428滚动到动力管桥41上即可。
在一个具体的实施例中，所述第一扶正机构5包括：基座51；翻转机械臂52，可转动设置于所述基座51上；伸缩机械臂53，设置于所述翻转机械臂52的远离所述基座51一端；以及扶正导轮54，设置于所述伸缩机械臂53的输出端，用于扶正所述油管a。
本申请中，通过翻转机械臂52可以调节扶正导轮54的前后位置，通过伸缩机械臂53可以调节扶正导轮54的左右位置，从而使得油管a可以卡入扶正导轮54之间，具体的，扶正导轮54设置有两个，油管a在两个扶正导轮54之间，实现对油管a进行限位，而且不会影响油管a的上下移动。
第一扶正机械装置独立于提管机构3和送管机构4，独立的安装在支撑平台2上，底座421稳固，运动部件少，运动过程中累积误差小，扶正准确度高。第一扶正装置翻转机械臂52的动力液缸和伸缩机械臂53的伸缩油缸集成有油缸位移传感器，通过位移传感器实时位移反馈，精确控制每个动力液缸的位移，提升扶正导轮54的定点扶正精度。
在一个可选的实施例中，两个扶正导轮54可以旋转，调节两个扶正导轮54的角度，在油管a进入两个扶正导轮54之前可以尽可能增加两个扶正导轮54之间水平间隙，方便油管a进入，然后扶正导轮54旋转，使得油管a与两个扶正导轮54均抵接，可以有效对油管a进行限位扶正。
在一个具体的实施例中，所述带压作业机1包括：连接框架11、举升油缸12、连接板13、游动卡瓦组14、固定卡瓦组15和上接箍检测装置16，其中：
举升油缸12设置于所述连接框架11上。
连接板13设置于所述举升油缸12的顶部输出端。
游动卡瓦组14设置于所述连接板13上。
固定卡瓦组15设置于所述连接框架11上，且位于所述游动卡瓦组14的正下方。
上接箍检测装置16设置于所述游动卡瓦组14上，用于检测所述油管a的接箍。
本申请中，液压钳7设置于横移滑车21上，液压钳7的高度的是固定的，即液压钳7可以在固定的高度横向滑动，需要对油管a的接箍进行上扣或者卸扣时，液压钳7需要移动到两个油管a的接箍处作业，具体的，液压钳7包括背钳和主钳，背钳由于固定下面的油管a，主钳由于转动上面的油管a，从而实现对两个油管a接箍的上扣或者卸扣。
相关技术中，在阀件控制延迟效应、举升油缸12惯性力等因素下，从接箍检测系统识别到接箍信号，到控制举升机和油管a停止运动，一般会存在1-2S的时间延迟，冬季会加剧；常态下，举升机的运行速度在0.2-0.8m/s之间。这就导致了，从检测到接箍到油管a接箍停止运动，接箍高度定位的最大的误差可达到1000mm多，远远超出大钳上卸扣允许的50-60mm的接箍高度定位误差，巨大的定位误差无法满足大钳上卸扣的需求，也导致了成套装置无法继续运行。
而本申请中，通过举升油缸12带动连接板13和上接箍检测装置16上行，直至上接箍检测装置16检测到油管a的接箍上端面，上接箍检测装置16发出接箍信号时，控制器即时采集举升油缸12位移传感器反馈的活塞杆伸出高度；举升油缸12反向下行过程中，举升油缸12下行预设高度，其中预设高度为接箍高度定位点至接箍信号识别点之间的距离，该距离是由产品结构特性确定的满足液压钳7上卸扣需求的固定高度。并关闭游动卡瓦组14，举升油缸12带动油管a下行，并停止在活塞杆伸出预设高度处，预设高度是液压钳7上卸扣时，举升机的基准停止高度，该距离也是由产品结构特性确定满足液压钳7上卸扣所需的固定高度，从而实现对接箍高度的精准控制。
具体的，带压作业机1带动油管a上行或者下行通过游动卡瓦组和固定卡瓦组15交替工作进行，在下放油管a时，打开游动卡瓦组14，举升油缸12带动游动卡瓦组14上行；举升液缸升到顶端后，关闭游动 卡瓦组14，打开固定卡瓦组15；举升油缸12带动游动卡瓦组14和管柱下行，游动卡瓦组14和管柱下行到底端后，关闭固定卡瓦组15，再次打开游动卡瓦组14，举升油缸12再次上行，如此往复，通过游动卡瓦组14和固定卡瓦组15对倒的方式，将油管a连续下入到井筒中。起出油管a时，通过固定卡瓦组15固定油管a，游动卡瓦组下行到底端后固定油管a，固定卡瓦组15松开油管a，游动卡瓦组带动油管a上行到顶部，然后固定卡瓦组15固定油管a，游动卡瓦组松开油管a再次下行到底部。本申请中的固定卡瓦组15包括承重固定卡瓦和下压固定卡瓦，游动卡瓦组包括承重游动卡瓦和下压游动卡瓦，分别用于井压大于油管a重量以及井压小于油管a重量时。
在一个具体的实施例中，所述带压作业机1还包括设置于所述连接框架11底部的上闸板防喷器171及位于所述上闸板防喷器171下方的下闸板防喷器172，所述上闸板防喷器171和所述下闸板防喷器172之间设置有放喷阀181、平衡阀182和下接箍检测装置19。
本申请中，在带压作业过程中，由于油管a与井筒之间存在井压，在下放油管a或者起出油管a时，通过上闸板防喷器171和下闸板防喷器172起到防喷的作用，具体的操作为，通过下接箍检测装置19检测接箍的位置，油管a的接箍移动到上闸板防喷器171和下闸板防喷器172之间时，停止举升油缸12运行，关闭上闸板防喷器171，打开平衡阀182，高压流体从平衡阀182进入到上闸板防喷器171与下闸板防喷器172的环形区域内，当下闸板防喷器172上部区域与下部区域压力基本平衡时，打开下闸板防喷器172，接箍下行；油管a接箍通过下闸板防喷器172后，关闭下闸板防喷器172，密封住下端环形区域内的高压流体，打开放喷阀，泄放掉上闸板防喷器171与下闸板防喷器172之间环形区域内的高压流体，打开上闸板防喷器171。如此往复，交替打开/关闭上闸板防喷器171和下闸板防喷器172，将油管a连续下入到井筒中。起出油管a时同理。
在一个可选的实施例中，本申请中的带压作业机1还包括环形防喷器173，环形防喷器173的内部具有抱住油管a的密封阀芯，在井压较 小时可以通过环形防喷器173代替上闸板防喷器171和下闸板防喷器172工作，让油管a直接通过有橡胶量充足、有足够弹性的环形防喷器173胶芯，提高作业效率。
在一个具体的实施例中，所述自动化带压作业装置还包括设置于所述支撑平台2上的溢流抢喷机构9，所述溢流抢喷机构9包括伸缩组件91、下压组件92、旋转组件93和关闭阀门94，所述下压组件92设置于伸缩组件91的输出端，所述旋转组件93设置于所述下压组件92的底部输出端，所述关闭阀门94设置于所述旋转组件93的动力输出端，用于封堵所述油管a的接箍。
本申请中，当油管a内部出现溢流等安全险兆时，溢流抢喷装置可以将阀门推送到井口b中心并将阀门插入到接箍内，并在上扣完成后关闭阀门94，提高了抢险效率，降低了人员抢险的风险性。
该自动化带压作业装置，通过送管机构4将油管a竖起并输送给提管滑车32，由提管滑车32牵引油管a的端部上行，在油管a的底部即将脱离送管机构4时，通过第一扶正机构5对油管a的底部进行扶正，避免油管a摆动与桅杆31发生磕碰，并且可以对油管a进行初步扶正，因为桅杆31难以保证竖直性，所以通过第一扶正机构5对油管a的底部进行扶正，以便提管滑车32下放油管a时使得油管a的底部精准插入喇叭导向口62，然后进入扶正筒61与下方的油管a接箍完成对扣，可以实现油管a的精准扶正对扣，通过液压钳7完成油管a接箍的上扣，通过带压作业机1将上扣后的油管a下入井筒内，提高连续运行可靠性。
本申请实施例提供了一种自动化带压作业方法，应用于上述的自动化带压作业装置，所述自动化带压作业方法包括下入油管a作业，所述下入油管a作业包括：
S11、通过送管机构4将油管a输送给提管滑车32；
S12、所述提管滑车32牵引所述油管a的顶部向上移动，通过第一扶正机构5对所述油管a的底部进行支撑，以使所述油管a脱离所述送管机构4；
S13、通过所述第一扶正机构5对油管a进行初步扶正，以使油管a 的底部可以插入第二扶正机构6的喇叭导向口62；
S14、通过所述第二扶正机构6对油管a进行精准扶正，完成两油管a的对扣；
S15、通过液压钳7完成两个油管a接箍的上扣；
S16、通过带压作业机1将油管a下入井筒。
如图10所示，在一个具体的实施例中，所述带压作业机1包括：连接框架11、举升油缸12、连接板13、游动卡瓦组14、固定卡瓦组15以及上接箍检测装置16，所述自动化带压作业方法还包括：
S17、通过所述举升油缸12带动所述连接板13向上移动，直至所述上接箍检测装置16检测到所述油管a的所述接箍的上端面，获取所述举升油缸12的活塞杆的第一伸出高度P；
S18、所述举升油缸12带动所述上接箍检测装置16向下移动预设距离M，并关闭所述游动卡瓦组14，其中，所述预设距离M为接箍高度定位点至接箍信号识别点之间的距离；
S19、所述举升油缸12带动所述油管a下行，并停止在所述活塞杆的第二伸出高度N处，其中，所述第二伸出高度N为所述液压钳7上卸扣时举升所述油缸的基准停止高度，此时所述油管a的端部刚好位于所述液压钳7处。
实施例1：
本申请的一个具体的下放油管a作业包括：
S11、通过送管机构4将油管a输送给提管滑车32；
S12、所述提管滑车32牵引所述油管a的顶部向上移动，通过第一扶正机构5对所述油管a的底部进行支撑，以使所述油管a脱离所述送管机构4；
S13、通过所述第一扶正机构5对油管a进行初步扶正，以使油管a的底部可以插入第二扶正机构6的喇叭导向口62；
S14、通过所述第二扶正机构6对油管a进行精准扶正，完成两油管a的对扣；
S17、通过所述举升油缸12带动所述连接板13向上移动，直至所述 上接箍检测装置16检测到所述油管a的所述接箍的上端面，获取所述举升油缸12的活塞杆的第一伸出高度；
S18、所述举升油缸12带动所述上接箍检测装置16向下移动预设距离，并关闭所述游动卡瓦组14，其中，所述预设距离为接箍高度定位点至接箍信号识别点之间的距离；
S19、所述举升油缸12带动所述油管a下行，并停止在所述活塞杆的第二伸出高度处，其中，所述第二伸出高度为所述液压钳7上卸扣时举升所述油缸的基准停止高度，此时所述油管a的端部刚好位于所述液压钳7处；
S15、通过液压钳7完成两个油管a接箍的上扣；
S16、通过带压作业机1将油管a下入井筒。
在一个具体的实施例中，所述自动化带压作业方法还包括起出油管a作业，所述起出油管a作业包括：
S21、通过所述带压作业机1将所述油管a自所述井筒中起出；
S22、通过所述提管滑车32的抓手抱住所述油管a并沿所述油管a上行，停留在所述油管a的接箍下方，所述第一扶正机构5扶住所述油管a的下端，通过所述液压钳7对两个所述油管a的接箍进行卸扣；
S23、通过所述第一扶正机构5推动所述油管a的底部，同时所述提管滑车32带动所述油管a下行，直至所述油管a的下端输送给所述送管机构4；
S24、所述第一扶正机构5复位，所述提管滑车32继续下行，直至所述油管a完全输送到所述送管机构4上。
实施例2
本申请实施例提供了一个具体的起出油管a作业，包括：
S21、通过所述带压作业机1将所述油管a自所述井筒中起出；
S22、通过所述提管滑车32的抓手抱住所述油管a并沿所述油管a上行，停留在所述油管a的接箍下方，所述第一扶正机构5扶住所述油管a的下端，通过所述液压钳7对两个所述油管a的接箍进行卸扣；
S25、横移滑车21带动液压钳7推出，泥浆防溅盒8到达井口b中 心，泥浆防溅盒8抱合住油管a，提管滑车32上行使得油管a的底部接箍脱离，上部油管a内的液体全部泄放到泥浆防溅盒8内并排出；
S23、泥浆防溅盒8打开，通过所述第一扶正机构5推动所述油管a的底部，同时所述提管滑车32带动所述油管a下行，直至所述油管a的下端输送给所述送管机构4；
S24、所述第一扶正机构5复位，所述提管滑车32继续下行，直至所述油管a完全输送到所述送管机构4上。
以上所述仅是本申请的具体实施方式，使本领域技术人员能够理解或实现本申请。对这些实施例的多种修改和变化对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。凡在本申请的精神和原则之内，所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所申请的原理和新颖特点相一致的最宽的范围。

Claims (10)

  1. 一种自动化带压作业装置，包括：
    带压作业机(1)，固定于井口上；
    支撑平台(2)，设置于所述带压作业机(1)上，所述支撑平台(2)上滑动设置有横移滑车(21)；
    提管机构(3)，包括桅杆(31)和提管滑车(32)，所述桅杆(31)设置于所述带压作业机(1)上，所述提管滑车(32)滑动设置于所述桅杆(31)上，用于牵引油管的端部；
    送管机构(4)，设置于所述带压作业机(1)的一侧，用于向所述提管滑车(32)输送所述油管或者接收所述提管滑车(32)输出的油管；
    第一扶正机构(5)，设置于所述支撑平台(2)上，用于扶正所述提管机构(3)和所述送管机构(4)之间的所述油管；
    第二扶正机构(6)，设置于所述横移滑车(21)上，所述第二扶正机构(6)包括扶正筒(61)，所述扶正筒(61)的上部设置有喇叭导向口(62)；以及
    液压钳(7)，设置于所述横移滑车(21)上，用于旋转所述油管，以完成两个所述油管接箍的上扣或者卸扣。
  2. 如权利要求1所述的自动化带压作业装置，其中，所述送管机构(4)包括动力管桥(41)和设置于所述动力管桥(41)一端的猫道机(42)，所述动力管桥(41)用于承载所述油管，所述猫道机(42)用于举升所述油管，以使所述油管在所述动力管桥(41)和所述提管滑车(32)之间输送。
  3. 如权利要求2所述的自动化带压作业装置，其中，所述猫道机(42)包括：
    底座(421)，所述底座(421)上设置有滑槽(422)；
    承载平台(423)，所述承载平台(423)的一端滑动设置于所述滑槽(422)内；
    起升组件(424)，用于起升所述承载平台(423)，以使所述承载平 台(423)与所述底座(421)呈一定夹角；
    翻转组件(425)，包括翻转槽(4251)和翻转油缸(4252)，所述翻转槽(4251)与所述承载平台(423)的顶部铰接，所述翻转油缸(4252)的输出端与所述翻转槽(4251)连接，以使所述翻转槽(4251)可朝向所述承载平台(423)的两侧翻转；
    推送组件(426)，设置于所述翻转槽(4251)上，且所述推送组件(426)包括可沿所述翻转槽(4251)的长度方向滑动的推送坡道(4261)及带动所述推送坡道(4261)滑动的推送油缸(4262)；
    抓手组件(427)，设置于所述底座(421)的一侧，用于抓取所述动力管桥(41)上的油管至所述推送坡道(4261)；以及
    导向臂(428)，设置于所述底座(421)的一侧，用于导送所述推送坡道(4261)上的油管至所述动力管桥(41)。
  4. 如权利要求1所述的自动化带压作业装置，其中，所述第一扶正机构(5)包括：
    基座(51)；
    翻转机械臂(52)，可转动设置于所述基座(51)上；
    伸缩机械臂(53)，设置于所述翻转机械臂(52)的远离所述基座(51)一端；以及
    扶正导轮(54)，设置于所述伸缩机械臂(53)的输出端，用于扶正所述油管。
  5. 如权利要求1所述的自动化带压作业装置，其中，所述带压作业机(1)包括：
    连接框架(11)；
    举升油缸(12)，设置于所述连接框架(11)上；
    连接板(13)，设置于所述举升油缸(12)的顶部输出端；
    游动卡瓦组(14)，设置于所述连接板(13)上；
    固定卡瓦组(15)，设置于所述连接框架(11)上，且位于所述游动卡瓦组(14)的正下方；以及
    上接箍检测装置(16)，设置于所述游动卡瓦组(14)上，用于检测 所述油管的接箍。
  6. 如权利要求5所述的自动化带压作业装置，其中，所述带压作业机(1)还包括设置于所述连接框架(11)底部的上闸板防喷器(171)及位于所述上闸板防喷器(171)下方的下闸板防喷器(172)，所述上闸板防喷器(171)和所述下闸板防喷器(172)之间设置有放喷阀(181)、平衡阀(182)和下接箍检测装置(19)。
  7. 如权利要求6所述的自动化带压作业装置，其中，所述自动化带压作业装置还包括设置于所述支撑平台(2)上的溢流抢喷机构(9)，所述溢流抢喷机构(9)包括伸缩组件(91)、下压组件(92)、旋转组件(93)和关闭阀门(94)，所述下压组件(92)设置于伸缩组件(91)的输出端，所述旋转组件(93)设置于所述下压组件(92)的底部输出端，所述关闭阀门(94)设置于所述旋转组件(93)的动力输出端，用于封堵所述油管的接箍。
  8. 一种自动化带压作业方法，应用于如权利要求1-7任一项所述的自动化带压作业装置，所述自动化带压作业方法包括下入油管作业，所述下入油管作业包括：
    通过送管机构(4)将油管输送给提管滑车(32)；
    所述提管滑车(32)牵引所述油管的顶部向上移动，通过第一扶正机构(5)对所述油管的底部进行支撑，以使所述油管脱离所述送管机构(4)；
    通过所述第一扶正机构(5)对油管进行初步扶正，以使油管的底部可以插入第二扶正机构(6)的喇叭导向口(62)；
    通过所述第二扶正机构(6)对油管进行精准扶正，完成两油管的对扣；
    通过液压钳(7)完成两个油管接箍的上扣；
    通过带压作业机(1)将油管下入井筒。
  9. 如权利要求8所述的自动化带压作业方法，其中，所述带压作业机(1)包括：连接框架(11)、举升油缸(12)、连接板(13)、游动卡瓦组(14)、固定卡瓦组(15)以及上接箍检测装置(16)，所述自动化 带压作业方法还包括：
    通过所述举升油缸(12)带动所述连接板(13)向上移动，直至所述上接箍检测装置(16)检测到所述油管的所述接箍的上端面，获取所述举升油缸(12)的活塞杆的第一伸出高度；
    所述举升油缸(12)带动所述上接箍检测装置(16)向下移动预设距离，并关闭所述游动卡瓦组(14)，其中，所述预设距离为接箍高度定位点至接箍信号识别点之间的距离；
    所述举升油缸(12)带动所述油管下行，并停止在所述活塞杆的第二伸出高度处，其中，所述第二伸出高度为所述液压钳(7)上卸扣时举升所述油缸的基准停止高度，此时所述油管的端部刚好位于所述液压钳(7)处。
  10. 如权利要求8所述的自动化带压作业方法，其中，所述自动化带压作业方法还包括起出油管作业，所述起出油管作业包括：
    通过所述带压作业机(1)将所述油管自所述井筒中起出；
    通过所述提管滑车(32)的抓手抱住所述油管并沿所述油管上行，停留在所述油管的接箍下方，所述第一扶正机构(5)扶住所述油管的下端，通过所述液压钳(7)对两个所述油管的接箍进行卸扣；
    通过所述第一扶正机构(5)推动所述油管的底部，同时所述提管滑车(32)带动所述油管下行，直至所述油管的下端输送给所述送管机构(4)；
    所述第一扶正机构(5)复位，所述提管滑车(32)继续下行，直至所述油管完全输送到所述送管机构(4)上。
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