Mechanical arm and control method thereof
A technology of mechanical arm and control valve, which is applied in the direction of earthwork drilling, drilling equipment, drill pipe, etc., can solve the problems of low operation safety and complicated operation process, and achieve the effect of simplifying the operation process and improving safety
Active Publication Date: 2016-06-01
PETROCHINA CO LTD
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Problems solved by technology
[0005] In order to solve the problems of complicated operation process and low operation safety when lifting and lowering oil pipes at oil and water wellheads, the present invention provides a mechanical arm and its control method
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[0050] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0051] The mechanical arm provided by the embodiment of the present invention is applied to the lifting and lowering oil pipe system, such as figure 1 As shown, the oil pipe lifting system includes: electric control hydraulic station 101, support base 102, mechanical arm 103, push-pull manipulator 104, oil pipe elevator 105, lifting ring 106, oil pipe tong 107, oil pipe tong positioning device 108, oil pipe tong remote Control device 109 and tubing chuck 110 .
[0052]Wherein, the electronically controlled hydraulic station 101 is respectively connected with the tubing elevator 105, the tubing clamp positioning device 108 and the tubing lift 20, and is used to provide the tubing elevator 105, the tubing clamp positioning device 108 and...
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The invention discloses a mechanical arm and a control method thereof and belongs to the field of petroleum machinery. The mechanical arm comprises a mechanical arm assembly, a single-oil-way control valve, a dual-oil-way control valve and a controller, wherein the mechanical arm assembly comprises a servo cylinder and a displacement sensor, a servo cylinder front oil way and a servo cylinder back oil way are arranged on the servo cylinder, and the servo cylinder is connected with a push-pull manipulator; the servo cylinder front oil way and the servo cylinder back oil way are connected with a hydraulic oil tank respectively, the single-oil-way control valve is arranged on the servo cylinder back oil way, and the dual-oil-way control valve is arranged on the servo cylinder front oil way and the servo cylinder back oil way; the controller is connected with the displacement sensor and the single-oil-way control valve. According to the mechanical arm and the control method thereof, problems that operation processes are complex and operation safety is lower during operations related to pulling and running of oil tubes at wellheads of oil and water wells are solved, the operation processes are simplified, and the operation safety is improved; the mechanical arm and the control method thereof are used for pulling and running of the oil tubes for the oil and water wells.
Description
technical field [0001] The invention relates to the field of petroleum machinery, in particular to a mechanical arm and a control method thereof. Background technique [0002] Workover operation is an important means to maintain the normal production of oil and water wells in the process of oil field development. In daily oil and water well workover operations, oil pipes need to be pulled out or put in frequently, which is inseparable from a large number of oil pipe tripping operations. [0003] In the prior art, at least two operators are required to work at the wellhead when lifting and lowering the tubing at the workover site, and the operators need to stand beside the wellhead to complete the related operations of lifting and lowering the tubing. When it is necessary to remove and hang the lifting rings, the operator uses both hands to hang the two lifting rings on the workover rig on the elevator; when it is necessary to push and pull the oil pipe, the operator pushes ...
Claims
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Inventor 耿玉广孙连会谷全福王树义王铁峰曾良军李宝军李世杰黄树刘德文杨达玉
Owner PETROCHINA CO LTD