Oil pipe remote buckling system and method for under-pressure operation and under-pressure operation equipment

Abstract

The invention relates to the technical field of oil and gas drilling and production equipment, in particular to an oil pipe remote buckling system and method for under-pressure operation and under-pressure operation equipment. The buckling system comprises a lifting device, a manipulator, a guide device, a camera and a console. And the camera is used for acquiring a working image of the buckling system. The console controls the lifting device, the guiding device and the mechanical arm according to images collected by the camera. The console controls the lifting device to suspend and drive the oil pipe; and the manipulator is controlled to centralize the moving oil pipe, and the guide device is controlled to guide the suspended oil pipe. In the buckling process, an oil pipe can be centralized, the oil pipe can be prevented from colliding with facilities on a wellhead operation platform, an operator can remotely control the lifting device, the mechanical arm and the guide device through the control console, and in the buckling operation process, the oil pipe can be straightened, and the safety is improved. Operating personnel do not need to be exposed on a wellhead operation platform for under-pressure operation, and the safety risk of the operating personnel is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas drilling and production equipment, and in particular to a remote fastening system and method for oil pipes under pressure operation, and equipment for under pressure operation. Background Art

[0002] A large number of interlocking operations are involved in the various construction processes of oil and gas development, that is, lowering the oil pipes into the well and aligning them. In oil and gas development, interlocking operations are key steps to ensure that the oil pipes are correctly connected to the downhole structure. An oil and gas well usually requires several oil pipes to be connected end to end. The operation of aligning and connecting two oil pipes is called interlocking.

[0003] In order to keep the formation pressure stable, thereby protecting and maintaining the original production capacity of the formation and reducing the number of production-increasing measures such as acid fracturing, the existing technology mostly adopts the method of pressure operation when performing the interlocking operation. Specifically, the wellbore is kept at a certain pressure state, and the interlocking operation is performed without killing the well or releasing the pressure.

[0004] In the prior art, when performing pressure-connected fastening operations, the oil pipe is usually hoisted to a certain height of the wellhead operating platform, and then gradually lowered and connected. However, in actual operations, due to the long length of the oil pipe and the strong winds often accompanying the construction environment, the suspended oil pipe is prone to swing. This swing may not only cause the oil pipe to collide with the facilities on the wellhead operating platform, causing damage to the equipment or the platform, but also increase the difficulty of accurately lowering the oil pipe into the well for fastening.

[0005] In order to deal with the swing problem when the oil pipe is lowered, the current commonly used method is for operators to manually straighten the oil pipe to reduce shaking and ensure that the oil pipe can be correctly aligned with the downhole position until the buckling operation is completed. However, this method requires operators to be exposed to the wellhead operating platform in a high-pressure environment for a long time, which increases the safety risks of operators. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art, such as the oil pipe is prone to swing and collide with wellhead facilities during the fastening operation, is difficult to align, and has a high safety risk for operators to manually straighten the oil pipe, and to provide a remote fastening system, method and equipment for oil pipes under pressure.

[0007] First, the present invention provides a remote fastening system for oil pipes under pressure operation. The remote fastening system for oil pipes under pressure operation is configured on a wellhead operation platform. The remote fastening system for oil pipes under pressure operation includes: a lifting device, a manipulator, a guide device, a camera and a console. The lifting device is used to suspend the oil pipe and drive the oil pipe to rise or fall. The manipulator is arranged at the edge of the top layer of the wellhead operation platform and is used to straighten the oil pipe. The guide device is arranged in the middle of the top layer of the wellhead operation platform and is used to guide the suspended oil pipe during the fastening process. The camera is used to collect working images of the lifting device, the guide device and the manipulator. The console controls the working states of the lifting device, the guide device and the manipulator according to the images collected by the camera. Preferably, when the oil pipe fastening operation is performed, the console adjusts the working states of the lifting device and the manipulator according to the adjustment data table to ensure that the oil pipe is vertical and aligned with the wellhead. The content of the adjustment data table includes: the specification and model of the oil pipe, the working state of the lifting device when fastening the oil pipe, and the working state of the manipulator when fastening the oil pipe.

[0008] According to a preferred embodiment, the lifting device includes a traveling carriage and a winch. The traveling carriage is equipped with an elevator and a swing arm. The elevator is used to clamp the oil pipe. The swing arm is used to drive the elevator to swing. Preferably, the elevator is hinged at one end of the swing arm. The winch is arranged on the support rod of the wellhead operation platform. The winch is connected to the traveling carriage through a traction steel cable, and the winch drives the traveling carriage to rise or fall by retracting and releasing the traction steel cable. The winch is equipped with an encoder and a motor, and the motor is connected to one end of the traction steel cable. The encoder and the motor are respectively connected to the control console for communication. The control console realizes the retraction and release of the traction steel cable by controlling the rotation direction of the motor, thereby driving the traveling carriage to rise or fall.

[0009] According to a preferred embodiment, the traveling carriage further comprises: a crossbeam, a first telescopic rod and a lifting lug. The lifting lug is arranged on the crossbeam. The lifting lug is connected to the winch through the traction steel cable. The crossbeam is hinged to the end of the swing arm that is not hinged to the lifting card. One end of the first telescopic rod is hinged to the crossbeam, and the other end is hinged to the middle of the swing arm. The first telescopic rod is in communication connection with the console. The console controls the extension and contraction of the first telescopic rod to make the swing arm swing around the crossbeam.

[0010] According to a preferred embodiment, the traveling car further comprises: a guide rail and a pulley. The two guide rails are arranged in parallel on both sides of the swing arm and connected by the crossbeam. The pulley is arranged at both ends of the guide rail. The guide rail is mounted on the guide steel cable through the pulley. One end of the guide steel cable is connected to the ground, and the other end is connected to the top of the support rod.

[0011] According to a preferred embodiment, the manipulator includes: a base, a main arm, a second telescopic rod, a guide roller and a slewing mechanism. The guide roller is arranged at one end of the main arm, and the other end of the main arm is connected to the base. One end of the second telescopic rod is connected to the base, and the other end is connected to the middle part of the main arm. And the second telescopic rod is connected to the control console in communication. The control console controls the extension and contraction of the second telescopic rod to make the main arm swing around the base in a first direction. The main arm and the second telescopic rod are connected to the base through the slewing mechanism. And the slewing mechanism is connected to the control console in communication. The control console drives the main arm to rotate around the base in a second direction by controlling the slewing mechanism. Preferably, the first direction is perpendicular to the second direction.

[0012] According to a preferred embodiment, the guide device includes: a mounting plate, a bell mouth, a third telescopic rod and a slider. The bell mouth is arranged in the middle of the mounting plate and is used to guide the suspended oil pipe during the buckling process. The bell mouth is connected to the mounting plate through the slider, and the bell mouth slides along the edge of the mounting plate through the slider. The slider is connected to the third telescopic rod arranged at both ends of the mounting plate; and the third telescopic rod is in communication connection with the console. The console adjusts the position of the bell mouth on the mounting plate by controlling the extension and retraction of the third telescopic rod.

[0013] According to a preferred embodiment, the first telescopic rod is equipped with a first sensor. The second telescopic rod is equipped with a second sensor. The third telescopic rod is equipped with a third sensor. The first telescopic rod, the second telescopic rod and the third telescopic rod are hydraulic telescopic rods. The first sensor, the second sensor and the third sensor are pressure sensors.

[0014] Secondly, the present invention also provides a method for remote fastening of oil pipes under pressure operation. The fastening method is implemented by using the remote fastening system for oil pipes under pressure operation provided by the present invention. The fastening method includes the following steps: S1, suspending and lowering the oil pipe; S2, straightening the lowered oil pipe; S3, guiding the oil pipe.

[0015] According to a preferred embodiment, step S1 includes: the console confirms the position of the oil pipe according to the image captured by the camera; when the lifting device suspends the oil pipe, the console controls the winch to release the traction cable to lower the oil pipe. Step S2 includes: the console controls the second telescopic rod through the slewing mechanism so that the guide roller contacts the oil pipe to straighten the oil pipe. Step S3 includes: the console confirms whether the oil pipe is close to the bell mouth through the image captured by the camera; when the oil pipe is close to the bell mouth, the console controls the third telescopic rod to align the bell mouth with the descending oil pipe.

[0016] Finally, the present invention also provides a pressure-operating device, comprising: a wellhead operating platform, a power catwalk and a ground mechanical arm, and a remote fastening system for oil pipes under pressure provided by the present invention. The power catwalk is arranged on one side of the wellhead operating platform. The ground mechanical arm is arranged between the power catwalk and the wellhead operating platform. The mechanical arm is arranged at the top edge of the wellhead operating platform. The lifting device is used to transport the oil pipe between the power catwalk and the wellhead operating platform. The guide device is installed in the middle of the top floor of the wellhead operating platform.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] When the oil pipe remote fastening system provided by the present invention performs fastening operations, the console controls the working states of the lifting device, the guiding device and the manipulator according to the images collected by the camera. The console suspends the oil pipe through the lifting device and drives the oil pipe; the console controls the manipulator to straighten the moving oil pipe and guide the suspended oil pipe through the guiding device. The present invention can straighten the oil pipe during the fastening process, and can avoid collision between the oil pipe and the facilities on the wellhead operating platform. The present invention also enables operators to remotely control the lifting device, the manipulator and the guiding device through the console. When performing fastening operations, operators do not need to be exposed on the wellhead operating platform under pressure, which reduces the safety risks of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a pressure working device according to a preferred embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the communication architecture of a remote fastening system for oil pipes under pressure operation according to a preferred embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a traveling carriage according to a preferred embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a manipulator according to a preferred embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a guide device according to a preferred embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the relative positions of the traveling block, the manipulator, and the oil pipe during the oil pipe lifting operation according to a preferred embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the relative positions of the traveling block, the manipulator and the oil pipe during the oil pipe fastening operation according to a preferred embodiment of the present invention.

[0026] Markings in the figure:

[0027] Lifting device-100, guide steel cable-101, support rod-102, traction steel cable-103, fixed pulley-104, traveling block-110, elevator-111, swing arm-112, crossbeam-113, first telescopic rod-114, lifting eye-115, guide rail-116, pulley-117, winch-120, manipulator-200, base-210, main arm-220, second telescopic rod-230, guide roller-240, second sensor-250, slewing mechanism-260, guide device-300, mounting plate-310, bell mouth-320, third telescopic rod-330, slider-340, camera-400, control console-500, wellhead operation platform-600, power catwalk-601, ground manipulator-602. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0029] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0031] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0032] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0033] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0034] Example 1

[0035] The present invention provides a remote fastening system for oil pipes under pressure. Figure 1 , remote tubing fastening system, configured on the wellhead operation platform 600. Figure 2 The oil pipe remote fastening system includes: a lifting device 100, a manipulator 200, a guide device 300, a camera 400 and a control console 500. The control console 500 is respectively connected to the lifting device 100, the manipulator 200 and the camera 400 for communication.

[0036] The lifting device 100 is used to suspend the oil pipe and drive the oil pipe to rise or fall. The manipulator 200 is set at the edge of the top layer of the wellhead operating platform 600 and is used to straighten the oil pipe. The guide device 300 is set in the middle of the top layer of the wellhead operating platform 600 and is used to guide the suspended oil pipe during the buckling process. The camera 400 is used to collect working images of the lifting device 100, the guide device 300 and the manipulator 200.

[0037] The control console 500 controls the working states of the lifting device 100 , the guiding device 300 and the manipulator 200 according to the images collected by the camera 400 .

[0038] When the tubing remote fastening system provided in this embodiment performs fastening operations, the console 500 controls the working states of the lifting device 100, the guiding device 300 and the manipulator 200 according to the images collected by the camera 400. The console 500 suspends the tubing through the lifting device 100 and drives the tubing; the console 500 controls the manipulator 200 to straighten the moving tubing and guides the suspended tubing through the guiding device 300. The tubing remote fastening system provided in this embodiment can straighten the tubing during the fastening process, and can avoid the tubing from colliding with the facilities on the wellhead operation platform 600. The tubing remote fastening system provided in this embodiment enables the operator to remotely control the lifting device 100, the manipulator 200 and the guiding device 300 through the console 500. When performing fastening operations, the operator does not need to be exposed to the wellhead operation platform 600 under pressure, thereby reducing the safety risks of the operator.

[0039] Example 2

[0040] This embodiment is a further improvement of embodiment 1, and the repeated contents will not be repeated here. Figure 1 and Figure 2 In this embodiment, the lifting device 100 includes a traveling carriage 110 and a winch 120. The winch 120 is arranged on the support rod 102 of the wellhead working platform 600. The winch 120 is connected to the traveling carriage 110 through a traction cable 103, and the winch 120 drives the traveling carriage 110 to rise or fall by retracting and releasing the traction cable 103. The winch 120 is equipped with an encoder and a motor, and the motor is connected to one end of the traction cable 103. The encoder and the motor are respectively connected to the control console 500 for communication. The encoder is arranged on the motor for real-time monitoring of information such as current, rotation speed and shaft position. The control console 500 can determine the state of the motor according to the parameters monitored by the encoder, and then regulate it. The control console 500 realizes the retraction and release of the traction cable 103 by controlling the rotation direction of the motor, thereby driving the traveling carriage 110 to rise or fall. See Figure 1The winch 120 is disposed in the middle of the support rod 102 of the wellhead operation platform 600 . A fixed pulley 104 is disposed at the top of the support rod 102 . The traction cable 103 passes through the fixed pulley 104 and connects the traveling block 110 and the winch 120 .

[0041] See also Figure 3 The traveling car 110 includes: an elevator 111, a swing arm 112, a crossbeam 113, a first telescopic rod 114, a lifting lug 115, a guide rail 116 and a pulley 117. The elevator 111 is used to clamp the oil pipe. The swing arm 112 is used to drive the elevator 111 to swing. Preferably, the elevator 111 is hinged at one end of the swing arm 112. The lifting lug 115 is arranged on the crossbeam 113. The lifting lug 115 is connected to the winch 120 through the traction cable 103. The crossbeam 113 is hinged to the end of the swing arm 112 that is not hinged to the elevator 111. One end of the first telescopic rod 114 is hinged to the crossbeam 113, and the other end is hinged to the middle of the swing arm 112. The first telescopic rod 114 is connected to the control console 500 in communication. The control console 500 controls the extension and contraction of the first telescopic rod 114 to make the swing arm 112 swing around the crossbeam 113. The first telescopic rod 114 is configured with a first sensor. The first sensor is communicatively connected to the console 500 .

[0042] The traveling carriage 110 is provided with two guide rails 116, and the two guide rails 116 are respectively connected to the cross beam 113. The two guide rails 116 are arranged in parallel on both sides of the swing arm 112. The pulleys 117 are arranged at both ends of the guide rails 116. Figure 1 and Figure 3 , the guide rail 116 is sleeved on the guide steel cable 101 through the pulley 117. One end of the guide steel cable 101 is connected to the ground, and the other end is connected to the top of the support rod 102.

[0043] See also Figure 4The manipulator 200 includes: a base 210, a main arm 220, a second telescopic rod 230, a guide roller 240, a second sensor 250 and a slewing mechanism 260. The guide roller 240 is arranged at one end of the main arm 220, and the other end of the main arm 220 is connected to the base 210. One end of the second telescopic rod 230 is connected to the base 210, and the other end is connected to the middle part of the main arm 220. And the second telescopic rod 230 is connected to the console 500 for communication. The second sensor 250 is arranged on the second telescopic rod 230. The console 500 controls the extension and contraction of the second telescopic rod 230 to make the main arm 220 swing around the base 210 in the first direction. The main arm 220 and the second telescopic rod 230 are connected to the base 210 through the slewing mechanism 260. And the slewing mechanism 260 is connected to the console 500 for communication. The console 500 drives the main arm 220 to rotate around the base 210 in the second direction by controlling the slewing mechanism 260. Preferably, the slewing mechanism 260 can be a hydraulic slewing drive device composed of a hydraulic motor, a reducer and a slewing bearing, etc. Of course, the slewing mechanism 260 can also be an electric slewing drive device composed of a servo motor, a planetary reducer and a slewing bearing, etc. That is, as long as the driving force or torque can be reliably transmitted to the main arm 220, so that it can perform a planar rotation movement within a specified angle around the base 210. Preferably, the first direction is perpendicular to the second direction. See Figure 1 and Figure 4 , the base 210 is configured as a cylindrical shape, and the first direction is the plane where the axial direction of the base 210 is located, that is, Figure 1 The second direction is the plane where the base 210 is located in the circumference, that is, Figure 1 Horizontal direction shown.

[0044] See also Figure 5The guide device 300 includes: a mounting plate 310, a bell mouth 320, a third telescopic rod 330 and a slider 340. The bell mouth 320 is arranged in the middle of the mounting plate 310, and is used to guide the suspended oil pipe during the buckling process. Preferably, the bell mouth 320 is made of a soft material such as rubber to prevent the oil pipe from being damaged by bumping against the bell mouth 320. The bell mouth 320 is connected to the mounting plate 310 through the slider 340, and the bell mouth 320 slides along the edge of the mounting plate 310 through the slider 340. The slider 340 is connected to the third telescopic rod 330 arranged at both ends of the mounting plate 310; and the third telescopic rod 330 is connected to the console 500 in communication. Preferably, the guide device 300 is arranged at the wellhead through the mounting plate 310, and the console 500 adjusts the position of the bell mouth 320 on the mounting plate 310 by controlling the extension and contraction of the third telescopic rod 330. Preferably, the third telescopic rod 330 is configured with a third sensor, and the third sensor is connected to the console 500 in communication. The inside of the bell mouth 320 is hollow and penetrates through, and the bottom is screwed to the slider 340. Preferably, the mounting plate 310 is not provided with slide rails on both sides of the third telescopic rod 330. The slider 340 translates along the slide rails. Preferably, the middle part of the mounting plate 310 is hollowed out, and the lifting device 100 suspends and lowers the oil pipe, and the oil pipe passes through the bell mouth 320 and docks with the oil pipe in the well. The size of the hollow area in the middle of the mounting plate 210 meets the condition that the bottom opening of the bell mouth 320 is not blocked when the slider 340 is at the limit stroke. Preferably, the bell mouth 320 can be configured with different sizes to adapt to oil pipes of different specifications, or it can be set to a fixed size that can adapt to oil pipes of different specifications.

[0045] Preferably, the first telescopic rod 114, the second telescopic rod 230 and the third telescopic rod 330 are hydraulic telescopic rods. The first sensor, the second sensor 250 and the third sensor are pressure sensors. The console 500 can determine the telescopic state of the hydraulic telescopic rod through the sensing data of the pressure sensor, and then control the telescopic state of the hydraulic telescopic rod.

[0046] See also Figure 1 The console 500 is provided with a display screen 510, a data processor 520 and a plurality of input modules 530. The data processor 530 is respectively connected to the display screen 510, the input module 530, the lifting device 100, the camera 400 and the manipulator 200 for communication.

[0047] The data processor 530 can process the data collected by each sensor and transmit it to the display screen 510 for display; it can also transmit the instructions input by each input module 530 to the corresponding device.

[0048] Preferably, the content displayed on the display screen 510 includes images captured by the camera, the retracted and extended length of the traction cable 103 by the winch 120, the pressure parameters of the first telescopic rod 114, the pressure parameters of the second telescopic rod 230, the pressure parameters of the third telescopic rod 330, the rotation angle of the slewing mechanism 260, etc.

[0049] The instructions input by the input module 530 include the retraction and extension of the traction cable 103 by the winch 120, the extension and retraction of the first telescopic rod 114, the extension and retraction of the second telescopic rod 230, the extension and retraction of the third telescopic rod 330, the rotation of the slewing mechanism 260, etc.

[0050] The communication connection involved in this embodiment may be a remote communication connection implemented through wired communication, or a remote communication connection implemented through wireless network communication.

[0051] Preferably, for oil pipes of different specifications, the rotation direction and rotation speed of the motor, the swing angle of the swing arm 112, the rotation angle of the main arm 220, the position of the bell mouth 320, etc. are all different.

[0052] Preferably, it is pre-tested that when the oil pipes of different specifications successfully complete the fastening operation, the working state of the lifting device 100, the working state of the manipulator 200 and the working state of the guide device 300 are tested, and then the adjustment data table is summarized and generated.

[0053] Preferably, the content of the adjustment data table at least includes: the specification and model of the oil pipe, the working state of the lifting device 100 when the oil pipe is buckled, and the working state of the manipulator 200 when the oil pipe is buckled. Preferably, when the oil pipe buckling operation is performed, the console 500 adjusts the working state of the lifting device 100 and the manipulator 200 according to the adjustment data table to ensure that the oil pipe is vertical and aligned with the wellhead.

[0054] Preferably, when performing the oil pipe fastening operation, the control console 500 can adjust the working state of the guide device 300 according to the adjustment data table, and can also adjust the working state of the guide device 300 according to the image collected by the camera 400.

[0055] Example 3

[0056] This embodiment provides a pressure operation device. Figure 1 The pressure operation equipment includes: a power catwalk 601, a wellhead operation platform 600, a ground mechanical arm 602, and a remote fastening system for oil pipes under pressure. The remote fastening system for oil pipes under pressure involved in this embodiment is the remote fastening system for oil pipes under pressure provided in Embodiment 1 and Embodiment 2.

[0057] The power catwalk 601 is arranged on one side of the wellhead operation platform 600. The ground manipulator 602 is arranged between the power catwalk 601 and the wellhead operation platform 600. The manipulator 200 is arranged at the top edge of the wellhead operation platform 600. The lifting device 100 is used to transport the oil pipe between the power catwalk 601 and the wellhead operation platform 600. The guide device 300 is installed in the middle of the top layer of the wellhead operation platform 600. Preferably, the winch 120 is arranged on the support rod 102 of the wellhead operation platform 600.

[0058] Example 4

[0059] The present embodiment provides a method for remote fastening of oil pipes under pressure, and the remote fastening system for oil pipes under pressure involved in the present embodiment is the remote fastening system for oil pipes under pressure provided in Embodiment 1 and Embodiment 2; in addition, the remote fastening method for oil pipes under pressure provided in the present embodiment is implemented on the equipment for pressure operation involved in Embodiment 3.

[0060] Preferably, the buckling method comprises the following steps:

[0061] S1. Suspend and lower the oil pipe;

[0062] S2. Straighten the lowered oil pipe;

[0063] S3. Guide the oil pipe.

[0064] Step S1 includes: the console 500 confirms the position of the oil pipe according to the image collected by the camera 400; when the lifting device 100 suspends the oil pipe, the console 500 controls the winch 120 to release the traction cable 103 to lower the oil pipe.

[0065] Step S2 includes: the console 500 controls the second telescopic rod 230 through the slewing mechanism 260 so that the guide roller 240 contacts the oil pipe and straightens the oil pipe. Preferably, during the descent of the oil pipe, the console 500 controls the second telescopic rod 230 and the hydraulic motor to adjust the rotation angle of the manipulator 200 so that the guide roller 240 contacts the oil pipe, providing a force point for the oil pipe to prevent the oil pipe from shaking during the descent.

[0066] Step S3 includes: the console 500 confirms whether the oil pipe is close to the bell mouth 320 through the image captured by the camera 400; when the oil pipe is close to the bell mouth 320, the console 500 controls the third telescopic rod 330 to align the bell mouth 320 with the descending oil pipe.

[0067] See also Figure 1 , Figure 3 and Figure 6Before the fastening operation is performed, the oil pipe lifting operation needs to be performed first, that is, the oil pipe is lifted from the power catwalk 601. The elevator 111 clamps one end of the oil pipe, and the winch 120 retracts the traction cable 103 to drive the traveling block 110 to rise.

[0068] During the ascent of the traveling carriage 110, the guide rail 116 moves along the guide cable 101. The console 500 adjusts the swing angle of the swing arm 112 by controlling the extension and contraction of the first telescopic rod 114 to ensure that the end of the oil pipe clamped by the elevator 111 does not collide with other equipment on the wellhead operation platform 600 during the ascent. During the ascent of the traveling carriage 110, the console 500 adjusts the rotation direction and angle of the main arm 220 by controlling the extension and contraction of the second telescopic rod 230. Figure 6 The plane shown rotates clockwise around the base 210, so that the guide roller 240 releases the rising oil pipe and provides a force point for the oil pipe to prevent the oil pipe from shaking. Figure 1 and Figure 6 Preferably, during the ascending process of the traveling carriage 110 , the main arm 220 rotates in a direction away from the support rod 102 , so that the guide roller 240 contacts the ascending oil pipe to provide a force point for the oil pipe, thereby preventing the oil pipe from shaking.

[0069] See also Figure 1 , Figure 3 and Figure 7 During the interlocking operation, the console 500 adjusts the swing angle of the swing arm 112 by controlling the extension and contraction of the first telescopic rod 114, and the console 500 adjusts the rotation angle of the main arm 220 by controlling the extension and contraction of the second telescopic rod 230, so that the oil pipe is vertical and aligned with the wellhead. Figure 7 Preferably, when the swing arm 112 swings to a specific angle and the main arm 220 rotates to a specific angle, the suspended oil pipe becomes vertical or tends to become vertical under the action of gravity.

[0070] When performing the interlocking operation, the console 500 adjusts the rotation direction and angle of the main arm 220 by controlling the extension and contraction of the second telescopic rod 230, so that the guide roller 240 contacts the oil pipe to provide a force point for the oil pipe, thereby preventing the oil pipe from shaking. Preferably, when performing the interlocking operation, the main arm 220 rotates in a direction close to the support rod 102, so that the guide roller 240 contacts the rising oil pipe to provide a force point for the oil pipe, thereby preventing the oil pipe from shaking.

[0071] Preferably, the console 500 adjusts the rotation direction and angle of the main arm 220 by controlling the extension and retraction of the second telescopic rod 230, so that the guide roller 240 always contacts the oil pipe during the oil pipe lifting and fastening operation to provide a force point for the oil pipe and prevent the oil pipe from shaking.

[0072] Preferably, the control console 500 adjusts the length of the telescopic rod according to the pressure sensor data configured for the hydraulic telescopic rod, thereby adjusting the swing angle of the swing arm 112 , the rotation angle of the main arm 220 and the position of the bell mouth 320 .

[0073] Preferably, the console 500 controls the length of the hydraulic telescopic rod according to the pressure sensor data, thereby controlling the working conditions of components such as the swing arm 112, the main arm 220 and the bell mouth 320. The principle is that the initial value and the actual value of the pressure sensor change linearly, and the correspondence between the component working condition and the pressure sensor indication can be tested in advance; when the oil pipe fastening operation is officially carried out, the console 500 can adjust the hydraulic pressure of the hydraulic telescopic rod according to the correspondence between the component working condition and the pressure sensor indication, thereby adjusting the swing angle of the swing arm 112, the rotation angle of the main arm 220 and the position of the bell mouth 320, etc.

[0074] Preferably, for oil pipes of different specifications, the swing angle of the swing arm 112, the rotation angle of the main arm 220, and the position of the bell mouth 320 are all different.

[0075] When performing the fastening operation on oil pipes of different specifications, the control console 500 needs to adjust the swing angle of the swing arm 112 and the rotation angle of the main arm 220 to ensure that the oil pipe is vertical and aligned with the wellhead.

[0076] Preferably, the swing angle of the swing arm 112 and the rotation angle of the main arm 220 required for the fastening operation of oil pipes of different specifications are tested in advance, and an adjustment data table is generated.

[0077] The content of the adjustment data table includes: the specification and model of the oil pipe, the swing angle of the swing arm 112 when the oil pipe is buckled, and the rotation angle of the main arm 220 when the oil pipe is buckled.

[0078] Preferably, the adjustment data table may be as shown in the following table:

[0079] Specifications of oil pipes Swing angle of the swing arm 112 Rotation angle of the main arm 220 Type 1 oil pipe 1st swing angle 1st rotation angle Type 2 oil pipe Second swing angle Second rotation angle Type 3 oil pipe 3rd Swing Angle 3rd rotation angle … … … Nth Type Oil Pipe Nth swing angle Nth rotation angle

[0080] Preferably, the difference between the oil pipes of different specifications and models includes at least one of length and diameter. The oil pipes of different specifications and models may be different in length, different in diameter, or different in both length and diameter.

[0081] Preferably, the swing angle of the swing arm 112 and the rotation angle of the main arm 220 are set in the range of -90° to +90°, where "+" and "-" are used to indicate the rotation direction.

[0082] Preferably, after obtaining the adjustment data table, when performing the oil pipe fastening operation, the console 500 can query the content of the adjustment data table according to the specifications and models of the oil pipes to determine the swing angle of the swing arm 112 and the rotation angle of the main arm 220. The console 500 then adjusts the swing angle of the swing arm 112 and the rotation angle of the main arm 220 according to the query results to ensure that the oil pipe is vertical and aligned with the wellhead.

[0083] For example, if in the adjustment data table generated after pre-testing, for the i-th type of oil pipe (i∈N), the swing angle of the swing arm 112 required for the interlocking operation is 45° and the rotation angle of the main arm 220 is 60°, then when the i-th type of oil pipe is interlocked, the control console 500 adjusts the swing angle of the swing arm 112 to 45° by controlling the extension and retraction of the first telescopic rod 114, and the control console 500 adjusts the rotation angle of the main arm 220 to 60° by controlling the extension and retraction of the second telescopic rod 230, to ensure that the i-th type of oil pipe is vertical and aligned with the wellhead.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote fastening system for oil pipes under pressure, arranged on a wellhead operation platform (600), characterized in that: include: A lifting device (100) is used to suspend the oil pipe and drive the oil pipe to rise or fall; A manipulator (200) is arranged on the top edge of the wellhead operation platform (600) and is used for straightening the oil pipe; A guide device (300) is arranged in the middle of the top layer of the wellhead operation platform (600) and is used to guide the suspended oil pipe during the fastening process; A camera (400) for collecting working images of the lifting device (100), the guiding device (300) and the manipulator (200); The control console (500) controls the working states of the lifting device (100), the guiding device (300) and the manipulator (200) according to the image collected by the camera (400); Wherein, when the oil pipe fastening operation is being performed, the control console (500) adjusts the working states of the lifting device (100) and the manipulator (200) according to the adjustment data table to ensure that the oil pipe is vertical and aligned with the wellhead; The content of the adjustment data table includes: the specification and model of the oil pipe, the working state of the lifting device (100) when the oil pipe is buckled, and the working state of the manipulator (200) when the oil pipe is buckled.

2. The remote fastening system for oil pipes under pressure according to claim 1 is characterized in that: The lifting device (100) comprises a traveling block (110) and a winch (120); The traveling block (110) is provided with an elevator (111) and a swing arm (112); the elevator (111) is used to clamp the oil pipe; the swing arm (112) is used to drive the elevator (111) to swing; wherein the elevator (111) is hinged to one end of the swing arm (112); The winch (120) is arranged on the support rod (102) of the wellhead operation platform (600); the winch (120) is connected to the traveling carriage (110) via a traction steel cable (103), and the winch (120) drives the traveling carriage (110) to rise or fall by retracting and releasing the traction steel cable (103); The winch (120) is equipped with an encoder and a motor, and the motor is connected to one end of the traction cable (103); The encoder and the motor are respectively connected to the control console (500) for communication; The control console (500) controls the rotation direction of the motor to achieve the retraction and extension of the traction cable (103), thereby driving the traveling carriage (110) to rise or fall.

3. The remote fastening system for oil pipes under pressure according to claim 2 is characterized in that: The traveling carriage (110) further comprises: a crossbeam (113), a first telescopic rod (114) and a lifting lug (115); The lifting lug (115) is arranged on the crossbeam (113); the lifting lug (115) is connected to the winch (120) via the traction steel cable (103); The cross beam (113) is hingedly connected to an end of the swing arm (112) that is not hingedly connected to the elevator (111); One end of the first telescopic rod (114) is hinged to the crossbeam (113), and the other end is hinged to the middle of the swing arm (112); and the first telescopic rod (114) is in communication connection with the console (500); The console (500) controls the extension and retraction of the first telescopic rod (114) to cause the swing arm (112) to swing around the crossbeam (113).

4. The remote fastening system for oil pipes under pressure according to claim 3 is characterized in that: The traveling carriage (110) further comprises: a guide rail (116) and a pulley (117); The two guide rails (116) are arranged in parallel on both sides of the swing arm (112) and are connected via the crossbeam (113); The pulleys (117) are arranged at both ends of the guide rail (111); the guide rail (111) is sleeved on the guide steel cable (101) through the pulleys (117); One end of the guide steel cable (101) is connected to the ground, and the other end is connected to the top of the support rod (102).

5. The remote fastening system for oil pipes under pressure operation according to claim 4 is characterized in that: The manipulator (200) comprises: a base (210), a main arm (220), a second telescopic rod (230), a guide roller (240) and a rotating mechanism (260); The guide roller (240) is arranged at one end of the main arm (220), and the other end of the main arm (220) is connected to the base (210); One end of the second telescopic rod (230) is connected to the base (210), and the other end is connected to the middle part of the main arm (220); and the second telescopic rod (230) is communicatively connected to the console (500); The console (500) controls the extension and retraction of the second telescopic rod (230) to cause the main arm (220) to swing around the base (210) along a first direction; The main arm (220) and the second telescopic rod (230) are connected to the base (210) via the slewing mechanism (260); and the slewing mechanism (260) is communicatively connected to the console (500); The control console (500) drives the main arm (220) to perform a rotational motion around the base (210) in a second direction by controlling the rotation mechanism (260); The first direction is perpendicular to the second direction.

6. The remote fastening system for oil pipes under pressure according to claim 5, characterized in that: The guide device (300) comprises: a mounting plate (310), a bell mouth (320), a third telescopic rod (330) and a sliding block (340); The bell mouth (320) is arranged in the middle of the mounting plate (310) and is used to guide the suspended oil pipe during the buckling process; The bell mouth (320) is connected to the mounting plate (310) via the slider (340), and the bell mouth (320) slides along the edge of the mounting plate (310) via the slider (340); The sliding block (340) is connected to a third telescopic rod (330) provided at two ends of the mounting plate (310); and the third telescopic rod (330) is communicatively connected to the console (500); The control console (500) adjusts the position of the bell mouth (320) on the mounting plate (310) by controlling the extension and retraction of the third telescopic rod (330).

7. The remote fastening system for oil pipes under pressure according to claim 6, characterized in that: The first telescopic rod (114) is equipped with a first sensor; the second telescopic rod (230) is equipped with a second sensor (250); and the third telescopic rod (330) is equipped with a third sensor; The first telescopic rod (114), the second telescopic rod (230) and the third telescopic rod (330) are hydraulic telescopic rods; and the first sensor, the second sensor (250) and the third sensor are pressure sensors.

8. A method for remote fastening of oil pipes under pressure, characterized in that: The method is realized by using the oil pipe remote fastening system for pressure operation according to any one of claims 1 to 7; the fastening method comprises the following steps: S1. Suspend and lower the oil pipe; S2. Straighten the lowered oil pipe; S3. Guide the oil pipe.

9. The method for remote fastening of oil pipes under pressure according to claim 8, characterized in that: Step S1 includes: the control console (500) confirms the position of the oil pipe according to the image collected by the camera (400); when the oil pipe is suspended by the lifting device (100), the control console (500) controls the winch (120) to release the traction cable (103) so that the oil pipe descends; Step S2 includes: the control console (500) controls the second telescopic rod (230) through the rotating mechanism (260) so that the guide roller (240) contacts the oil pipe to straighten the oil pipe; Step S3 comprises: the control console (500) confirms whether the oil pipe is close to the bell mouth (320) through the image captured by the camera (400); when the oil pipe is close to the bell mouth (320), the control console (500) controls the third telescopic rod (330) so that the bell mouth (320) is aligned with the descending oil pipe.

10. A pressure working device, comprising: A wellhead operation platform (600), a power catwalk (601) and a ground mechanical arm (602), characterized in that it also includes a remote fastening system for oil pipes under pressure as described in any one of claims 1 to 7; The power catwalk (601) is arranged on one side of the wellhead operation platform (600); The ground mechanical arm (602) is arranged between the power catwalk (601) and the wellhead operation platform (600); The manipulator (200) is arranged on the top edge of the wellhead operation platform (600); The lifting device (100) is used to transport the oil pipe between the power catwalk (601) and the wellhead operation platform (600); The guide device (300) is installed in the middle of the top floor of the wellhead operating platform (600).

Images