Manipulator for workover operation and workover operation equipment

Abstract

The present invention provides a manipulator for workover operations and a workover operation device, which relates to the technical field of oilfield workover operation devices and includes a rotary drive mechanism, a rotary main body, a push and lift clamp mechanism, and a clamping mechanism; the rotary drive mechanism drives the clamping mechanism and the push and lift clamp mechanism to rotate in a horizontal circle by using the rotary main body, so that the clamping mechanism and the push and lift clamp mechanism can be located at the pipe receiving and sending position at the wellhead center, realizing the accurate positioning of the manipulator to the wellhead center and the conveyor pipe connection position; by using the synchronous movement of the push and lift clamp mechanism relative to the rotary main body, the external lift clamp is pushed to the wellhead center through the push and lift clamp mechanism, achieving the effect of accurately holding the tubing by the lift clamp, alleviating the technical problems existing in the prior art that the fixed position of the manipulator leads to high precision requirements for the installation position of the tubing conveyor, affecting the efficiency of on-site operations, poor adaptability of the workover operation device, and inability to overcome the swing of the lift clamp and poor stability of pipe grasping.

Description

Technical Field

[0001] The present invention relates to the technical field of oilfield workover equipment, and in particular to a manipulator for workover operations and a workover operation equipment. Background Art

[0002] During the process of small-scale oilfield workover operations, during the transportation and installation of tubing, the manipulator of the automated workover operation device needs to clamp and fix the external tubing so as to be able to connect the tubing with the elevating sub.

[0003] The manipulator of the automated workover operation device in the prior art has the following problems: The position where the manipulator is located has a high precision requirement for the installation position of the tubing conveyor, increasing the difficulty of on-site equipment installation and taking a long time; in addition, since the manipulator is installed on the skid of the wellhead operation device and the manipulator has a large volume, it is necessary to install the skid according to the tubing pushing direction before operation, which greatly affects the efficiency of on-site operations and the adaptability of automated operation equipment and cannot meet the requirements of workover operations; and the manipulator in the prior art can only clamp the tubing. However, during the lowering process of the tubing, under the action of different lowering speeds and weather wind forces, the external elevating sub will deflect to a certain extent, resulting in a situation where the elevating sub cannot be grasped during the pipe grasping process, making the overall equipment stability poor. Summary of the Invention

[0004] The purpose of the present invention is to provide a manipulator for workover operations and a workover operation equipment to alleviate the technical problems existing in the prior art, such as the high precision requirement for the installation position of the tubing conveyor due to the fixed position of the manipulator, which affects the efficiency of on-site operations, the poor adaptability of the workover operation equipment, and the inability to overcome the swing of the elevating sub and the poor pipe grasping stability.

[0005] A manipulator for workover operations provided by the present invention includes: a rotary drive mechanism, a rotary body, a push-elevating sub mechanism, and a clamping mechanism;

[0006] The clamping mechanism and the push-elevating sub mechanism are both connected to the rotary body, and the rotary drive mechanism is connected to one end of the rotary body. The rotary drive mechanism is used to drive the clamping mechanism and the push-elevating sub mechanism to rotate in a horizontal circle through the rotary body, so that the clamping mechanism and the push-elevating sub mechanism are located at the tubing receiving and delivering position in the center of the wellhead, and the clamping mechanism is used to clamp the external pipe string;

[0007] The push-elevating sub mechanism is used to abut against the external elevating sub to push the external elevating sub to move in the horizontal direction.

[0008] In a preferred embodiment of the present invention, the push-elevating sub mechanism includes a pushing main body, a push plate, and an angle adjusting mechanism;

[0009] One end of the pushing body is connected to the rotating body, the other end of the pushing body is hinged to the push plate, and both ends of the angle adjusting mechanism are respectively hinged to the pushing body and one side of the push plate. The angle adjusting mechanism is used to drive the push plate to rotate relative to the pushing body so that the push plate abuts against an external elevating bail at an angle.

[0010] In a preferred embodiment of the present invention, the pushing body includes a first pushing arm, a fixing bracket, and a second pushing arm;

[0011] The first pushing arm and the second pushing arm are connected by the fixing bracket. The fixing bracket is used to vertically arrange the first pushing arm and the second pushing arm. One end of the first pushing arm away from the second pushing arm is connected to the rotating body, and one end of the second pushing arm away from the first pushing arm is hinged to the push plate.

[0012] In a preferred embodiment of the present invention, the fixing bracket includes a bracket body, a first adjusting pin shaft, and a second adjusting pin shaft;

[0013] The bracket body is provided with a clamping groove. Both the first pushing arm and the second pushing arm are inserted into the clamping groove of the bracket body, and the first pushing arm can rotate relative to the bracket body;

[0014] The bracket body is provided with a first fixing hole, a second fixing hole, and a third fixing hole. The first fixing hole and the second fixing hole are on the same straight line, the first fixing hole and the third fixing hole are on the same straight line, and the connection line between the first fixing hole and the second fixing hole is perpendicular to the connection line between the first fixing hole and the third fixing hole. The first adjusting pin shaft is used to sequentially penetrate the first fixing hole, the first pushing arm, and the second pushing arm to fix the first pushing arm and the second pushing arm in the clamping groove of the bracket body. The second adjusting pin shaft is used to be respectively connected to the second fixing hole and the third fixing hole to adjust the first pushing arm and the second pushing arm to be vertically arranged, or to adjust the first pushing arm and the second pushing arm to be in a straight line arrangement.

[0015] In a preferred embodiment of the present invention, the clamping mechanism includes a fixed sleeve, a sliding sleeve, a telescopic driving mechanism, and a clamping assembly;

[0016] The telescopic driving mechanism is located inside the fixed sleeve. The fixed end of the telescopic driving mechanism is connected to the inner wall of one end of the fixed sleeve, and the fixed sleeve is fixedly connected to the rotating body;

[0017] The telescopic end of the telescopic driving mechanism is connected to one end of the fixed sleeve where the sliding sleeve is located. The sliding sleeve is slidably connected to the fixed sleeve, and one end of the sliding sleeve extending out of the fixed sleeve is connected to the clamping assembly.

[0018] In a preferred embodiment of the present invention, the clamping mechanism further includes a linear motion control sensing mechanism;

[0019] The linear motion control sensing mechanism is located in the fixed sleeve. The telescopic driving mechanism is electrically connected to the linear motion control sensing mechanism, and the linear motion control sensing mechanism is used to control the telescopic length of the telescopic driving mechanism.

[0020] In a preferred embodiment of the present invention, the clamping assembly includes a fixed jaw, a movable jaw, a clamping transmission mechanism, and a clamping driving mechanism;

[0021] The fixed jaw is connected to one side of the sliding sleeve. The clamping transmission mechanism, the movable jaw, and the clamping driving mechanism are all located inside the sliding sleeve. The clamping driving mechanism is drivingly connected to the movable jaw through the clamping transmission mechanism. The clamping driving mechanism is used to drive the movable jaw to rotate relative to the fixed jaw through the clamping transmission mechanism to adjust the clamping distance between the movable jaw and the fixed jaw.

[0022] In a preferred embodiment of the present invention, the clamping transmission mechanism includes a jaw connecting arm and a jaw connecting bracket; the clamping driving mechanism includes a clamping driving part and an elastic part;

[0023] The elastic part is located between the jaw connecting bracket and the clamping driving part, and both ends of the elastic part are respectively abutted against the jaw connecting bracket and the clamping driving part. The clamping driving part is used to compress the elastic part to drive the jaw connecting bracket to reciprocate along the sliding sleeve. The elastic part has an elastic tendency to move the jaw connecting bracket away from the clamping driving part;

[0024] The jaw connecting bracket is hinged to the movable jaw through the jaw connecting arm. The jaw connecting arm is in an arc structure, and the jaw connecting arm is used to convert the linear acting force of the jaw connecting bracket into the rotational acting force of the movable jaw.

[0025] In a preferred embodiment of the present invention, it further includes a rotation control sensing mechanism;

[0026] The rotation control sensing mechanism is located on the rotating body. The rotation driving mechanism is electrically connected to the rotation control sensing mechanism, and the rotation control sensing mechanism is used to control the rotation angle of the rotation driving mechanism.

[0027] A well servicing operation device provided by the present invention includes a manipulator for well servicing operations.

[0028] A manipulator for well servicing operations provided by the present invention includes a rotary drive mechanism, a rotary main body, a push and lift clamp mechanism, and a clamping mechanism; both the clamping mechanism and the push and lift clamp mechanism are connected to the rotary main body, the rotary drive mechanism is connected to one end of the rotary main body, and the rotary drive mechanism drives the clamping mechanism and the push and lift clamp mechanism to rotate in a circular motion in the horizontal direction by using the rotary main body, so that the clamping mechanism and the push and lift clamp mechanism can be located at the pipe receiving and sending position at the wellhead center, realizing the accurate positioning of the manipulator to the wellhead center and the conveyor pipe connection position; further, the push and lift clamp mechanism is used to abut against an external lift clamp to push the external lift clamp to move in the horizontal direction; by using the synchronous movement of the push and lift clamp mechanism relative to the rotary main body, the external lift clamp is pushed to the wellhead center by the push and lift clamp mechanism, realizing the effect of accurately holding the tubing by the lift clamp, alleviating the technical problems existing in the prior art that the fixed position of the manipulator results in high precision requirements for the installation position of the tubing conveyor, affecting the on-site operation efficiency, poor adaptability of the well servicing operation device, and inability to overcome the swing of the lift clamp and poor pipe grasping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 It is a schematic diagram of the overall structure of the manipulator for well servicing operations provided by the embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of the push and lift clamp mechanism position of the manipulator for well servicing operations provided by the embodiment of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the push and lift clamp mechanism of the manipulator for well servicing operations provided by the embodiment of the present invention in the retracted state;

[0033] Figure 4 It is a schematic diagram of the structure of the clamping mechanism of the manipulator for well servicing operations provided by the embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the clamping component of the clamping mechanism of the manipulator for well servicing operations provided by the embodiment of the present invention;

[0035] Figure 6Internal structural schematic diagram of the sliding sleeve of the clamping mechanism of the manipulator for workover operations provided by an embodiment of the present invention;

[0036] Figure 7 Cross-sectional structural schematic diagram of the clamping assembly of the clamping mechanism of the manipulator for workover operations provided by an embodiment of the present invention clamping a tubing string.

[0037] Reference numerals: 100 - Rotation drive mechanism; 200 - Rotation main body; 300 - Push elevator mechanism; 301 - Pushing main body; 311 - First push arm; 321 - Fixed bracket; 3211 - Bracket main body; 3212 - First adjustment pin shaft; 3213 - Second adjustment pin shaft; 331 - Second push arm; 302 - Push plate; 303 - Angle adjustment mechanism; 400 - Clamping mechanism; 401 - Fixed sleeve; 402 - Sliding sleeve; 403 - Telescopic drive mechanism; 404 - Clamping assembly; 414 - Fixed jaw; 424 - Movable jaw; 434 - Clamping transmission mechanism; 4341 - Jaw connecting arm; 4342 - Jaw connecting bracket; 444 - Clamping drive mechanism; 4441 - Clamping drive part; 4442 - Elastic part; 405 - Linear motion control sensing mechanism; 500 - Rotation control sensing mechanism. Detailed implementation manners

[0038] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] As Figures 1 - 7 shown, a manipulator for workover operations provided in this embodiment includes: a rotation drive mechanism 100, a rotation main body 200, a push elevator mechanism 300, and a clamping mechanism 400; the clamping mechanism 400 and the push elevator mechanism 300 are both connected to the rotation main body 200, and the rotation drive mechanism 100 is connected to one end of the rotation main body 200. The rotation drive mechanism 100 is used to drive the clamping mechanism 400 and the push elevator mechanism 300 to rotate in a horizontal circle through the rotation main body 200, so that the clamping mechanism 400 and the push elevator mechanism 300 are located at the tubing string receiving and delivering position at the wellhead center. The clamping mechanism 400 is used to clamp an external tubing string; the push elevator mechanism 300 is used to abut against an external elevator to push the external elevator to move in the horizontal direction.

[0040] It should be noted that the manipulator for workover operations provided in this embodiment belongs to the structure of an automated workover device. The rotating main body 200 serves as the supporting main body of the overall structure. The lifting and hanging clamp mechanism 300 and the clamping mechanism 400 are connected to the rotating main body 200. When the rotating drive mechanism 100 drives the rotating main body 200 to rotate, at this time, the lifting and hanging clamp mechanism 300 and the clamping mechanism 400 will rotate horizontally along with the rotation of the rotating main body 200. Among them, the rotating main body 200 can drive the clamping mechanism 400 to move to the center position of the wellhead. At the same time, during the movement of the lifting and hanging clamp mechanism 300, it can abut against an external lifting clamp, that is, synchronously drive the lifting clamp to move to the center of the wellhead, so as to clamp and fix the tubing in the lifting clamp by using the clamping mechanism 400.

[0041] Optionally, the rotating main body 200 may include a rotating lower bracket, a rotating fixed bracket 321, a rotating upper bracket and a vertical arm; the rotating drive mechanism 100 may adopt a drive motor or a rotating hydraulic cylinder. Preferably, the rotating drive mechanism 100 adopts a rotating hydraulic cylinder.

[0042] In this embodiment, the rotating lower bracket is connected to the first drive end of the rotating drive mechanism 100, the rotating fixed bracket 321 is fixedly connected to the outer cylindrical wall of the rotating drive mechanism 100, the rotating upper bracket is connected to the second drive end of the rotating drive mechanism 100, and the vertical arm can be respectively connected to the rotating upper bracket and the rotating lower bracket. When the rotating drive mechanism 100 rotates relative to the rotating fixed bracket 321, at this time, the first drive end and the second drive end of the rotating drive mechanism 100 synchronously drive the rotating upper bracket and the rotating lower bracket to rotate, so that the vertical arm can rotate in the circumferential direction. Among them, it is respectively connected to the lifting and hanging clamp mechanism 300 and the clamping mechanism 400 along the extending direction of the vertical arm.

[0043] In a preferred embodiment of the present invention, it further includes a rotation control sensing mechanism 500; the rotation control sensing mechanism 500 is located on the rotating main body 200, the rotating drive mechanism 100 is electrically connected to the rotation control sensing mechanism 500, and the rotation control sensing mechanism 500 is used to control the rotation angle of the rotating drive mechanism 100.

[0044] Optionally, the rotation control sensing mechanism 500 may include a rotation sensor and a controller that are electrically connected to each other. Among them, the rotation sensor is used to detect the rotation angle of the vertical arm and transmit this rotation angle information to the controller. The controller can control the rotation angle of the rotation drive mechanism according to the control instruction. By accurately controlling the rotation angle of the rotation drive mechanism by using the rotation control sensing mechanism 500, the manipulator can be accurately positioned at the center of the wellhead and the position of the conveyor pipe connection.

[0045] A manipulator for workover operations provided in this embodiment includes a rotary drive mechanism 100, a rotary main body 200, a push elevator mechanism 300, and a clamping mechanism 400. The clamping mechanism 400 and the push elevator mechanism 300 are both connected to the rotary main body 200. The rotary drive mechanism 100 is connected to one end of the rotary main body 200. The rotary drive mechanism 100 drives the clamping mechanism 400 and the push elevator mechanism 300 to rotate in a horizontal circle by using the rotary main body 200, so that the clamping mechanism 400 and the push elevator mechanism 300 can be located at the pipe receiving and sending position at the wellhead center, achieving the accurate positioning of the manipulator to the wellhead center and the conveyor pipe connection position. Further, the push elevator mechanism 300 is used to abut against an external elevator to push the external elevator to move in the horizontal direction. By using the synchronous movement of the push elevator mechanism 300 relative to the rotary main body 200, the external elevator is pushed to the wellhead center by the push elevator mechanism 300, achieving the effect of accurately holding the tubing by the elevator, alleviating the technical problems existing in the prior art that the fixed position of the manipulator leads to high precision requirements for the installation position of the tubing conveyor, affecting the on-site operation efficiency, poor adaptability of workover operation equipment, and inability to overcome the swing of the elevator and poor pipe grasping stability.

[0046] On the basis of the above embodiment, further, in a preferred embodiment of the present invention, the push elevator mechanism 300 includes a pushing main body 301, a push plate 302, and an angle adjustment mechanism 303. One end of the pushing main body 301 is connected to the rotary main body 200, the other end of the pushing main body 301 is hinged to the push plate 302, and both ends of the angle adjustment mechanism 303 are respectively hinged to one side of the pushing main body 301 and the push plate 302. The angle adjustment mechanism 303 is used to drive the push plate 302 to rotate relative to the pushing main body 301, so that the push plate 302 abuts against the external elevator at an angle.

[0047] In this embodiment, due to the position deviation of the external elevator under the influence of wind force and lowering speed, the angle adjustment mechanism 303 can be used to make the push plate 302 rotate relative to the pushing main body 301, so that the push plate 302 can be completely attached to the elevator by using the open-type structure of the push plate 302.

[0048] Optionally, the angle adjustment mechanism 303 can adopt a telescopic hydraulic cylinder. The central position of the push plate 302 can be hinged to the pushing main body 301, and the telescopic hydraulic cylinder is obliquely arranged between the push plate 302 and the pushing main body 301, and both ends of the telescopic hydraulic cylinder are respectively hinged to the push plate 302 and the pushing main body 301. When the telescopic hydraulic cylinder pushes one side of the push plate 302, the push plate 302 can rotate relative to the pushing main body 301 at this time, so that the push plate 302 can adapt to the change of the deflection angle of the elevator.

[0049] In a preferred embodiment of the present invention, the pushing body 301 includes a first pushing arm 311, a fixing bracket 321, and a second pushing arm 331; the first pushing arm 311 and the second pushing arm 331 are connected by the fixing bracket 321, and the fixing bracket 321 is used to vertically arrange the first pushing arm 311 and the second pushing arm 331. One end of the first pushing arm 311 away from the second pushing arm 331 is connected to the rotating body 200, and one end of the second pushing arm 331 away from the first pushing arm 311 is hinged to the pushing plate 302.

[0050] Optionally, the connection manner between the first pushing arm 311 and the rotating body 200 can be various. For example, the first pushing arm 311 is detachably connected to the rotating body 200 through a fixing plate and fixing bolts, or can be directly fixedly connected to the rotating body 200 by welding; preferably, the end of the first pushing arm 311 is fixedly connected to the fixing plate, and connection holes are provided on the fixing plate. Multiple rows of connection holes are arranged along the extending direction of the rotating body 200. When it is necessary to connect the first pushing arm 311 to the rotating body 200, the height adjustment of the pushing body 301 on the rotating body 200 is realized by passing bolts through the connection holes on the fixing plate and the connection holes at the predetermined positions of the rotating body 200, so that the pushing plate 302 can better adapt to the collars at the lifting clamp positions of different heights.

[0051] In a preferred embodiment of the present invention, the fixing bracket 321 includes a bracket main body 3211, a first adjusting pin 3212, and a second adjusting pin 3213; the bracket main body 3211 is provided with a card slot, the first pushing arm 311 and the second pushing arm 331 are both inserted into the card slot of the bracket main body 3211, and the first pushing arm 311 can rotate relative to the bracket main body 3211; the bracket main body 3211 is provided with a first fixing hole, a second fixing hole, and a third fixing hole. The first fixing hole and the second fixing hole are on the same straight line, the first fixing hole and the third fixing hole are on the same straight line, and the connection line of the first fixing hole and the second fixing hole is perpendicular to the connection line of the first fixing hole and the third fixing hole. The first adjusting pin 3212 is used to sequentially penetrate the first fixing hole, the first pushing arm 311, and the second pushing arm 331 to fix the first pushing arm 311 and the second pushing arm 331 in the card slot of the bracket main body 3211. The second adjusting pin 3213 is used to be respectively connected to the second fixing hole and the third fixing hole to adjust the first pushing arm 311 and the second pushing arm 331 to be vertically arranged, or to adjust the first pushing arm 311 and the second pushing arm 331 to be in a straight line arrangement.

[0052] In this embodiment, the driving body 301 has two usage states. For meeting the transportation requirements during transportation, the first driving arm 311 and the second driving arm 331 are set in a straight line. At this time, the first driving arm 311 is rotated along the slot of the bracket body 3211. When the first driving arm 311 and the second driving arm 331 are in a straight line, the second adjusting pin 3213 is sequentially inserted into the second fixing hole and the fixing hole of the first driving arm 311, thereby fixing the first driving arm 311. In the usage state, the first driving arm 311 and the second driving arm 331 are set perpendicular to each other. At this time, the first driving arm 311 is rotated along the slot of the bracket body 3211. When the first driving arm 311 and the second driving arm 331 are perpendicular to each other, the second adjusting pin 3213 is sequentially inserted into the third fixing hole and the fixing hole of the first driving arm 311, thereby fixing the first driving arm 311.

[0053] It should be noted that the first adjusting pin 3212 serves as the rotation center of the first driving arm 311. The first adjusting pin 3212 is connected to the first fixing hole, and the first adjusting pin 3212 can be respectively connected to the first driving arm 311 and the second driving arm 331. When the second adjusting pin 3213 is connected to the third fixing hole, in order to ensure the stability of the second driving arm 331, an adjusting pin is also required to be placed in the second fixing hole, so that the second driving arm 331 can be fixed in the slot of the fixed bracket 321.

[0054] In a preferred embodiment of the present invention, the clamping mechanism 400 includes a fixed sleeve 401, a sliding sleeve 402, a telescopic driving mechanism 403, and a clamping assembly 404. The telescopic driving mechanism 403 is located inside the fixed sleeve 401. The fixed end of the telescopic driving mechanism 403 is connected to the inner wall of one end of the fixed sleeve 401, and the fixed sleeve 401 is fixedly connected to the rotating body 200. The telescopic end of the telescopic driving mechanism 403 is connected to one end of the sliding sleeve 402 located inside the fixed sleeve 401. The sliding sleeve 402 is slidably connected to the fixed sleeve 401, and the end of the sliding sleeve 402 extending out of the fixed sleeve 401 is connected to the clamping assembly 404.

[0055] In a preferred embodiment of the present invention, the clamping mechanism 400 further includes a linear motion control sensing mechanism 405. The linear motion control sensing mechanism 405 is located in the fixed sleeve 401. The telescopic driving mechanism 403 is electrically connected to the linear motion control sensing mechanism 405. The linear motion control sensing mechanism 405 is used to control the telescopic length of the telescopic driving mechanism 403.

[0056] In this embodiment, the end of the fixed sleeve 401 is fixedly connected to the rotating body 200, and the telescopic driving mechanism 403 can drive the sliding sleeve 402 to slide relative to the fixed sleeve 401, wherein the sliding sleeve 402 and the fixed sleeve 401 can be connected by a slide rail and a slide groove.

[0057] Optionally, the telescopic drive mechanism 403 can adopt a telescopic hydraulic cylinder, and the linear motion control sensing mechanism 405 can include a linear sensor and a controller connected to each other by electrical signals, wherein the linear sensor is used to detect the telescopic length information of the telescopic hydraulic cylinder and transmit the telescopic length information to the controller, and the controller can control the telescopic length of the telescopic hydraulic cylinder according to the control instruction. By utilizing the linear sensor to accurately control the telescopic length of the telescopic drive mechanism 403, the clamping assembly 404 can be accurately positioned to the center of the wellhead and the conveyor take-over position.

[0058] In a preferred embodiment of the present invention, the clamping assembly 404 includes a fixed claw 414, a movable claw 424, a clamping transmission mechanism 434 and a clamping drive mechanism 444; the fixed claw 414 is connected to one side of the sliding sleeve 402, the clamping transmission mechanism 434, the movable claw 424 and the clamping drive mechanism 444 are all located inside the sliding sleeve 402, the clamping drive mechanism 444 is connected to the movable claw 424 through the clamping transmission mechanism 434, and the clamping drive mechanism 444 is used to drive the movable claw 424 to rotate relative to the fixed claw 414 through the clamping transmission mechanism 434 to adjust the clamping distance between the movable claw 424 and the fixed claw 414.

[0059] In a preferred embodiment of the present invention, the clamping transmission mechanism 434 includes a gripper connecting arm 4341 and a gripper connecting bracket 4342; the clamping drive mechanism 444 includes a clamping drive portion 4441 and an elastic portion 4442; the elastic portion 4442 is located between the gripper connecting bracket 4342 and the clamping drive portion 4441, and the two ends of the elastic portion 4442 are respectively abutted against the gripper connecting bracket 4342 and the clamping drive portion 4441, and the clamping drive portion 4441 is used to compress the elastic portion 4442 drives the gripper connecting bracket 4342 to reciprocate along the sliding sleeve 402, and the elastic part 4442 has an elastic tendency to make the gripper connecting bracket 4342 move away from the clamping driving part 4441; the gripper connecting bracket 4342 is hinged to the movable gripper 424 through the gripper connecting arm 4341, and the gripper connecting arm 4341 is an arc-shaped structure. The gripper connecting arm 4341 is used to convert the linear force of the gripper connecting bracket 4342 into the rotational force of the movable gripper 424.

[0060] In this embodiment, the fixed jaw 414 has an arc structure, and one end of the fixed jaw 414 is fixedly connected to one side of the sliding sleeve 402. The movable jaw 424 drives the jaw connecting bracket 4342 through the clamping driving part 4441, and then drives the jaw connecting arm 4341 to perform an arc motion. Optionally, the clamping driving part 4441 can adopt a hydraulic cylinder, and the hydraulic cylinder can reciprocate inside the sliding sleeve 402 along the extending direction of the sliding sleeve 402. When the hydraulic cylinder drives the jaw connecting bracket 4342 to reciprocate in a straight line, since the jaw connecting arm 4341 has an arc structure, the jaw connecting arm 4341 can convert the linear force into the opening and closing driving force of the movable jaw 424.

[0061] In this embodiment, since the fixed jaw 414 and the movable jaw 424 clamp the oil pipe, when it is necessary to clamp an oil pipe with a large diameter, the clamping driving part 4441 is used to drive the movable jaw 424 to rotate towards the fixed jaw 414 for clamping, so as to clamp and fix the oil pipe. Optionally, the elastic part 4442 can adopt a compression spring. When the clamping driving part 4441 extends, the clamping driving part 4441 will squeeze the compression spring at this time. When the movable jaw 424 and the fixed jaw 414 clamp the oil pipe, the compression spring will also apply an elastic force close to the fixed jaw 414 to the movable jaw 424, so as to ensure the stability of clamping the oil pipe. Further, when it is necessary to clamp an oil pipe with a large diameter, the clamping driving part 4441 is used to drive the movable jaw 424 to rotate towards the fixed jaw 414 for clamping. When the clamping driving part 4441 reaches the full stroke and still cannot ensure the stable clamping of the oil pipe by the movable jaw 424 and the fixed jaw 414, at this time, the compression spring will continue to drive the movable jaw 424 to move towards the fixed jaw 414 under the action of the elastic tendency, so as to apply an elastic force close to the fixed jaw 414 to the movable jaw 424, so as to ensure the stability of clamping the oil pipe. Through the cooperation structure of the clamping driving part 4441 and the elastic part 4442, the clamping mechanism 400 can stably clamp oil pipes of various specifications, making the design more reasonable.

[0062] A workover operation device provided in this embodiment includes the manipulator for workover operations described above. Since the technical effects of the workover operation device provided in this embodiment are the same as those of the manipulator for workover operations provided in the above embodiment, they will not be elaborated here.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator for workover operations, characterized in that, Comprising: A rotary drive mechanism, a rotary body, a pushing and lifting clamp mechanism, and a clamping mechanism; The clamping mechanism and the pushing and lifting clamp mechanism are both connected to the rotary body, the rotary drive mechanism is connected to one end of the rotary body, and the rotary drive mechanism is used to drive the clamping mechanism and the pushing and lifting clamp mechanism to rotate in a horizontal circle through the rotary body, so that the clamping mechanism and the pushing and lifting clamp mechanism are located at the pipe receiving and sending position in the center of the wellhead, and the clamping mechanism is used to clamp an external pipe string; The pushing and lifting clamp mechanism is used to abut against an external lifting clamp to push the external lifting clamp to move in the horizontal direction; The pushing and lifting clamp mechanism includes a pushing main body, a pushing plate, and an angle adjustment mechanism; the pushing main body includes a first pushing arm, a fixed bracket, and a second pushing arm; the first pushing arm and the second pushing arm are connected by the fixed bracket, and the fixed bracket is used to vertically arrange the first pushing arm and the second pushing arm. One end of the first pushing arm away from the second pushing arm is connected to the rotary body, and one end of the second pushing arm away from the first pushing arm is hinged to the pushing plate; Both ends of the angle adjustment mechanism are respectively hinged to the pushing main body and one side of the pushing plate, and the angle adjustment mechanism is used to drive the pushing plate to rotate relative to the pushing main body, so that the pushing plate abuts against the external lifting clamp at an angle; The clamping mechanism includes a fixed sleeve, a sliding sleeve, a telescopic drive mechanism, and a clamping assembly; the telescopic drive mechanism is located inside the fixed sleeve, the fixed end of the telescopic drive mechanism is connected to the inner wall of one end of the fixed sleeve, and the fixed sleeve is fixedly connected to the rotary body; the telescopic end of the telescopic drive mechanism is connected to one end of the sliding sleeve located in the fixed sleeve, the sliding sleeve is slidably connected to the fixed sleeve, and one end of the sliding sleeve extending out of the fixed sleeve is connected to the clamping assembly.

2. The manipulator for workover operations according to claim 1, characterized in that, The fixed bracket includes a bracket main body, a first adjustment pin shaft, and a second adjustment pin shaft; The bracket main body is provided with a card slot, the first pushing arm and the second pushing arm are both inserted into the card slot of the bracket main body, and the first pushing arm can rotate relative to the bracket main body; The bracket main body is provided with a first fixing hole, a second fixing hole, and a third fixing hole. The first fixing hole and the second fixing hole are on the same straight line, the first fixing hole and the third fixing hole are on the same straight line, and the connection line of the first fixing hole and the second fixing hole is perpendicular to the connection line of the first fixing hole and the third fixing hole. The first adjustment pin shaft is used to sequentially penetrate the first fixing hole, the first pushing arm, and the second pushing arm to fix the first pushing arm and the second pushing arm in the card slot of the bracket main body. The second adjustment pin shaft is used to be respectively connected to the second fixing hole and the third fixing hole to adjust the first pushing arm and the second pushing arm to be vertically arranged, or to adjust the first pushing arm and the second pushing arm to be in a straight line arrangement.

3. The manipulator for workover operations according to claim 1, characterized in that, The clamping mechanism further includes a linear motion control sensing mechanism; The linear motion control sensing mechanism is located in the fixed sleeve. The telescopic drive mechanism is electrically connected to the linear motion control sensing mechanism, and the linear motion control sensing mechanism is used to control the telescopic length of the telescopic drive mechanism.

4. The manipulator for workover operations according to claim 3, wherein, The clamping assembly includes a fixed claw, a movable claw, a clamping transmission mechanism, and a clamping drive mechanism; The fixed claw is connected to one side of the sliding sleeve. The clamping transmission mechanism, the movable claw, and the clamping drive mechanism are all located inside the sliding sleeve. The clamping drive mechanism is drivingly connected to the movable claw through the clamping transmission mechanism. The clamping drive mechanism is used to drive the movable claw to rotate relative to the fixed claw through the clamping transmission mechanism to adjust the clamping distance between the movable claw and the fixed claw.

5. The manipulator for workover operations according to claim 4, characterized in that, The clamping transmission mechanism includes a claw connecting arm and a claw connecting bracket; the clamping drive mechanism includes a clamping drive portion and an elastic portion; The elastic portion is located between the claw connecting bracket and the clamping drive portion, and both ends of the elastic portion are respectively abutted against the claw connecting bracket and the clamping drive portion. The clamping drive portion is used to compress the elastic portion to drive the claw connecting bracket to reciprocate along the sliding sleeve. The elastic portion has an elastic tendency to move the claw connecting bracket away from the clamping drive portion; The claw connecting bracket is hinged to the movable claw through the claw connecting arm. The claw connecting arm has an arc-shaped structure, and the claw connecting arm is used to convert the linear force of the claw connecting bracket into the rotational force of the movable claw.

6. The manipulator for well workover operations according to any one of claims 1-5, characterized in that, It further includes a rotation control sensing mechanism; The rotation control sensing mechanism is located on the rotating body. The rotation drive mechanism is electrically connected to the rotation control sensing mechanism, and the rotation control sensing mechanism is used to control the rotation angle of the rotation drive mechanism.

7. A workover operation device, characterized in that, It includes a manipulator for workover operations according to any one of claims 1-6.

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