An automatic processing system for a tubing string for a pressurized operation of an oil and gas well

Abstract

The application discloses an oil and gas well pressure operation pipe column automatic processing system, which comprises a rack, a vertical column arranged on the rack, an operation platform arranged on one side of the column, a main slide rail arranged on the other side of the column in the vertical direction, a moving trolley slidably connected to the main slide rail, an automatic hydraulic clamp arranged on the operation platform, a calandria frame arranged close to the bottom of the main slide rail, a manipulator comprising a fixed end and a movable end, the fixed end being fixedly connected to the moving trolley, the movable end being rotatable relative to the fixed end in a horizontal plane and a vertical plane, the moving trolley driving the manipulator and the pipe column to move upwards along the column to above the operation platform, the movable end of the manipulator driving the pipe column to rotate to above the pipe column to be connected in the rack, and the automatic hydraulic clamp performing pipe column make-up and break-out operations. The application improves the automation degree of pipe column operation and can effectively ensure the safety of workers.

Description

Technical Field

[0001] This invention relates to the field of automated tubing handling devices. More specifically, this invention relates to an automated tubing handling system for live oil and gas well operations. Background Technology

[0002] With the widespread application of automated operations in conventional drilling and workover equipment in China, existing technologies include semi-automated live-line workover equipment for oil and water well repairs based on the principle of conventional power catwalks, as well as robotic-arm automated live-line workover devices. However, these devices lack sufficient automation, requiring operators to remain on the operating platform for extended periods during operation. Because the operating platform surrounds the wellhead and there is high pressure within the well, blowouts and leaks pose a significant risk of injury to equipment and personnel. Therefore, to ensure operator safety and improve the safety of live-line workover equipment, it is necessary to develop an automated live-line workover string handling system for oil and gas wells with an unmanned wellhead operating platform. Summary of the Invention

[0003] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0004] To achieve these objectives and other advantages according to the present invention, an automated processing system for oil and gas well pressurized tubing is provided, comprising:

[0005] The frame includes a vertically arranged column, a working platform is provided on one side of the column, and a main slide rail is provided on the other side along the vertical direction. A mobile trolley is slidably connected on the main slide rail.

[0006] An automatic hydraulic clamp, which is mounted on the work platform;

[0007] A pipe rack is provided near the bottom of the main slide rail to transfer pipe columns one by one from the side of the pipe rack away from the slide rail to the side of the pipe rack near the main slide rail.

[0008] The robotic arm includes a fixed end and a movable end. The fixed end is fixedly connected to the mobile trolley, and the movable end is rotatable relative to the fixed end in the horizontal and vertical planes. The movable end is used to grasp the pipe column from the side of the pipe rack near the main slide rail.

[0009] The mobile trolley moves the robotic arm and the pipe column along the column to above the work platform. The movable end of the robotic arm rotates the pipe column to above the pipe column to be connected in the frame. The automatic hydraulic clamp performs the coupling and uncoupling operations on the pipe column.

[0010] Preferably, the automatic hydraulic clamp includes:

[0011] A clamp feeding device is fixedly mounted on the work platform;

[0012] The centering and straightening device is connected to the clamping device and is used to guide the tube column grasped by the robot arm to be directly above the tube column to be connected.

[0013] A hydraulic power clamp, which is connected to the clamping device and positioned above the centering and straightening device, is used to perform clamping and unclamping operations on the pipe string.

[0014] Preferably, the clamp feeding device includes:

[0015] The base is vertically mounted on the working platform, and a slide rail is provided on the base along the vertical direction;

[0016] A linkage mechanism includes a first link, a second link, and a third link that are hinged in sequence, with the third link being horizontally arranged; the first link is provided with a drive device and a roller that cooperates with the slide rail, the drive device being used to drive the roller to move up and down along the slide rail; the third link is fixedly connected to the centering and straightening device and the hydraulic power clamp respectively;

[0017] A connecting rod cylinder, the fixed end of which is hinged to the first connecting rod, and the telescopic end of which is hinged to the second connecting rod.

[0018] Preferably, the centering and straightening device includes:

[0019] A pair of center tiles, the cross-section of which is semi-circular, and when a pair of center tiles are joined together, they form a cylindrical structure whose inner diameter matches the diameter of the pipe column;

[0020] Two parallel support rods are provided, with one end of each support rod fixedly connected to the clamping device and the other end connected to a centering drive cylinder. The fixed end of the centering drive cylinder is fixedly connected to the support rod, and its movable end is fixedly connected to the centering bearing. The extension and retraction directions of the two centering drive cylinders are arranged opposite to each other to drive the two centering bearings to move towards each other or relative to each other.

[0021] Preferably, the pipe rack includes:

[0022] A support base is provided, and a support frame is provided on top of it; one end of the bottom of the support frame is hinged to the support base, and a retractable guide post is provided between the other end of the support frame and the support base; a stop bar is detachably connected to one end of the support frame away from the guide post.

[0023] A telescopic cylinder is provided near the guide post to adjust the tilt angle of the support frame;

[0024] A hooking mechanism is rotatably mounted at one end of the support frame near the guide post, used to hook the tube column onto the support frame;

[0025] A tube-pulling mechanism is rotatably mounted at one end of the support frame away from the tube-hooking mechanism, for receiving tubes sliding off the support frame or hooking tubes onto the support frame;

[0026] The pipe lifting mechanism, which is disposed within the support frame, is used to lift the pipe column close to the stop bar and near the hook pipe mechanism, so that the corresponding pipe column can pass over the stop bar and slide along the support frame toward the pipe pulling mechanism.

[0027] Preferably, the hook tube mechanism includes a first straight rod and a hook tube telescopic cylinder. One end of the first straight rod is hinged to the support frame, and the other end is provided with a first hook portion. The fixed end of the hook tube telescopic cylinder is hinged to the support frame, and the other end is hinged to the first straight rod.

[0028] The tube-pulling mechanism includes a second straight rod and a tube-pulling telescopic cylinder. One end of the second straight rod is hinged to the support frame, and the other end is provided with a second hook. The fixed end of the tube-pulling telescopic cylinder is hinged to the support frame, and the other end is hinged to the second straight rod.

[0029] The pipe lifting mechanism includes a third straight rod and a pipe lifting telescopic cylinder; one end of the third straight rod near the pipe lifting mechanism is hinged to the support frame, one end of the pipe lifting telescopic cylinder is hinged to the support frame, and the other end is hinged to the third straight rod.

[0030] Preferably, the fixed end of the robotic arm includes:

[0031] The base has one side fixedly connected to the mobile trolley and the other side fixedly connected to a hydraulic rotary cylinder.

[0032] The movable end of the robotic arm includes:

[0033] A horizontal support, one end of which is fixedly connected to the output end of the hydraulic rotary cylinder, and the other end is equipped with a telescopic cylinder;

[0034] A vertical support is fixedly connected to the telescopic end of the telescopic cylinder;

[0035] The operating arm is rotatably connected at its center to the lower end of the vertical support; a pair of gripping manipulators are provided at the bottom of the operating arm;

[0036] The tilting cylinder has its fixed end hinged to the vertical support and its telescopic end hinged to the operating arm. The tilting cylinder is extended and retracted to drive the operating arm to rotate relative to the vertical support.

[0037] Preferably, the bottom of the operating arm is also provided with a pair of ring-holding manipulators, and the pair of clamping manipulators are located between the pair of ring-holding manipulators. The clamping space of the ring-holding manipulators is larger than that of the clamping manipulators. The pair of ring-holding manipulators are used to simultaneously grasp both ends of the tube and tighten them upwards. After the ring-holding manipulators tighten, the clamping manipulators clamp the tube.

[0038] Preferably, the column includes an adjustable base and multiple standard sections connected sequentially in the vertical direction; the adjustable base is a telescopic structure, and its length in the horizontal direction is adjustable; the lowest standard section is connected to the adjustable base through multiple support legs, which are telescopic structures and their length in the vertical direction is adjustable; a shock-absorbing spring is provided on the adjustable base directly opposite the moving trolley.

[0039] Preferably, it further includes a control element and a monitoring device; the monitoring device includes:

[0040] A first camera is installed on the work platform to monitor the status of the tubular column on the work platform;

[0041] A second camera is mounted on the automatic hydraulic clamp to monitor the clamping and unclamping status of the automatic hydraulic clamp.

[0042] A pipe-grabbing detection device is installed on the robotic arm to monitor whether the robotic arm accurately grasps the pipe column;

[0043] A displacement detection device is installed on the robotic arm to monitor the displacement when the robotic arm drives the tubing column to rotate;

[0044] The first sensor is mounted on the pipe rack to monitor whether there are pipe columns on the side of the pipe rack near the slide rail;

[0045] The first camera, the second camera, the first sensor, the pipe gripping detection device, the displacement detection device, the automatic hydraulic clamp, the robotic arm, the mobile trolley, and the pipe rack are respectively connected to the control element.

[0046] The present invention has at least the following beneficial effects:

[0047] 1. The automated tubing handling system for live oil and gas well operations provided by this invention includes a stand, a mobile trolley, an automatic hydraulic clamp, a pipe rack, and a robotic arm that work together to grasp, transport, and perform coupling and uncoupling operations on the tubing. This improves the automation level of tubing operation, eliminates the need for operators to be on the operating platform for extended periods, and effectively ensures the safety of both the operators and the equipment used for live operations.

[0048] 2. The automated tubing string processing system for live oil and gas well operations provided by this invention integrates a clamp delivery device and a centering and straightening device on the basis of a hydraulic power clamp, thereby achieving precise clamping of the tubing string and precise adjustment of the positions of the hydraulic power clamp and the centering and straightening device.

[0049] 3. The automated tubing handling system for oil and gas well pressurized operations provided by this invention uses a combination of a hooking mechanism, a lifting mechanism, and a pulling mechanism to transfer tubing from a stacked state to a robotic arm gripping position one by one, eliminating the need for manual separation and handling and reducing labor intensity.

[0050] 4. The automated tubing string processing system for pressurized oil and gas well operations provided by this invention ensures the reliability of tubing string clamping and the flexibility of attaching and detaching by using a clamping manipulator and a ring-holding manipulator, enabling horizontal and vertical rotation of the tubing string; the manipulator and the moving trolley work together to transfer the tubing string from the pipe rack to the working platform, effectively improving the tubing string processing efficiency.

[0051] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the automated tubing processing system described in this invention;

[0053] Figure 2 This is a side view of the automatic hydraulic clamp described in this invention;

[0054] Figure 3 This is a front structural diagram of the automatic hydraulic clamp described in this invention;

[0055] Figure 4 This is a top view of the automatic hydraulic clamp described in this invention;

[0056] Figure 5 This is a side view of the pipe rack described in this invention;

[0057] Figure 6 This is a schematic diagram of the pipe-lifting mechanism described in this invention;

[0058] Figure 7 This is a side view of the robotic arm described in this invention.

[0059] Figure 8 This is a front view of the robotic arm described in this invention.

[0060] Figure 9 This is a schematic diagram of the front structure of the column described in this invention;

[0061] Figure 10This is a schematic diagram of the side structure of the column described in this invention; Detailed Implementation

[0062] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0063] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] like Figure 1 As shown, the present invention provides an automated processing system for oil and gas well tubing during pressurized operations, comprising:

[0065] The frame includes a vertically arranged column 100, a working platform 300 is provided on one side of the column 100, and a main slide rail is provided on the other side in a vertical direction. A mobile trolley 400 is slidably connected on the main slide rail.

[0066] An automatic hydraulic clamp 200 is mounted on the work platform 300;

[0067] A pipe rack 600 is provided near the bottom of the main slide rail to transfer pipe columns one by one from the side of the pipe rack 600 away from the slide rail to the side of the pipe rack 600 near the main slide rail.

[0068] The robotic arm 500 includes a fixed end and a movable end. The fixed end is fixedly connected to the mobile trolley 400, and the movable end can rotate relative to the fixed end in the horizontal and vertical planes. The movable end is used to grasp the pipe column from the side of the pipe rack 600 near the main slide rail.

[0069] The mobile trolley 400 drives the robotic arm 500 and the pipe column to move up along the column 100 to above the work platform 300. The movable end of the robotic arm 500 drives the pipe column to rotate to above the pipe column to be connected in the frame. The automatic hydraulic clamp 200 performs the coupling and uncoupling operations on the pipe column.

[0070] In this technical solution, the side of the column 100 where the working platform is located is perpendicular to the side where the main slide rail is located. Initially, the moving trolley 400 and the robotic arm 500 are located at the bottom of the column 100. First, the pipe columns are transferred one by one from the stacking rack 700 on one side to the side of the pipe rack 600 near the column 100 via the pipe rack 600. Then, the robotic arm 500 picks up a pipe column from the pipe rack 600, at which point the pipe column is in a horizontal position. Then, the moving trolley drives the robotic arm 500 and the pipe column to move upward along the main slide rail. While moving upward, the robotic arm 500 rotates the pipe column to a vertical position. After the robotic arm 500 and the pipe column are moved above the working platform 300, the robotic arm 500 rotates the pipe column horizontally to the pipe column junction area directly above the working platform 300. Then, the automatic hydraulic clamp 200 performs a clamping operation on this pipe column and the pipe column to be connected in the pipe column junction area. Then, the robotic arm 500 rotates horizontally to move out of the working platform 300 and moves the moving trolley 400 down along the main slide rail to the bottom of the column 100 to grab the next pipe column. The above process is repeated until all pipe column clamping operations are completed. During the unclamping operation, the robotic arm 500 is first moved to the pipe column junction area. After the automatic hydraulic clamp 200 completes the unhooking operation, the robotic arm 500 grabs the pipe column above and rotates it horizontally to a position directly above the work platform 300. Then, the moving trolley 400 moves it downwards. During this process, the robotic arm 500 rotates the pipe column from a vertical position to a horizontal position. After moving it to the bottom of the column 100, the robotic arm 500 places the pipe column on the pipe rack 600, and the pipe rack 600 transfers the pipe column to the stacking rack 700.

[0071] In another embodiment, refer to Figures 2-4 The automatic hydraulic clamp 200 includes:

[0072] The clamp feeding device 210 is fixedly mounted on the work platform 300;

[0073] The centering and straightening device 230 is connected to the clamping device 210 and is used to guide the tube column grasped by the robot arm 500 to be directly above the tube column to be connected.

[0074] The hydraulic power clamp 220 is connected to the clamping device 210 and is positioned above the centering and straightening device 230 for clamping and unclamping operations on the pipe column.

[0075] When the robotic arm 500 moves the pipe column directly above the working platform 300, the clamping device 210 moves the centering and straightening device 230 and the hydraulic power clamp 220 below the pipe column. First, the centering and straightening device 230 guides the pipe column grasped by the robotic arm 500 directly above the pipe column to be connected, allowing the male thread of the pipe column to fall into the female thread of the pipe column to be connected. Then, the centering and straightening device 230 is released, and the hydraulic power clamp 220 clamps the pipe column for the coupling and uncoupling operation. After the coupling and uncoupling operation is completed, the robotic arm 500 can completely release the pipe column. The hydraulic power clamp 220 can be a conventionally used hydraulic power clamp device.

[0076] Specifically, the clamping device 210 includes:

[0077] The base 211 is vertically mounted on the working platform 300, and a slide rail 217 is provided on the base 211 along the vertical direction;

[0078] The linkage mechanism includes a first link 214, a second link 213, and a third link 212 that are hinged sequentially, with the third link 212 being horizontally arranged. The first link 214 is provided with a driving device and a roller 216 that cooperates with the slide rail. The driving device is used to drive the roller 216 to move up and down along the slide rail 217. The centering and straightening device 230 and the hydraulic power clamp 220 are fixedly connected to the third link 212.

[0079] The connecting rod cylinder 215 has its fixed end hinged to the first connecting rod 214 and its telescopic end hinged to the second connecting rod 213.

[0080] The connecting mechanism drives the centering and straightening device 230 and the hydraulic power clamp 220 to move up and down along the slide rail 217 to adjust their vertical positions. Under the action of the connecting rod cylinder 215, when it extends, it drives the second connecting rod 213 to rotate away from the first connecting rod 214, thereby driving the third connecting rod 212 to move horizontally to adjust the horizontal positions of the centering and straightening device 230 and the hydraulic power clamp 220. Therefore, the clamping device 210 can accurately deliver the centering and straightening device 230 and the hydraulic power clamp 220 between the pipe column gripped by the robot arm 500 and the pipe column to be connected. Considering the strengthening of the supporting effect of the third connecting rod 212 on the centering and straightening device 230 and the hydraulic power clamp 220, refer to... Figure 2 Two second connecting rods 213 and two second connecting rods 214 can be arranged in parallel.

[0081] Specifically, the centering and straightening device 230 includes:

[0082] A pair of center tiles 231, the cross-section of the center tiles 231 is semi-circular, and the pair of center tiles 231, when joined together, form a cylindrical structure with an inner diameter that matches the diameter of the pipe column;

[0083] Two parallel support rods 233 are provided. One end of each support rod 233 is fixedly connected to the clamping device 210, and the other end is connected to a centering drive cylinder 232. The fixed end of the centering drive cylinder 232 is fixedly connected to the support rod 233, and its movable end is fixedly connected to the centering tile 231. The extension and retraction directions of the two centering drive cylinders 232 are arranged opposite to each other so as to drive the two centering tiles 231 to move towards each other or relative to each other.

[0084] The support rod 233 ensures that the pair of centering tiles 231 are not located directly below the hydraulic power clamp 220, but in front of it, so that the hydraulic power clamp 220 will not cause interference when centering and straightening the tubing.

[0085] After the clamping device 210 delivers the centering and straightening device 230 into the pipe column junction area, the two centering drive cylinders 232 are activated, driving the two centering bearings 231 to move towards each other until they are joined to form a cylindrical structure. At this point, the center of the cylindrical structure coincides with the center of the pipe column to be connected. Then, the pipe column gripped by the robotic arm 500 enters from above the cylindrical structure and is centered and straightened inside the cylindrical structure. The two centering drive cylinders 232 then pull the two centering bearings 231 apart to prevent them from interfering with the operation of the hydraulic power clamp 220. The clamping device 210 then moves the hydraulic power clamp 220 forward, and the hydraulic power clamp 220 clamps the pipe column for attaching and unattaching operations.

[0086] To further improve the stability of the centering drive cylinder 232, preferably, a fixing plate 234 can be provided at the end of the pair of support rods 233 away from the clamping device 210, and the centering drive cylinder 232 can be fixed on the fixing plate 234. Guide rods 235 are respectively provided on the upper and lower sides of the centering drive cylinder 232. One end of the guide rod 235 passes through the fixing plate 234, and the other end is fixedly connected to the side wall of the centering tile 231. When the pair of centering drive cylinders 232 open or close the pair of centering tiles 231, the guide rod 235 moves together with the centering tile 231 to improve the supporting effect of the support rods 233 on the pair of centering tiles 231.

[0087] In another embodiment, such as Figures 5-6 As shown, the pipe rack 600 includes:

[0088] A support base 610 is provided, and a support frame 640 is provided on top of it; one end of the bottom of the support frame 640 is hinged to the support base 610, and a retractable guide post 630 is provided between the other end and the support base 610; a stop bar 660 is detachably connected to one end of the support frame 640 away from the guide post 630.

[0089] A telescopic cylinder 650 is provided near the guide post 630 to adjust the tilt angle of the support frame 640;

[0090] The hook mechanism 620 is rotatably mounted at one end of the support frame 640 near the guide post 630, and is used to hook the tube post onto the support frame 640.

[0091] The tube-pulling mechanism 680 is rotatably disposed at one end of the support frame 640 away from the tube-hooking mechanism 620, and is used to receive the tube column sliding from the support frame 640 or to hook the tube column onto the support frame 640.

[0092] The lifting mechanism 670 is disposed within the support frame 640 and is used to lift the pipe column close to the stop bar 660 and near the hook mechanism 620, so that the corresponding pipe column can pass over the stop bar 660 and slide along the support frame 640 toward the pipe pulling mechanism 680.

[0093] In this technical solution, the end of the hooking mechanism 620 faces the stacking rack 700, and the pipe-pulling mechanism 680 faces the column 100. During pipe feeding, the support telescopic cylinder 650 is extended, and the length of the guide column 630 is adjusted so that the end of the support frame 640 closest to the guide column 630 is higher than the other end, and the support frame 640 is tilted towards the side where the pipe-pulling mechanism 680 is located. Then, the hooking mechanism 620 hooks a pipe column from the stacking rack 700 onto the support frame 640. This pipe column moves along the support frame 640 towards the pipe-pushing mechanism 680 until it hits the stop bar 660 and stops. Then, the lifting mechanism 670 lifts the pipe column, allowing it to pass the stop bar 660 and continue moving towards the pipe-pushing mechanism 680 until it reaches the pipe-pushing mechanism 680. Then, the lifting mechanism 670 retracts into the support frame 640, and the robotic arm 500 grabs the pipe column from the pipe-pushing mechanism 680, completing the pipe-feeding process. During the above process, while the lifting mechanism 670 is working, the hooking mechanism 620 is simultaneously continuing to hook pipe columns from the stacking rack 700 and send them to the support frame 640. Through the coordinated operation of the hook mechanism 620, the stop bar 660, the lifting mechanism 670, and the pulling mechanism 680, the tubes are transferred one by one from the stacked state to the gripping area of ​​the robotic arm 500, eliminating the need for manual sorting. In the return state, the support telescopic cylinder 650 is retracted, and the length of the guide column 630 is adjusted so that one end of the support frame 640 near the guide column 630 is lower than the other end, placing the support frame 640 in an inclined position towards the hook mechanism 620. The stop bar 660 is then disassembled. The pulling mechanism 680 delivers the tube placed on it by the robotic arm 500 to the support frame 640. The tube moves along the support frame 640 towards the hook mechanism 620, and then through the hook mechanism 620 to the stacking rack 700, completing the return process for this tube. During the pipe return process, the pipe lifting mechanism 670 remains inside the support frame 640 and does not participate in the operation. The support frame 640 can be a rectangular frame structure, and the stop bars 660 can be symmetrically arranged on both sides of the upper surface of the support frame 640, that is, blocking at both ends of the pipe column to ensure the stability of the pipe column and prevent it from tilting or falling.

[0094] The hook tube mechanism 620 includes a first straight rod 622 and a hook tube telescopic cylinder 623. One end of the first straight rod 622 is hinged to the support frame 640, and the other end is provided with a first hook portion 621. The fixed end of the hook tube telescopic cylinder 623 is hinged to the support frame 640, and the other end is hinged to the first straight rod 622.

[0095] The extension and retraction of the hook-tube telescopic cylinder 623 causes the first straight rod 622 and the first hook portion 621 to rotate relative to the support frame 640. In the pipe feeding state, by retracting the hook-tube telescopic cylinder 623, the first hook portion 621 hooks the pipe column on the stacking rack 700. Then, the hook-tube telescopic cylinder 623 extends so that the first hook portion 621 is higher than the support frame 640, and the pipe column slides along the first straight rod 622 towards the support frame 640. In the pipe return state, the hook-tube telescopic cylinder 623 is adjusted so that the first hook portion 621 is lower than the support frame 640, allowing the pipe column to slide from the support frame 640 towards the first hook portion 621. Then, the hook-tube telescopic cylinder 623 is further retracted, allowing the pipe column to fall from the first hook portion 621 into the stacking rack 700. The first straight rod 622 and the first hook portion 621 can be integrally formed. The first hook portion 621 can also be hinged to the first straight rod 622. A hook telescopic cylinder is also provided, with one end hinged to the first straight rod 622 and the other end hinged to the first hook portion 621. The angle between the first hook portion 621 and the first straight rod 622 is adjusted by the hook telescopic cylinder, making it easier for the first hook portion 621 to hook the pipe string during pipe feeding. Furthermore, during pipe return, the retraction of the hook telescopic cylinder makes it easier for the pipe string to fall from the first hook portion 621 into the stacking rack 700.

[0096] The tube-pulling mechanism 680 includes a second straight rod 682 and a tube-pulling telescopic cylinder 681. One end of the second straight rod 682 is hinged to the support frame 640, and the other end is provided with a second hook portion 683. The fixed end of the tube-pulling telescopic cylinder 681 is hinged to the support frame 640, and the other end is hinged to the second straight rod 682.

[0097] In this technical solution, the extension and retraction of the tube-pushing telescopic cylinder 681 drives the second straight rod 682 and the second hook portion 683 to rotate relative to the support frame 640. During tube feeding, the tube-pushing telescopic cylinder 681 first extends so that the height of the second hook portion 683 is higher than the support frame 640, meaning the second straight rod 682 is in an upward vertical or inclined state. When the tube column slides from the support frame 640, it first abuts against the second straight rod 682. Then, the tube-pushing telescopic cylinder 681 retracts, gradually lowering the second straight rod 682 until it is basically horizontal. At this point, the tube column slides onto the second straight rod 682 or the second hook portion 683, awaiting gripping by the robotic arm 500. In the return tube state, the second straight rod 682 is first adjusted to a basically horizontal state using the tube-pushing telescopic cylinder 681. The gripping robot places the tube column on the second hook portion 683 or the second straight rod 682. Then, the tube-pushing telescopic cylinder 681 is extended to rotate the second straight rod 682 upwards by a certain angle. At this time, the tube column slides along the second straight rod 682 onto the support frame 640. Since the second hook portion 683 does not need to hook the tube column, and it is also convenient for the tube column to slide from the second hook portion 683 to the second straight rod 682, the hook arc segment of the second hook portion 683 is relatively short. Preferably, the arc center angle corresponding to the hook arc segment of the second hook portion 683 is 40° to 60°.

[0098] The pipe lifting mechanism 670 includes a third straight rod 671 and a pipe lifting telescopic cylinder 672; one end of the third straight rod 671 near the pipe pulling mechanism 680 is hinged to the support frame 640, one end of the pipe lifting telescopic cylinder 672 is hinged to the support frame 640, and the other end is hinged to the third straight rod 671.

[0099] The extension and retraction of the lifting cylinder 672 causes the third straight rod 671 to rotate relative to the support frame 640. Since the stop bar 660 is located on both sides of the top surface of the support frame 640, the lifting mechanism 670 is preferably located in the middle of the support frame 640. When the lifting cylinder 672 is in the retracted state, the upper end of the third straight rod 671 is not higher than the upper end of the support frame 640. To enable the lifting mechanism 670 to lift the pipe column near the stop bar 660 close to the hook mechanism 620, preferably, the end of the third straight rod 671 away from the pipe-pulling mechanism 680 extends to the side of the stop bar 660 close to the hook mechanism 620. Furthermore, considering that during the pipe feeding state, while the pipe lifting mechanism 670 is lifting the pipe column, the pipe hooking mechanism 620 continues to hook the pipe column on the stacking rack 700 onto the support frame 640, there will be more than one pipe column on the side of the stop bar 660 near the pipe hooking mechanism 620 during pipe lifting. Preferably, the distance between the end of the third straight rod 671 away from the pipe pulling mechanism 680 and the stop bar 660 is 0.5 to 1 times the pipe column diameter, so as to ensure that the pipe lifting mechanism 670 lifts only one pipe column at a time.

[0100] In another embodiment, such as Figures 7-8 As shown, the fixed end of the robotic arm 500 includes:

[0101] The base 510 is fixedly connected to the mobile trolley 400 on one side and a hydraulic rotary cylinder 520 is fixedly connected to the other side.

[0102] The movable end of the robotic arm 500 includes:

[0103] A horizontal support 530 is fixedly connected at one end to the output end of the hydraulic rotary cylinder 520, and a telescopic cylinder 540 is provided at the other end.

[0104] A vertical support 550 is fixedly connected to the telescopic end of the telescopic cylinder 540;

[0105] The operating arm 570 is rotatably connected to the lower end of the vertical support 550; a pair of gripping manipulators 580 are provided at the bottom of the operating arm 570.

[0106] The tilting cylinder 560 has its fixed end hinged to the vertical support 550 and its telescopic end hinged to the operating arm 570. The tilting cylinder 560 is extended and retracted to drive the operating arm 570 to rotate relative to the vertical support 550.

[0107] In this technical solution, the base 510 is fixedly connected to the moving trolley 400 so that the manipulator 500 can move up and down with the moving trolley 400. The hydraulic rotary cylinder 520 can drive the horizontal support 530 to rotate 180° in the horizontal plane. By adjusting the length of the telescopic cylinder 540, the horizontal position of the clamping manipulator 580 can be adjusted, so that the pipe string gripped by the clamping manipulator 580 can be aligned with the pipe string to be connected according to different wellhead centers. Considering that the pipe string is in a horizontal state on the pipe rack 600, after the clamping manipulator 580 grips the pipe string, it needs to be adjusted to a vertical state. Therefore, the extension and retraction of the tilting cylinder 560 drives the operating arm 570 to rotate relative to the vertical support 550.

[0108] The bottom of the operating arm 570 is also provided with a pair of ring-holding manipulators 590, and a pair of clamping manipulators 580 are located between the pair of ring-holding manipulators 590. The clamping space of the ring-holding manipulators 590 is larger than that of the clamping manipulators 580. The pair of ring-holding manipulators 590 are used to simultaneously grasp both ends of the tube column and tighten them upwards. After the ring-holding manipulators tighten, the clamping manipulators 580 clamp the tube column.

[0109] When the pipe column is grasped from the pipe rack 600, the pair of ring-holding manipulators 590 first quickly retract and tighten around the pipe column. Then, they continue to retract upwards to create a clamping space, bringing the pipe column into the position required by the clamping manipulators 580, essentially aligning it with the pipe column's axis. The pair of clamping manipulators 580 then clamp the pipe column. Once the manipulator 500 enters the pipe column connection area, the clamping manipulators 580 are first released, allowing the male thread of the pipe column to fall into the female thread of the pipe column to be connected by its own weight. After the hydraulic power clamp 220 clamps the pipe column and completes the threading and uncoupling operations, the ring-holding manipulators 590 are released, and the manipulators 500 can then leave the pipe column connection area.

[0110] The specific working process of the robotic arm 500 is as follows:

[0111] During pipe laying operations, initially, the robotic arm 500 is located at the lower end of the column 100, the operating arm 570 is horizontal, and the gripping robotic arm 580 and the ring-gripping robotic arm 590 are pointing downwards. The pair of ring-gripping robotic arms 590 are activated, opening the gripping claws at the ends of the ring-gripping robotic arm 590 and the gripping robotic arm 580. The ring-gripping robotic arm 590 grips the horizontally positioned pipe column on the pipe rack 600, and then tightens the ring-gripping robotic arm 590. Because the ring-gripping robotic arm 590 has a large gripping space... When the ring-holding manipulator 590 continuously tightens its gripper, it drives the tube column to move upward. After tightening to the top, the tube column moves to the gripping position of the clamping manipulator 580. Then, the clamping manipulator 580 begins to retract inward until it firmly grips and stabilizes the tube column. At this point, the transfer of the tube column from the ring-holding manipulator 590 to the clamping manipulator 580 is completed. Afterward, the base 510 moves upward with the moving trolley 400, and at the same time, the telescopic rod of the tilting cylinder 560 retracts, driving the operating arm 570 to adjust from a horizontal position to a vertical position. When the robotic arm 500 moves above the work platform 300, the hydraulic rotary cylinder 520 is activated, causing the horizontal support 530 to rotate 180° horizontally to the pipe column junction area directly above the work platform 300. When the automatic hydraulic clamp 200 performs the coupling and uncoupling operation, the clamping robotic arm 580 is released first, allowing the male thread of the pipe column to fall into the female thread of the pipe column to be connected by its own weight. After the hydraulic power clamp 220 clamps the pipe column and completes the coupling and uncoupling operation, the ring-holding robotic arm 590 is released. Then, the hydraulic rotary cylinder 520 is activated again, causing the horizontal support 530 to rotate 180° in the opposite direction and move away from directly above the work platform 300. Then, it moves down to the lower end of the column 100 with the moving unloading vehicle 400. During the downward movement, the operating arm 570 is returned to the horizontal state by the flipping cylinder 560, and the ring-holding manipulator 590 and the clamping manipulator 580 are returned to their initial positions before the next pipe column is grasped and transferred.

[0112] In another embodiment, the column 100 includes an adjustable base 110 and a plurality of standard sections 140 connected in sequence in the vertical direction; the adjustable base 110 is a telescopic structure and its length in the horizontal direction is adjustable; the lowermost standard section 140 is connected to the adjustable base 110 through a plurality of support legs 130, the support legs 130 being telescopic structures and their length in the vertical direction being adjustable; a shock-absorbing spring 120 is provided on the adjustable base 110 directly opposite the moving trolley 400.

[0113] The main body of the column 100 is formed by stacking multiple standard sections 140, and the number of standard sections 140 used can be flexibly adjusted according to the working height. Both the adjusting base 110 and the support legs 130 can adopt telescopic structures conventionally used in the prior art. Adjusting the length of the adjusting base 110 can adapt to different well pit operation requirements. By fine-tuning each support leg 130, the levelness of the column 100 can be ensured. The shock-absorbing spring 120 is located directly below the mobile trolley 400, providing a cushioning effect when the mobile trolley 400 falls. The mobile trolley 400 includes a mobile frame 401, on which a motor and reducer assembly 403 and a differential fall arrester 402 are mounted. A rack 150 is vertically mounted on the column 100. A gear meshing with the rack 150 is located at the output end of the reducer within the motor and reducer assembly 403. Driven by an external hydraulic source, the motor and reducer assembly 403 rotates the gear at the reducer output end, causing it to move up and down along the rack 150, thereby enabling the mobile trolley 400 to move along the column 100. The differential fall arrestor 402 provides a locking function in the event of a sudden fall of the mobile frame 401. Rollers 404 are mounted on both sides of the mobile frame. These rollers 404 roll along the column 100 during the movement of the mobile frame 401, providing guidance and horizontal restraint for the mobile frame 401.

[0114] In another embodiment, a control element and a monitoring device are also included; the monitoring device includes:

[0115] The first camera is installed on the work platform 300 to monitor the status of the pipe column on the work platform 300;

[0116] A second camera is mounted on the automatic hydraulic clamp 200 to monitor the unhooking status of the automatic hydraulic clamp 200.

[0117] A pipe-grabbing detection device is installed on the robotic arm 500 to monitor whether the robotic arm 500 accurately grasps the pipe column;

[0118] A displacement detection device is installed on the robot arm 500 to monitor the displacement when the robot arm 500 drives the tubing column to rotate.

[0119] The first sensor is mounted on the pipe rack 600 to monitor whether there are pipe columns on the side of the pipe rack 600 near the slide rail;

[0120] The first camera, the second camera, the first sensor, the pipe gripping detection device, the displacement detection device, the automatic hydraulic clamp, the robotic arm, the mobile trolley, and the pipe rack are respectively connected to the control element.

[0121] In the above technical solution, specifically, the first sensor is located at the connection between the second straight rod 682 and the second hook portion 683 to determine whether there is a pipe column waiting to be grasped on the second straight rod 682. When there is a pipe column on the second straight rod 682, a command is sent to the robot arm 500 to grasp the pipe column. After the pipe column is grasped, the next pipe column can be lifted by the pipe lifting mechanism 670 and slid towards the second straight rod 682. The pipe grasping monitoring device 591 is located on the outside of the ring-holding robot arm 590 to detect whether the clamping process of the ring-holding robot arm 590 is in place, so as to facilitate the next clamping step of the clamping robot arm 580. The displacement detection device 571 is used to monitor whether the clamping robot arm 580 has a relative displacement when the robot arm 500 moves above the working platform 300 and hands over the pipe column to the automatic hydraulic clamp 200. The first sensor, the pipe gripping monitoring device 591, and the displacement detection device 571 can all be conventionally used sensor devices in the prior art, such as infrared sensors and displacement sensors. The control element can be a conventional microprocessor element, used to send execution commands to the automatic hydraulic clamp, the robotic arm, the mobile trolley, and the various execution devices in the pipe rack, such as the connecting rod cylinder 215, the drive device on the clamping device 210, the hydraulic power clamp 220, the centering drive cylinder 232, the support telescopic cylinder 650, the hook pipe telescopic cylinder 623, the pipe pulling telescopic cylinder 682, the pipe lifting telescopic cylinder 672, the hydraulic rotary cylinder 520, the telescopic cylinder 540, the clamping robotic arm 580, the ring-holding robotic arm 590, and the mobile trolley 400, based on the data monitored by the first camera, the second camera, the first sensor, the pipe gripping detection device, and the displacement detection device, so that the various execution devices cooperate with each other to automatically complete the gripping, conveying, centering, and buckling operations of the pipe column.

[0122] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automatic processing system for a tubing string for a pressurized operation of an oil and gas well, characterized in that, The utility model relates to a kind of pipe rack and pipe lifting mechanism, including: frame, which includes the column of vertical arrangement, the column is provided with operating platform on one side, and the main slide rail is arranged in vertical direction on the other side, and the mobile trolley is slidably connected on the main slide rail;Automatic hydraulic clamp is arranged on the operating platform;Pipe rack is arranged close to the bottom of the main slide rail, to transfer pipe column from the side of the slide rail away from the pipe rack to the side of the pipe rack close to the main slide rail;The pipe rack includes: support base, which is provided with support frame above;The bottom of the support frame is hinged with the support base on one end, and the other end is provided with telescopic guide column between the support base;The end of the support frame away from the guide column is detachably connected with stop lever;Support telescopic cylinder is arranged close to the guide column, to adjust the inclination angle of the support frame;Hook pipe mechanism is rotationally arranged on the end of the support frame close to the guide column, to hook pipe column to the support frame;Pipe pushing mechanism is rotationally arranged on the end of the support frame away from the hook pipe mechanism, to receive pipe column sliding from the support frame or hook pipe column to the support frame;Pipe lifting mechanism is arranged in the support frame, to lift pipe column close to the hook pipe mechanism on the side of the stop lever, so that corresponding pipe column can be over the stop lever and slide to the pipe pushing mechanism along the support frame;The pipe lifting mechanism includes third straight rod and pipe lifting telescopic cylinder;The end of the third straight rod close to the pipe pushing mechanism is hinged with the support frame, and one end of the pipe lifting telescopic cylinder is hinged with the support frame, and the other end is hinged with the third straight rod;The end of the third straight rod away from the pipe pushing mechanism extends to the side of the stop lever close to the hook pipe mechanism, and the distance between the end of the third straight rod away from the pipe pushing mechanism and the stop lever is 0.5-1 times of pipe diameter;Mechanical hand includes fixed end and movable end, the fixed end is fixedly connected with the mobile trolley, and the movable end can rotate relative to the fixed end in horizontal plane and vertical plane, and the movable end is used to grab pipe column from the side of the pipe rack close to the main slide rail;The fixed end of the mechanical hand includes: base, one side of which is fixedly connected with the mobile trolley, and the other side is fixedly connected with hydraulic rotary oil cylinder;The movable end of the mechanical hand includes: horizontal support, one end of which is fixedly connected with the output end of the hydraulic rotary oil cylinder, and the other end is provided with telescopic oil cylinder;Vertical support is fixedly connected with the telescopic end of the telescopic oil cylinder;Operation arm, the center of which is rotationally connected with the lower end of the vertical support;The bottom of the operation arm is provided with a pair of clamping mechanical hands;The fixed end of the turnover oil cylinder is hinged with the vertical support, and the telescopic end is hinged with the operation arm, and the turnover oil cylinder is telescoped to drive the operation arm to rotate relative to the vertical support;The mobile trolley drives the mechanical hand and pipe column to move upwards along the column to above the operating platform, the movable end of the mechanical hand drives pipe column to rotate to above the pipe column to be connected in the frame, and the automatic hydraulic clamp is used for pipe column to be connected in the frame. The automatic hydraulic clamp includes: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The automated processing system for oil and gas well work string under pressure as claimed in claim 1, wherein, ​ A pipe feeding device is fixedly arranged on the working platform; A centering and righting device is connected with the pipe feeding device, and is used to guide the pipe column grabbed by the manipulator to the top of the pipe column to be connected; A hydraulic power tongs is connected with the pipe feeding device, and is arranged above the centering and righting device, and is used to perform the make-up and break-out operation on the pipe column.

3. The automated work string processing system for working a well under pressure as defined in claim 2, wherein, The pipe feeding device comprises: A base is vertically arranged on the working platform, and a slide is arranged on the base in the vertical direction; A connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged, and the third connecting rod is horizontally arranged; the first connecting rod is provided with a driving device and a roller matched with the slide, and the driving device is used to drive the roller to move up and down along the slide; the third connecting rod is fixedly connected with the centering and righting device and the hydraulic power tongs respectively; A connecting rod oil cylinder is hinged at the fixed end with the first connecting rod, and is hinged at the telescopic end with the second connecting rod.

4. The automated processing system for oil and gas well snubbing strings of claim 2, wherein, The centering and righting device comprises: A pair of centering shoes, the cross section of the centering shoe is semicircular, and a cylinder structure with an inner diameter matched with the diameter of the pipe column is formed after the pair of centering shoes are butted; Two support rods are arranged in parallel, one end of each support rod is fixedly connected with the pipe feeding device, and the other end is connected with a centering driving oil cylinder; the fixed end of the centering driving oil cylinder is fixedly connected with the support rod, and the movable end is fixedly connected with the centering shoe; the telescopic directions of the two centering driving oil cylinders are oppositely arranged, so as to drive the two centering shoes to move towards each other or away from each other.

5. The automatic processing system for the pipe string of the oil and gas well under pressure operation according to claim 1, wherein The hooking mechanism comprises a first straight rod and a hooking telescopic cylinder, one end of the first straight rod is hinged with the support frame, and the other end is provided with a first hooking part; the fixed end of the hooking telescopic cylinder is hinged with the support frame, and the other end is hinged with the first straight rod; The pipe pushing mechanism comprises a second straight rod and a pipe pushing telescopic cylinder, one end of the second straight rod is hinged with the support frame, and the other end is provided with a second hooking part; the fixed end of the pipe pushing telescopic cylinder is hinged with the support frame, and the other end is hinged with the second straight rod.

6. The automated processing system for oil and gas well work string under pressure of claim 1, wherein, The bottom of the operating arm is further provided with a pair of ring holding manipulators, a pair of clamping manipulators are located between the pair of ring holding manipulators, the clamping space of the ring holding manipulators is larger than that of the clamping manipulators, the pair of ring holding manipulators are used to synchronously grab the two ends of the pipe column and tighten upwards, and the pipe column is clamped by the clamping manipulators after the ring holding manipulators are tightened.

7. The automated work string processing system for use in over-pressured oil and gas well operations of claim 1, wherein, The stand comprises an adjusting base and a plurality of standard sections which are sequentially connected in the vertical direction; the adjusting base is of telescopic structure, and the length thereof in the horizontal direction is adjustable; The lowermost standard section is connected with the adjusting base through a plurality of supporting feet, the supporting feet are of telescopic structure, and the length thereof in the vertical direction is adjustable; a damping spring is arranged on the adjusting base and opposite to the moving trolley.

8. The automated processing system for oil and gas well work string under pressure of claim 1, wherein, Further comprising a control element and a monitoring device; the monitoring device comprises: A first camera is arranged on the working platform, and is used to monitor the state of the pipe column on the working platform; A second camera is arranged on the automatic hydraulic tong to monitor the automatic hydraulic tong and the pin pulling state; A pipe grasping detection device is arranged on the mechanical arm to monitor whether the mechanical arm accurately grasps the pipe string; A displacement detection device is arranged on the mechanical arm to monitor the displacement of the mechanical arm when the pipe string is rotated; A first sensor is arranged on the pipe rack to monitor whether there is a pipe string on the side of the pipe rack close to the slide rail; The first camera, the second camera, the first sensor, the pipe grasping detection device, the displacement detection device, the automatic hydraulic tong, the mechanical arm, the moving trolley and the pipe rack are connected with the control element.

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