A foldable variable-luffing pipe feeding device

Abstract

The present invention discloses a foldable variable-length pipe feeding device, which includes a horizontal fixed arm, a vertical lifting arm, a variable-length arm and a lifting assembly; the horizontal fixed arm and the vertical lifting arm are folded or unfolded by the extension and contraction of a first telescopic oil cylinder, and the variable-length arm is swung by the extension and contraction of a second telescopic oil cylinder, so that the pipe string is transferred between the horizontal fixed arm and the vertical lifting arm, the lifting assembly is linearly slidably connected to the vertical lifting arm, and the upper end of the lifting assembly is connected to a clamping manipulator assembly for clamping the pipe string, and the lifting action is performed by the lifting assembly, and at the same time, the pipe string is lifted, moved laterally and rotated in combination with the clamping manipulator assembly, finally realizing the function of transferring the pipe string between the pressurized operation equipment and the pipe warehouse, which solves the problems of poor safety and low automation in the existing pressurized operation pipe feeding process, realizes the automation of pipe string transfer, reduces the labor intensity of workers, ensures the safety of workers, and improves the efficiency of pressurized operation.

Description

Technical Field

[0001] The invention relates to the technical field of oilfield well repair operations under pressure, in particular to a foldable variable-luffing pipe feeding device. Background Art

[0002] Pressure-operated operations refer to a method of raising and lowering tubing strings using specialized pressure-operated equipment, without blowouts or well suppression, while maintaining pressure within the wellbore. With the continuous advancement of oilfield development, the importance of reservoir protection has become increasingly apparent, while the requirements for well control safety and environmental protection have become increasingly stringent. The use of pressure-operated operations can effectively resolve the contradictions between reservoir protection, well control safety, and environmental protection. Currently, the main methods of delivering tubing using pressure-operated equipment in domestic well repair operations include cranes lifting tubing strings and catwalk machines delivering tubing strings. During the delivery process, workers are required to place items in designated locations, requiring at least two to three operators. This not only wastes labor but also reduces work efficiency. Furthermore, this method of operation involves pressure-operated operations and high-altitude operations. Due to the unstable pressure within the well, it carries uncertain safety risks, especially when working at height in confined spaces. Once a dangerous situation arises, it is difficult for workers to escape. The current existing operation and management methods of pressurized working equipment require operators to perform manual assisted operations on the top platform. The degree of manual participation is high and the degree of automation is low. In addition, this method has safety hazards and cannot truly guarantee personal safety. At the same time, the labor cost is high and the operation efficiency is low.

[0003] It can be seen from this that the pipe delivery device in the above-mentioned existing pressure operation equipment still has certain defects in terms of safety and efficiency, and urgently needs to be further improved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a foldable variable-length pipe feeding device, which solves the problems of poor safety and low automation in the existing pressure-operated pipe feeding process, thereby overcoming the shortcomings of the existing technology.

[0005] To solve the above technical problems, the present invention provides a foldable luffing pipe feeding device for transferring pipe strings between pressurized operation equipment and pipe bins during pressurized operation. The device comprises a horizontal fixed arm, a vertical lifting arm, a luffing arm, and a lifting assembly.

[0006] The transverse fixed arm is fixed on the pipe warehouse, one end of the transverse fixed arm is hingedly connected to one end of the vertical lifting arm, and at least one first telescopic oil cylinder is provided between the transverse fixed arm and the vertical lifting arm, and the two ends of the first telescopic oil cylinder are respectively hingedly connected to the transverse fixed arm and the vertical lifting arm, and the transverse fixed arm and the vertical lifting arm are folded or unfolded by the extension and contraction of the first telescopic oil cylinder; one end of the luffing arm is hingedly connected to the transverse fixed arm, and at least one second telescopic oil cylinder is provided between the luffing arm and the transverse fixed arm, and the two ends of the second telescopic oil cylinder are respectively hingedly connected to the luffing arm and the transverse fixed arm, and the luffing arm is swung around the hinged position of the end of the luffing arm by the extension and contraction of the second telescopic oil cylinder;

[0007] The lifting assembly is linearly slidably connected to the vertical lifting arm. The lifting assembly includes multiple lifting arms, a telescopic mechanism, a slewing mechanism and a clamping manipulator assembly for clamping the pipe column. A nested telescopic structure is adopted between the multiple lifting arms. A lifting cylinder for driving lifting is provided between the nested lifting arms, and the nested lifting arms are linearly slidably connected. The lifting arm located at the lowermost section is linearly slidably connected to the vertical lifting arm, the slewing mechanism is connected to the top of the lifting arm of the uppermost section, the telescopic mechanism is installed on the slewing mechanism, the clamping manipulator assembly is fixedly connected to the telescopic mechanism, the slewing mechanism drives the telescopic mechanism and the clamping manipulator assembly to rotate 360 ​​degrees, and the telescopic mechanism drives the clamping manipulator assembly to move laterally.

[0008] As an improvement of the present invention, the clamping manipulator assembly includes an upper clamping manipulator, a lower clamping manipulator, a straightening manipulator, a clamping connecting arm, a clamping lifting arm, a lifting cylinder and a rotary cylinder. The middle part of the clamping connecting arm is fixed to the end of the telescopic mechanism, the clamping lifting arm is slidably connected to the clamping connecting arm, and the two ends of the lifting cylinder are respectively connected to the clamping lifting arm and the clamping connecting arm, and the clamping lifting arm is telescopically driven relative to the clamping connecting arm by the telescopic lifting cylinder; the lower clamping manipulator is connected to the end of the clamping lifting arm through the rotary cylinder, and the lower clamping manipulator is driven by the rotary cylinder to achieve a 90-degree flip, and the upper clamping manipulator and the straightening manipulator are both fixedly connected to the end position of the clamping connecting arm. After the pipe column is straightened into place by the straightening manipulator, the upper clamping manipulator and the lower clamping manipulator respectively clamp the pipe column to fix the position of the pipe column.

[0009] As a further improvement of the present invention, a transverse telescopic arm with a linear sliding connection is provided inside the transverse fixed arm, and a third telescopic oil cylinder is provided inside the transverse fixed arm. The transverse telescopic arm is driven to perform telescopic movement along the length direction of the transverse fixed arm through the telescopic movement of the third telescopic oil cylinder.

[0010] As an improvement of the present invention, a pipe measuring device is provided at the end of the transverse telescopic arm, and the pipe measuring device includes a fixed base, a measuring baffle, a length measuring cylinder and a guide rod. The fixed base is fixedly connected to the end of the transverse telescopic arm, the cylinder body of the length measuring cylinder is fixedly connected to the fixed base, and the telescopic direction of the length measuring cylinder is parallel to the length direction of the transverse telescopic arm, the measuring baffle is connected to the end of the telescopic rod of the length measuring cylinder, and the plane where the measuring baffle is located is perpendicular to the telescopic direction of the length measuring cylinder, the guide rod is arranged parallel to the side of the length measuring cylinder, the end of the guide rod is fixedly connected to the measuring baffle, and the guide rod is linearly slidably connected to the fixed base, and the measuring baffle is driven by the length measuring cylinder to approach the end of the pipe to realize pipe length measurement.

[0011] As a further improvement of the present invention, at least one group of flipping manipulator mechanisms is provided on the side of the transverse fixed arm, and the flipping manipulator mechanism is used to transfer the pipe column between the transverse fixed arm and the pipe warehouse. The flipping manipulator mechanism includes a manipulator mounting base, a swing cylinder, a lifting block, a flipping arm assembly and a flipping lifting cylinder. The manipulator mounting base is fixedly connected to the side of the transverse fixed arm, and the flipping lifting cylinder is arranged inside the manipulator mounting base, and the telescopic rod end of the flipping lifting cylinder is fixedly connected to the lifting block, the swing cylinder is fixedly connected to the lifting block, and the flipping arm assembly is connected to the driving part of the swing cylinder. The flipping lifting cylinder drives the swing cylinder and the flipping arm assembly to the upper end of the manipulator mounting base, and then the swing cylinder will drive the flipping arm assembly to achieve a 180-degree flipping action.

[0012] As an improvement of the present invention, the flip arm assembly includes a flip base, a pipe column fixing arm, a telescopic arm and a fourth telescopic oil cylinder. The pipe column fixing arm is provided with a plurality of magnetic suction cups, and the fixing or detachment of the pipe column is achieved by controlling the magnetic force of the magnetic suction cups; the pipe column fixing arm is connected to the flip base through the telescopic arm, and the telescopic arm is slidingly connected to the flip base, the telescopic oil cylinder is fixedly connected to the flip base, and the telescopic rod end of the fourth telescopic oil cylinder is connected to the middle position of the pipe column fixing arm, and the pipe column fixing arm is driven to move laterally by the fourth telescopic oil cylinder.

[0013] As a further improvement of the present invention, a trusteeship mechanism and a plurality of clamping members are provided on the luffing arm along the length direction. The clamping members are two oppositely arranged clamping blocks. The trusteeship mechanism is fixedly connected to the hinged connection position of the luffing arm. When the pipe column is placed on the luffing arm, the trusteeship mechanism abuts against the end of the pipe column, and at the same time, the two groups of clamping blocks move relative to each other and clamp the pipe column on the luffing arm.

[0014] As a further improvement of the present invention, a plurality of pipe warehouse connectors are symmetrically provided on both sides of the horizontal fixing arm, and the pipe warehouse connectors are used to fix the horizontal fixing arm and the pipe warehouse. The pipe warehouse connectors are hingedly connected to the horizontal fixing arm, and the pipe warehouse connectors can be flipped 90 degrees around the hinge position of the pipe warehouse connector; a plurality of locking rods are symmetrically provided on both sides of the vertical lifting arm, and the locking rods fix the vertical lifting arm and the pressure-operating equipment.

[0015] As a further improvement of the present invention, multiple pairs of leveling cylinders are symmetrically provided on both sides of the transverse fixing arm, and at least two pairs of leveling cylinders are respectively arranged at the two ends of the transverse fixing arm, and the transverse fixing part is supported and leveled by multiple pairs of leveling cylinders.

[0016] As a further improvement of the present invention, the vertical lifting arm includes a rear column, a left column, a right column, a connecting block and a linear slide, wherein the rear column is a straight ladder structure, the left column and the right column are relatively arranged on the front side of the rear column, and the left column and the right column are respectively fixedly connected to the side of the rear column through multiple connecting blocks, and the left column and the right column are respectively fixedly connected to a group of the linear slides, and the linear slides are used to cooperate with the connection lifting assembly.

[0017] After adopting such a design, the present invention has at least the following advantages:

[0018] The flipping robot mechanism in the foldable variable-length pipe feeding device of the present invention realizes the automatic transfer action of the horizontal fixed arm and the pipe bin, and the swinging variable-length arm realizes the rotation action of the horizontal fixed arm and the vertical lifting arm. The lifting assembly connected to the vertical lifting arm realizes the pressure-lifting and lowering process of the pipe column through the clamping robot component. No human participation is required in this process. The function of automatic pipe column transportation can be automatically realized through the foldable variable-length pipe feeding device, which reduces the labor intensity of workers and ensures the safety of workers. At the same time, the device improves the efficiency of pressure-lifting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] Figure 1 Schematic diagram of the unfolded state of the foldable variable-luffing pipe feeding mechanism in this embodiment.

[0021] Figure 2 Schematic diagram of the assembly structure of the transverse fixed arm and the transverse telescopic arm in this embodiment.

[0022] Figure 3 Schematic diagram of the folded state of the foldable variable-luff pipe feeding mechanism in this embodiment.

[0023] Figure 4 Schematic diagram of the structure of the flip robot mechanism in this embodiment.

[0024] Figure 5 2 is a schematic structural diagram of the flip arm assembly in this embodiment.

[0025] Figure 6 Schematic diagram of the structure of the pipe string measuring device in this embodiment.

[0026] Figure 7 Schematic diagram of the structure of the luffing arm in this embodiment.

[0027] Figure 8 Schematic diagram of the structure of the lifting assembly in this embodiment.

[0028] Figure 9 Schematic diagram of the structure of the vertical lifting arm in this embodiment.

[0029] The specific reference numerals in the accompanying drawings are:

[0030] 1- Horizontal fixed arm; 2- Second telescopic cylinder; 3- Flipping manipulator mechanism; 4- Pipe magazine connecting block; 5- Horizontal telescopic arm; 6- Pipe column measuring device; 7- Support beam; 8- Luffing arm; 9- Trusteeship mechanism; 10- Third telescopic cylinder; 11- Lifting assembly; 12- Locking rod; 13- Vertical lifting arm; 14- First telescopic cylinder; 15- Leveling cylinder.

[0031] 301-Manipulator mounting base; 302-Swing cylinder; 303-Lifting block; 304-Turning arm assembly; 30401-Turning base; 30402-Telescopic arm; 30403-Fourth telescopic cylinder; 30404-Pipeline fixing arm; 30405-Magnetic suction cup; 305-Turning lifting cylinder.

[0032] 601-fixed base; 602-measuring baffle; 603-length measuring cylinder; 604-guide rod.

[0033] 801-clamping part; 802-first clamping cylinder; 803-clamping block.

[0034] 1101-first-stage lifting arm; 1102-second-stage lifting cylinder; 1103-second-stage lifting arm; 1104-rotating mechanism; 1105-telescopic mechanism; 1106-telescopic slide; 1107-telescopic slider; 1108-righting cylinder; 1109-second clamping cylinder; 1110-upper clamping manipulator; 1111-righting manipulator; 1112-clamping connecting arm; 1113-lifting cylinder; 1114-clamping lifting arm; 1115-rotating cylinder; 1116-lower clamping manipulator.

[0035] 1301-first stage lifting cylinder; 1302-rear column; 1303-left column; 1304-right column; 1305-connecting block; 1306-linear slide; 1307-connecting seat; 1308-lower guide block; 1309-upper guide block. DETAILED DESCRIPTION

[0036] Examples of the embodiments described in the present invention are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] See also Figure 1-9 As shown, this embodiment specifically discloses a foldable variable-length pipe feeding device, which is used to transfer pipe strings between pressurized operation equipment and pipe warehouses during pressurized operations. It includes a flipping manipulator mechanism 3, a horizontal fixed arm 1, a variable-length arm 8, a vertical lifting arm 13, a variable-length arm 8, a lifting assembly 11, and a clamping manipulator assembly. The transverse fixed arm 1 is fixed on the pipe warehouse, and the flipping manipulator mechanism 3 is used to transfer the pipe string between the transverse fixed arm 1 and the pipe warehouse. The flipping manipulator mechanism 3 can unload the pipe string from the transverse fixed arm 1 position to the pipe warehouse position, and can also take the pipe string stored in the pipe warehouse and transport it to the transverse fixed arm 1 position; the variable amplitude arm 8 can transport the horizontally placed pipe string at the transverse fixed arm 1 position to the vertical lifting arm 13 position, and place the pipe string vertically, or transport the vertically placed pipe string from the vertical lifting arm 13 position to the transverse fixed arm 1 position and place it horizontally; and the lifting assembly 11 is linearly slidably connected to the vertical lifting arm 13. The lifting assembly 11 adopts a multi-stage lifting structure, which can realize vertical lifting of the pipe string, and the clamping manipulator assembly can rotate 360 ​​degrees around the top of the lifting assembly 11; the clamping manipulator assembly mainly keeps the pipe string fixed and can fine-tune the vertical position of the pipe string.

[0039] The transverse fixed arm 1 and the vertical lifting arm 13 can be transformed into a folding or unfolding state. Specifically, one end of the transverse fixed arm 1 is hingedly connected to one end of the vertical lifting arm 13, and at least one first telescopic oil cylinder 14 is provided between the transverse fixed arm 1 and the vertical lifting arm 13. The two ends of the first telescopic oil cylinder 14 are respectively hingedly connected to the transverse fixed arm 1 and the vertical lifting arm 13. Preferably, the tail of the cylinder body of the first telescopic oil cylinder 14 is hingedly connected to the transverse fixed arm 1, and the tail of the cylinder body is close to the hinge position of the transverse fixed arm 1 and the vertical lifting arm 13, and the telescopic rod end of the first telescopic oil cylinder 14 is hingedly connected to the middle position of the vertical lifting arm 13. Figure 3 As shown, when the horizontal fixed arm 1 and the vertical lifting arm 13 are folded, the first telescopic cylinder 14 is completely retracted. In order to maintain the structural stability of the device when folded, a support beam 7 is provided on the horizontal fixed arm 1. When the vertical lifting arm 13 is folded, it will be supported by the support beam 7 to avoid being suspended in the air; Figure 1 As shown, when the transverse fixed arm 1 and the vertical lifting arm 13 are deployed, the telescopic rod of the first telescopic cylinder 14 extends and pushes the vertical lifting arm 13 to rotate around its end until the vertical lifting arm 13 is perpendicular to the transverse fixed arm 1. During operation, the support beam 7 can be removed from the transverse fixed arm 1. Therefore, when the foldable luffing pipe feeding device is not in use or needs to be transported to a different location, the device can be kept folded, reducing its size and making transportation more convenient.

[0040] One end of the luffing arm 8 is hinged to the transverse fixed arm 1, and at least one second telescopic cylinder 2 is provided between the luffing arm 8 and the transverse fixed arm 1. The two ends of the second telescopic cylinder 2 are respectively hingedly connected to the luffing arm 8 and the transverse fixed arm 1. Specifically, the tail end of the cylinder body of the second telescopic cylinder 2 is hinged to the transverse fixed arm 1, and its hinge position is close to the hinge position of the transverse fixed arm 1 and the luffing arm 8. The luffing arm 8 is swung around the hinge position at the end of the luffing arm 8 by the extension and contraction of the second telescopic cylinder 2, thereby realizing the transportation of the pipe column between the transverse fixed arm 1 and the vertical lifting arm 13.

[0041] In more detail, the lifting assembly 11 includes a multi-section lifting arm, a telescopic mechanism 1105, a slewing mechanism 1104 and a clamping manipulator assembly for clamping the pipe column. A nested telescopic structure is adopted between the multi-section lifting arms. A secondary lifting cylinder 1102 for driving lifting is provided between the nested lifting arms, and a linear sliding connection is adopted between the nested lifting arms, wherein the lifting arm located at the lowest section is linearly slidably connected to the vertical lifting arm 13, the slewing mechanism 1104 is connected to the top of the lifting arm of the uppermost section, the telescopic mechanism 1105 is installed on the slewing mechanism 1104, the clamping manipulator assembly is connected and fixed to the telescopic mechanism 1105, and the telescopic mechanism 1105 and the clamping manipulator assembly are driven to rotate 360 ​​degrees by the slewing mechanism 1104, and the clamping manipulator assembly is driven to move laterally by the telescopic mechanism 1105.

[0042] In this embodiment, two lifting arms are used. Figure 8 As shown, it includes a primary lifting arm 1101 and a secondary lifting arm 1103, wherein the secondary lifting arm 1103 is nested in the primary lifting arm 1101, and the primary lifting arm 1101 and the secondary lifting arm 1103 are connected by a linear slide rail structure, and the secondary lifting cylinder 1102 is arranged at the bottom position in the primary lifting arm 1101, and the telescopic rod end of the secondary lifting cylinder 1102 is fixedly connected to the secondary lifting arm 1103, and the secondary lifting arm 1103 can be driven to extend relative to the primary lifting arm 1101 through the pushing action of the secondary lifting cylinder 1102, thereby realizing the lifting of the pipe column.

[0043] In this embodiment, the slewing mechanism 1104 located at the top of the secondary lifting arm 1103 preferably adopts a slewing cylinder structure, which can drive other mechanisms connected thereto to rotate 360 ​​degrees. Furthermore, in this embodiment, the upper part of the slewing mechanism 1104 is connected to the telescopic mechanism 1105, and the telescopic mechanism 1105 includes a telescopic slide 1106 and a telescopic slider 1107, wherein the telescopic slide 1106 is connected to the driving shaft of the slewing cylinder 1115, and the telescopic slide 1106 is placed horizontally, and one end of the telescopic slider 1107 is slidably connected to the telescopic slide 1106, and a driving cylinder is provided in the telescopic slide 1106, which can drive the telescopic slider 1107 to move laterally along the telescopic slide 1106 through the driving cylinder, thereby driving the pipe column to move in the lateral direction.

[0044] In more detail, the clamping manipulator assembly includes an upper clamping manipulator 1110, a lower clamping manipulator 1116, a straightening manipulator 1111, a clamping connecting arm 1112, a clamping lifting arm 1114, a lifting cylinder 1113 and a rotary cylinder 1115. The middle part of the clamping connecting arm 1112 is fixed to the end of the telescopic mechanism 1105, that is, fixed to the end of the telescopic slider 1107, and the clamping lifting arm 1114 is slidably connected to the clamping connecting arm 1112, and the two ends of the lifting cylinder 1113 are respectively The clamping lifting arm 1114 is connected to the clamping connecting arm 1112, and the clamping lifting arm 1114 is telescopically driven relative to the clamping connecting arm 1112 by the lifting cylinder 1113; the lower clamping manipulator 1116 is connected to the end of the clamping lifting arm 1114 by the rotary cylinder 1115, and the lower clamping manipulator 1116 is driven by the rotary cylinder 1115 to achieve a 90-degree flip. The purpose of this structural setting is to avoid the floating crossbeam on the pressure-operated equipment. Since the upper clamping manipulator 111 in this embodiment 0 and the lower clamping manipulator 1116 are arranged vertically. During the lifting process of the clamping manipulator assembly, the lower clamping manipulator 1116 may cause structural interference with other mechanisms. Therefore, the operator determines the position where interference is likely to occur, and flips the lower clamping manipulator 1116 to a position parallel to the clamping lifting arm 1114, so that the lower clamping manipulator 1116 can easily pass through the interference position. Then, the lower clamping manipulator 1116 is flipped to a position perpendicular to the clamping lifting arm 1114, so that the lower clamping manipulator 1116 clamps the pipe string; In this embodiment, the upper clamping manipulator 1110 and the righting manipulator 1111 are both fixedly connected to the end of the clamping connecting arm 1112. The righting cylinder 1108 drives the righting manipulator 1111, and the second clamping cylinder 1109 drives the upper clamping manipulator 1110 to clamp. In this embodiment, the righting manipulator 1111 can first right the pipe string to a predetermined position, and then the upper clamping manipulator 1110 and the lower clamping manipulator 1116 can be used to clamp the pipe string to fix the position of the pipe string. It should be noted that in this embodiment, the upper clamping manipulator 1110 and the lower clamping manipulator 1116 are respectively arranged at the ends of the clamping lifting arm 1114 and the clamping connecting arm 1112 so that the clamping lifting arm 1114 and the clamping connecting arm 1112 can be extended and retracted to achieve the lowering function when the pipe string is made up, and to achieve the lifting function when the pipe string is made up.

[0045] Furthermore, in this embodiment, a transverse telescopic arm 5 connected in a linear sliding manner is provided inside the transverse fixed arm 1, and a third telescopic oil cylinder 10 is provided inside the transverse fixed arm 1. Figure 2 and Figure 3As shown, the third telescopic oil cylinder 10 is used to extend and retract the transverse telescopic arm 5 along the length direction of the transverse fixed arm 1. The transverse fixed arm 1 and the transverse telescopic arm 5 can be adapted to pipes of different lengths. The luffing arm 8 is provided with a trustee mechanism 9 and a plurality of clamping members 801 along the length direction. Figure 7 As shown, the clamping member 801 adopts two oppositely arranged clamping blocks 803, and the first clamping cylinder 802 can drive the clamping blocks 803 to move relative to each other to achieve clamping. The trustee mechanism 9 is fixedly connected to the hinged connection position of the variable-length arm 8. When the pipe string is placed on the variable-length arm 8, the trustee mechanism 9 abuts against the end of the pipe string, and at the same time, the two groups of clamping blocks 803 move toward each other and clamp the pipe string on the variable-length arm 8.

[0046] At the same time, in this embodiment, a pipe column measuring device 6 is provided at the end of the transverse telescopic arm 5. Figure 6 As shown, the pipe string measuring device 6 can cooperate with the trusteeship mechanism 9 to realize pipe string length measurement. Specifically, the pipe string measuring device 6 includes a fixed base 601, a measuring baffle 602, a length measuring cylinder 603 and a guide rod 604. The fixed base 601 is fixedly connected to the end of the transverse telescopic arm 5. The cylinder body of the length measuring cylinder 603 is fixedly connected to the fixed base 601, and the telescopic direction of the length measuring cylinder 603 is parallel to the length direction of the transverse telescopic arm 5. The measuring baffle 602 is connected to the end of the telescopic rod of the length measuring cylinder 603, and the plane where the measuring baffle 602 is located is perpendicular to the telescopic direction of the length measuring cylinder 603. The guide rod 604 is arranged parallel to the side of the length measuring cylinder 603, and the end of the guide rod 604 is fixedly connected to the measuring baffle 602. The guide rod 604 is linearly slidably connected to the fixed base 601. The measuring baffle 602 is driven by the length measuring cylinder 603 to approach the end of the pipe string to realize pipe string length measurement. In detail, when measuring the pipe string, the variable-length arm 8 can be swung to the position of the transverse telescopic arm 5 first. At this time, the pipe string connected to it is placed horizontally. Then, the transverse telescopic arm 5 and the measuring baffle 602 are extended and retracted so that the end of the pipe string abuts the measuring baffle 602. In this state, the pipe string length data can be analyzed and obtained by using sensors to identify the extension and retraction amount of the transverse telescopic arm 5 and the measuring baffle 602.

[0047] In addition, in order to realize the pipe column transfer between the horizontal fixed arm 1 and the pipe warehouse in this embodiment, at least one set of flipping manipulator mechanism 3 is provided on the side of the horizontal fixed arm 1. Figure 4As shown, the flip manipulator mechanism 3 includes a manipulator mounting base 301, a swing cylinder 302, a lifting block 303, a flip arm assembly 304 and a flip lifting cylinder 305. The inside of the manipulator mounting base 301 is fixedly connected to the side of the horizontal fixed arm 1. The flip lifting cylinder 305 is arranged inside the manipulator mounting base 301, and the telescopic rod end of the flip lifting cylinder 305 is fixedly connected to the lifting block 303. The swing cylinder 302 is fixedly connected to the lifting block 303, and the flip arm assembly 304 is connected to the driving part of the swing cylinder 302. When transporting by the pipe string, the flip lifting cylinder 305 drives the swing cylinder 302 and the flip arm assembly 304 to the upper end of the manipulator mounting base 301, and then the swing cylinder 302 will drive the flip arm assembly 304 to achieve a 180-degree flipping action.

[0048] More specifically, Figure 5 As shown, the flip arm assembly 304 in this embodiment includes a flip base 30401, a pipe column fixing arm 30404, a telescopic arm 30402 and a fourth telescopic oil cylinder 30403. The pipe column fixing arm 30404 is provided with a plurality of magnetic suction cups 30405. The magnetic force of the magnetic suction cups 30405 is controlled to fix or detach the pipe column. Preferably, an electrically controlled magnetic suction cup 30405 can be used. By controlling the power on and off, the magnetic suction cup 30405 can be switched between a magnetic state and a non-magnetic state, thereby achieving The magnetic suction cup 30405 now absorbs or detaches from the pipe column; the pipe column fixing arm 30404 is connected to the flip base 30401 through the telescopic arm 30402, and the telescopic arm 30402 is slidingly connected to the flip base 30401, the telescopic cylinder is fixedly connected to the flip base 30401, and the telescopic rod end of the fourth telescopic cylinder 30403 is connected to the middle position of the pipe column fixing arm 30404, and the pipe column fixing arm 30404 is driven to move laterally by the fourth telescopic cylinder 30403.

[0049] When the pipe string is transported from the transverse fixed arm 1 to the pipe warehouse, in the initial state, the flip arm assembly 304 of the flip manipulator mechanism 3 is located on the side of the manipulator mounting base 301 away from the transverse fixed arm 1, and the magnetic suction cup 30405 is facing upward. When the transportation signal is received, the flip lifting cylinder 305 drives the flip arm assembly 304 to move to the top position of the manipulator mounting base 301. When the flip arm assembly 304 reaches the top position, the swing cylinder 302 is actuated to swing the flip arm assembly 304 180 degrees through the top position of the manipulator mounting base 301. At this time, the flip arm assembly 304 is located on the side of the manipulator mounting base 301 close to the transverse fixed arm 1, and the magnetic suction cup 30405 is facing downward. At this time, the flip arm assembly 304 is driven by the flip lifting cylinder 305 to gradually descend until the flip arm assembly 304 is above the pipe string. When the flip arm assembly 304 is in place, it is controlled When the power is turned on, the magnetic suction cup 30405 generates magnetic force and absorbs the pipe column. Then, the flip arm assembly 304 that absorbs the pipe column returns to the top position of the manipulator mounting base 301 along the original route, and the flip arm assembly 304 swings 180 degrees through the top position of the manipulator mounting base 301. At this time, the flip arm assembly 304 is located on the side of the manipulator mounting base 301 away from the horizontal fixed arm 1. The flip arm assembly 304 gradually descends to the pipe warehouse position, and then the fourth telescopic cylinder 30403 drives the pipe column fixing arm 30404 to extend horizontally, so that the pipe column reaches the pipe warehouse storage position. At this time, the control power is disconnected, so that the magnetic suction cup 30405 is separated from the pipe column. Next, the flip arm assembly 304 continues to descend a certain distance. After the flip arm assembly 304 is completely separated from the pipe column, the fourth telescopic cylinder 30403 drives the pipe column fixing arm 30404 to retract horizontally, and the flip manipulator mechanism 3 returns to its initial state. Similarly, when the pipe string is transferred from the pipe warehouse to the horizontal fixed arm 1 stage, the operation can be reversed along the running route of the pipe string from the horizontal fixed arm 1 to the pipe warehouse stage.

[0050] In detail, in this embodiment, a plurality of pipe-bin connectors 4 are symmetrically provided on both sides of the transverse fixed arm 1. The pipe-bin connectors 4 are used to securely connect the transverse fixed arm 1 to the pipe-bin. The pipe-bin connectors 4 are hingedly connected to the transverse fixed arm 1 and can be flipped 90 degrees around their hinged positions. By providing a flippable structure, when the foldable variable-length pipe-feeding device is not in use or needs to be transported to a different location, the pipe-bin connectors 4 can be folded, that is, the pipe-bin connectors 4 are closely attached to the transverse fixed arm 1, thereby ensuring the transport size. When the transverse fixed arm 1 needs to be secured to the pipe-bin, the pipe-bin connectors 4 can be unfolded, thereby facilitating device fixation. Furthermore, when the foldable variable-length pipe-feeding device is in operation, in order to enhance the stability and accuracy of the pressure-bearing operation, in this embodiment, a plurality of locking rods 12 are symmetrically provided on both sides of the vertical lifting arm 13. The locking rods 12 can securely connect the vertical lifting arm 13 to the pressure-bearing operation equipment.

[0051] Multiple pairs of leveling cylinders 15 are symmetrically provided on both sides of the transverse fixing arm 1, and at least two pairs of leveling cylinders 15 are respectively provided at both ends of the transverse fixing arm 1, and the transverse fixing part is supported and leveled by multiple pairs of leveling cylinders 15.

[0052] Further, such as Figure 9 As shown, the vertical lifting arm 13 in this embodiment includes a rear column 1302, a left column 1303, a right column 1304, a connecting block 1305 and a linear slide 1306, wherein the rear column 1302 is a straight ladder structure, the left column 1303 and the right column 1304 are relatively arranged on the front side of the rear column 1302, and the left column 1303 and the right column 1304 are respectively fixedly connected to the side of the rear column 1302 through a plurality of connecting blocks 1305. The rear column 1302, the left column 1303 and the right column 1304 together constitute the frame base of the vertical lifting arm 13, and the left column 1303 and the right column 1304 are respectively fixedly connected with a group of the linear slides 1306, preferably using a T-slot structure, and the linear slides 1306 are used to cooperate with the connection to the lifting assembly 11.

[0053] In addition, in this embodiment, a connecting seat 1307 is provided within the vertical lift arm 13. The connecting seat 1307 secures the lifting assembly 11 to the cylinder body of the first-stage lifting cylinder 1301. Driven by the first-stage lifting cylinder 1301, the lifting assembly 11 can be raised and lowered on the linear slideway 1306 of the vertical lift arm. It should be noted that the first-stage lifting cylinder 1301 in this embodiment preferably adopts a double-head structure, or a double-speed mechanism can also be used. The head and tail ends of the telescopic rod of the first-stage lifting cylinder 1301 are respectively fixed to the upper and lower ends of the rear column 1302, and the cylinder body of the first-stage lifting cylinder 1301 can slide up and down along the telescopic rod. This structure and installation method can achieve double-speed lifting while ensuring the service life, safety, and stability of the first-stage lifting cylinder 1301.

[0054] Furthermore, in this embodiment, the upper and lower ends of the first-stage lift cylinder 1301 are respectively provided with an upper guide block 1309 and a lower guide block 1308. The upper guide block 1309 is fixed to the upper end of the first-stage lift cylinder 1301, and the lower guide block 1308 is fixed to the lower end of the first-stage lift cylinder 1301. The rear column 1302 is provided with guide slots that cooperate with the upper and lower guide blocks 1309, 1308. The upper and lower guide blocks 1309, 1308 slide in the guide slots of the rear column 1302. When the first-stage lift cylinder 1301 is raised or lowered, the upper and lower guide blocks 1309, 1308 slide along the guide slots, respectively. The cooperation between the upper and lower guide blocks 1309, 1308 guides the first-stage lift cylinder 1301, thereby improving the stability and safety of the first-stage lift cylinder 1301 and ensuring the safety of the equipment.

[0055] In addition, the specific operation process of the foldable variable-luffing pipe feeding device in this embodiment is as follows:

[0056] The process from the shackle position on the top platform to the pipe warehouse in the pressurized operation equipment is as follows:

[0057] First, the connecting seat 1307 on the vertical lifting arm 13, driven by the first-stage lifting cylinder 1301, drives the lifting assembly 11 to rise until it reaches the top position of the vertical lifting arm 13. After the sensor at the upper end of the vertical lifting arm senses that the lifting assembly 11 has reached the top position, the second-stage lifting cylinder 1102 on the lifting assembly 11 begins to drive, raising the second-stage lifting arm 1103 to the top position of the first-stage lifting arm 1101. After the sensor on the first-stage lifting arm 1101 senses that the second-stage lifting arm 1103 has reached the top position, the lower clamping manipulator 1116, driven by the rotary cylinder 1115, swings down to a vertical position to avoid the floating crossbeam, universal slips, etc. when the pipe string is lifted. Then, the rotary mechanism 1104 rotates the telescopic mechanism 1105 and other connected structural components to a preset position. This preset position is controlled by the program and is generally a position to the side of the pipe string on the top platform. It will not be described in detail here.

[0058] After reaching the preset position, the telescopic mechanism 1105 performs a telescopic action, so that the clamping connecting arm 1112 extends to the shackle position of the pipe string. After reaching the position, the straightening manipulator 1111 first embraces the pipe string. After the pipe string is straightened, the lower clamping manipulator 1116 is driven by the rotary cylinder 1115 to swing to the horizontal position, and the lifting cylinder 1113 drives the clamping lifting arm 1114 to descend to the limit position. After reaching the position, the lower clamping manipulator 1116 clamps the pipe string. After the pipe string is clamped, the lower clamping manipulator 1116 is driven by the lifting cylinder 1113 to lift the pipe string until the clamping lifting arm 1114 retracts to the initial position. At this time, the upper and lower pipe strings are successfully separated, and the foldable variable-length pipe feeder successfully retrieves the pipe string.

[0059] After the clamping lifting arm 1114 retracts to its initial position, the upper clamping manipulator 1110 clamps the pipe string, and the slewing mechanism 1104 begins to rotate, driving the pipe string to its initial connection position. This initial connection position is generally located in the plane between the vertical lifting arm 13 and the horizontal fixed arm 1. Once in position, the secondary lifting cylinder 1102 drives the secondary lifting arm 11031 downward. After the sensor on the primary lifting arm 1101 detects that the secondary lifting arm 1103 has descended into position, the connecting seat 1307 on the vertical lifting arm 13, driven by the primary lifting cylinder 1301, drives the lifting assembly 11 downward. During the descent of the lifting assembly 11, the second telescopic cylinder 2 drives the luffing arm 8 to rotate upward to a preset connection position, i.e., a position parallel to the vertical lifting arm 13.

[0060] After the lifting assembly 11 and the luffing arm 8 are fully in place, they begin to transfer the pipe string. The clamping blocks in the clamping member 801 on the luffing arm 8 move relative to each other and clamp the pipe string. After the clamping blocks are clamped, the upper clamping manipulator 1110, the straightening manipulator 1111, and the lower clamping manipulator 1116 on the lifting assembly 11 all release the pipe string under the drive of the cylinder. After the pipe string is released, the second telescopic cylinder 2 drives the luffing arm 8 to rotate downward to the preset pipe string release position. Once in place, the clamping blocks in the clamping member 801 on the luffing arm 8 release the pipe string, and then the second telescopic cylinder 2 drives the luffing arm 8 to continue rotating downward to a horizontal position, achieving vertical to horizontal luffing. After reaching the horizontal position, the measuring baffle 602 on the pipe string measuring device 6, driven by the length measuring cylinder 603, works together with the trustee mechanism 9 to position the pipe string and measure its length. After the pipe length measurement is completed, the tilting and lifting cylinder 305 in the tilting manipulator mechanism 3 raises the lifting block 303 to the top of the manipulator mounting base 301. Once the sensor on the manipulator mounting base 301 detects that the lifting block 303 is in place, the tilting arm assembly 304, driven by the swing cylinder 302, tilts to the pipe string handover position, i.e., on the side of the manipulator mounting base 301 near the transverse fixed arm 1. The tilting and lifting cylinder 305 then drives the lifting block 303, driving the tilting arm assembly 304 downward until it contacts the pipe string. Once contact is made with the pipe string, the program transmits a signal, causing the magnetic suction cup 30405 on the tilting arm assembly 304 to pick up the pipe string, completing the handover.

[0061] After the handover is complete, the tilting and lifting cylinder 305 on the tilting manipulator mechanism 3 drives the lifting block 303 to the top of the manipulator mounting base 301. The swing cylinder 302 then drives the tilting arm assembly 304 to tilt to the opposite side of the manipulator mounting base 301, that is, the side of the manipulator mounting base 301 facing away from the transverse fixed arm 1. The fourth telescopic cylinder 30403 then drives the pipe column fixing arm 30404 to extend to its limit. The magnetic suction cup 30405 on the tilting arm assembly 304 then releases the pipe column. Finally, the tilting and lifting cylinder 305 drives the lifting block 303 downward until the pipe column falls into the pipe bin. Once the pipe column has fallen into the pipe bin, the fourth telescopic cylinder 30403 drives the pipe column fixing arm 30404 to retract to its original position.

[0062] This completes the automated transfer of the pipe string from the breakout location on the top platform to the pipe silo. This process is entirely manual, with operators only needing to monitor the process, improving safety and reducing labor intensity.

[0063] Similarly, when the pipe warehouse is in the process of moving to the shattering position on the top platform, the pipe string can be operated in the reverse direction along the running path from the shattering position on the top platform to the pipe warehouse.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art can make some simple modifications, equivalent changes or modifications based on the technical content disclosed above, which all fall within the scope of protection of the present invention.

Claims

1. A foldable variable-luff pipe feeding device, used for transferring pipe strings between pressurized operation equipment and pipe warehouse during pressurized operation, characterized in that: It includes a horizontal fixed arm, a vertical lifting arm, a luffing arm and a lifting assembly; The transverse fixed arm is fixed on the pipe warehouse, one end of the transverse fixed arm is hingedly connected to one end of the vertical lifting arm, and at least one first telescopic oil cylinder is provided between the transverse fixed arm and the vertical lifting arm, and the two ends of the first telescopic oil cylinder are respectively hingedly connected to the transverse fixed arm and the vertical lifting arm, and the transverse fixed arm and the vertical lifting arm are folded or unfolded by the extension and contraction of the first telescopic oil cylinder; one end of the luffing arm is hingedly connected to the transverse fixed arm, and at least one second telescopic oil cylinder is provided between the luffing arm and the transverse fixed arm, and the two ends of the second telescopic oil cylinder are respectively hingedly connected to the luffing arm and the transverse fixed arm, and the luffing arm is swung around the hinged position of the end of the luffing arm by the extension and contraction of the second telescopic oil cylinder; The lifting assembly is linearly slidably connected to the vertical lifting arm. The lifting assembly includes multiple lifting arms, a telescopic mechanism, a slewing mechanism and a clamping manipulator assembly for clamping the pipe column. A nested telescopic structure is adopted between the multiple lifting arms. A lifting cylinder for driving the lifting is provided between the mutually nested lifting arms, and the mutually nested lifting arms are linearly slidably connected. The lifting arm located at the lowest section is linearly slidably connected to the vertical lifting arm, the slewing mechanism is connected to the top of the lifting arm of the uppermost section, the telescopic mechanism is installed on the slewing mechanism, the clamping manipulator assembly is fixedly connected to the telescopic mechanism, the slewing mechanism drives the telescopic mechanism and the clamping manipulator assembly to rotate 360 ​​degrees, and the telescopic mechanism drives the clamping manipulator assembly to move laterally. At least one group of flipping manipulator mechanisms is provided on the side of the transverse fixed arm, and the flipping manipulator mechanism is used to transfer pipe columns between the transverse fixed arm and the pipe warehouse. The flipping manipulator mechanism includes a manipulator mounting base, a swing cylinder, a lifting block, a flipping arm assembly and a flipping lifting cylinder. The manipulator mounting base is fixedly connected to the side of the transverse fixed arm, and the flipping lifting cylinder is arranged inside the manipulator mounting base, and the telescopic rod end of the flipping lifting cylinder is fixedly connected to the lifting block, the swing cylinder is fixedly connected to the lifting block, and the flipping arm assembly is connected to the driving part of the swing cylinder. The flipping lifting cylinder drives the swing cylinder and the flipping arm assembly to the upper end of the manipulator mounting base, and then the swing cylinder will drive the flipping arm assembly to realize a 180-degree flipping action.

2. The foldable variable-luff pipe feeding device according to claim 1, characterized in that: The clamping manipulator assembly includes an upper clamping manipulator, a lower clamping manipulator, a righting manipulator, a clamping connecting arm, a clamping lifting arm, a lifting cylinder and a rotary cylinder. The middle part of the clamping connecting arm is fixed to the end of the telescopic mechanism, the clamping lifting arm is slidably connected to the clamping connecting arm, and the two ends of the lifting cylinder are respectively connected to the clamping lifting arm and the clamping connecting arm, and the clamping lifting arm is telescopically driven relative to the clamping connecting arm by the telescopic lifting cylinder; the lower clamping manipulator is connected to the end of the clamping lifting arm through the rotary cylinder, and the lower clamping manipulator is driven by the rotary cylinder to achieve a 90-degree flip, and the upper clamping manipulator and the righting manipulator are both fixedly connected to the end position of the clamping connecting arm. After the pipe column is straightened into place by the righting manipulator, the upper clamping manipulator and the lower clamping manipulator respectively clamp the pipe column to fix the position of the pipe column.

3. The foldable variable-luff pipe feeding device according to claim 1, characterized in that: A transverse telescopic arm with a linear sliding connection is provided inside the transverse fixed arm, and a third telescopic oil cylinder is provided inside the transverse fixed arm. The transverse telescopic arm is driven to perform a telescopic movement along the length direction of the transverse fixed arm through the telescopic movement of the third telescopic oil cylinder.

4. The foldable variable-luff pipe feeding device according to claim 3, characterized in that: The end of the transverse telescopic arm is provided with a pipe measuring device, which includes a fixed base, a measuring baffle, a length measuring cylinder and a guide rod. The fixed base is fixedly connected to the end of the transverse telescopic arm, the cylinder body of the length measuring cylinder is fixedly connected to the fixed base, and the telescopic direction of the length measuring cylinder is parallel to the length direction of the transverse telescopic arm. The measuring baffle is connected to the end of the telescopic rod of the length measuring cylinder, and the plane where the measuring baffle is located is perpendicular to the telescopic direction of the length measuring cylinder. The guide rod is arranged parallel to the side of the length measuring cylinder, the end of the guide rod is fixedly connected to the measuring baffle, and the guide rod is linearly slidably connected to the fixed base. The measuring baffle is driven by the length measuring cylinder to approach the end of the pipe to achieve pipe length measurement.

5. The foldable variable-luff pipe feeding device according to claim 1, characterized in that: The flip arm assembly includes a flip base, a pipe column fixing arm, a telescopic arm and a fourth telescopic oil cylinder. The pipe column fixing arm is provided with a plurality of magnetic suction cups, and the fixing or detachment of the pipe column is achieved by controlling the magnetic force of the magnetic suction cups; the pipe column fixing arm is connected to the flip base through the telescopic arm, and the telescopic arm is slidably connected to the flip base, the telescopic oil cylinder is fixedly connected to the flip base, and the end of the telescopic rod of the fourth telescopic oil cylinder is connected to the middle position of the pipe column fixing arm, and the pipe column fixing arm is driven to move laterally by the fourth telescopic oil cylinder.

6. The foldable variable-luff pipe feeding device according to any one of claims 1 to 5, characterized in that: The luffing arm is provided with a trusteeship mechanism and a plurality of clamping members along the length direction. The clamping members are provided with two oppositely arranged clamping blocks. The trusteeship mechanism is fixedly connected to the hinged connection position of the luffing arm. When the pipe string is placed on the luffing arm, the trusteeship mechanism abuts against the end of the pipe string, and at the same time, the two groups of clamping blocks move relative to each other and clamp the pipe string on the luffing arm.

7. The foldable variable-luff pipe feeding device according to any one of claims 1 to 5, characterized in that: A plurality of pipe warehouse connectors are symmetrically provided on both sides of the horizontal fixing arm, and the pipe warehouse connectors are used to fix the horizontal fixing arm and the pipe warehouse. The pipe warehouse connectors are hingedly connected to the horizontal fixing arm, and the pipe warehouse connectors can be flipped 90 degrees around the hinge position of the pipe warehouse connector; a plurality of locking rods are symmetrically provided on both sides of the vertical lifting arm, and the locking rods fix the vertical lifting arm and the pressure-operating equipment.

8. The foldable variable-luffing pipe feeding device according to any one of claims 1 to 5, characterized in that: Multiple pairs of leveling cylinders are symmetrically provided on both sides of the transverse fixing arm, and at least two pairs of leveling cylinders are respectively provided at both ends of the transverse fixing arm, and the transverse fixing part is supported and leveled by the multiple pairs of leveling cylinders.

9. The foldable variable-luff pipe feeding device according to any one of claims 1 to 5, characterized in that: The vertical lifting arm includes a rear column, a left column, a right column, a connecting block and a linear slide, wherein the rear column is a straight ladder structure, the left column and the right column are relatively arranged on the front side of the rear column, and the left column and the right column are respectively fixedly connected to the side of the rear column through multiple connecting blocks. A group of linear slides are respectively fixedly connected to the positions of the left column and the right column, and the linear slides are used to cooperate with the connection lifting assembly.

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