Cylindrical surface walking pipe arranging vehicle applied to oil field pipe rods and pipe arranging method

Abstract

The invention relates to a cylindrical surface walking pipe arranging vehicle applied to oil field pipe rods and a pipe arranging method. According to the technical scheme, a detection sensor is arranged on the upper side of the front end of a vehicle body, a limiting sensor is arranged at the front end of the vehicle body, a reflecting plate is arranged in the middle of the rear end of the vehicle body, a clamping jaw fixing base is arranged on the upper surface of the vehicle body, and a clamping jaw connecting base is installed on the clamping jaw fixing base; the middle lower portion of the clamping jaw is hinged to the upper end of an electric push rod, the lower end of the electric push rod is hinged to the trolley body, one or more sets of gear motors are installed on the trolley body and connected with a large wheel through a coupler, the outer wall of the large wheel makes contact with the outer wall of one side of a rail, and the outer wall of the other side of the rail makes contact with a pressing wheel set. The device has the beneficial effects that the device can move and walk along the cylindrical surface of the pipe rod, oil field waste oil pipes can be used in the track, and resources are effectively utilized; and the laser distance measuring sensor is used, so that accurate tube arrangement of the to-be-arranged tube rod is realized, the working efficiency is improved, and the labor intensity of an operator is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of petroleum engineering, and in particular to a cylindrical walking pipe laying vehicle and a pipe laying method used for oil field pipe rods. Background Art

[0002] Oil is buried deep underground, and a number of drill pipes, oil pipes, pumping rods and other pipes need to be lowered into the well to achieve oil extraction. Before lowering the pipes into the well, the pipes need to be arranged neatly and transported to the wellhead in sequence to wait for lowering into the well. At present, this transportation process requires a lot of manpower and the labor intensity of the workers is high, and an automated pipe discharge device is needed.

[0003] The Chinese patent publication number invented by this team in 2022 is: CN115306326B, and the patent name is "An automatic discharge device for pipe rods in well repair operations and its use method", which includes a pipe connection device, a pipe connection track, a pipe connection vehicle, and a tubing rack. A pipe connection track is provided above the tubing rack, and a pipe connection vehicle is provided on the pipe connection track. A pipe connection device is provided on one side of the pipe connection track, and the pipe connection vehicle is provided with a push rod mechanism for pushing the oil pipe to be discharged along the pipe connection track; the push rod mechanism includes a push rod cylinder, a push rod piston, and a drive block. The lower part of the push rod cylinder is connected to the body of the pipe connection vehicle, and the upper part of the push rod piston is connected to the drive block. The push rod piston extends or retracts in the axial direction of the push rod cylinder, and drives the push rod to place the drive block in different positions. The invention is to set a pipe connection track on the tubing rack, and a pipe connection vehicle is provided on the track. The pipe connection vehicle pushes the pipe rods for pipe connection, and a pipe connection device is provided for discharging multiple layers of pipe rods. Compared with the previous manual pipe laying method, this invention adds a pipe laying track with a connecting device and H-shaped steel as the main body. The structure is relatively complex, and the specification and length of the H-shaped steel do not match the oil field operation site.

[0004] In order to solve the above problems, the present invention proposes a pipe laying vehicle capable of walking on a cylindrical surface and a pipe laying method. Summary of the invention

[0005] The purpose of the present invention is to address the above-mentioned defects in the prior art and to provide a cylindrical walking pipe laying vehicle and a pipe laying method for oil field pipe rods. The present invention uses waste oil field pipes as tracks, does not add additional pipe laying tracks, and does not add connecting pipe devices. It has a simple structure, reduces costs, and can effectively replace workers in pipe laying operations.

[0006] The present invention discloses a cylindrical walking pipe laying vehicle for oilfield pipe rods, and the technical solution thereof is as follows: comprising a limit sensor (301), a detection sensor (302), an electric push rod (303), a clamping claw (304), a clamping claw connecting seat (305), a vehicle body (306), a reduction motor (307), a reflection plate (308), a clamping wheel group (309) and a large wheel (310), wherein the detection sensor (302) is provided on the upper side of the front end of the vehicle body (306). A limit sensor (301) is provided at the front end of the vehicle body (306), a reflector (308) is provided at the middle of the rear end of the vehicle body (306), a clamping claw fixing seat (3051) is provided on the upper surface of the vehicle body (306), a clamping claw connecting seat (305) is installed on the clamping claw fixing seat (3051), one end of the clamping claw (304) is movably connected to the clamping claw connecting seat (305), the middle and lower parts of the clamping claw (304) are hinged to the upper end of the electric push rod (303), and the electric push rod (303) is connected to the clamping claw connecting seat (305). The lower end of the rod (303) is hinged to the vehicle body (306), and the electric push rod (305) is extended and shortened to push the clamping claw (304) to rotate around the clamping claw connecting seat (305); one or more reduction motors (307) are installed on the vehicle body (306), and the reduction motors (307) are connected to the large wheel (310) through a coupling, and the outer wall of the large wheel (310) contacts the outer wall of one side of the track (2), and the outer wall of the other side of the track (2) contacts the clamping wheel group ( 309), the clamping wheel group (309) is fixed on both sides of the vehicle body (306); the clamping jaw (304) is driven by the electric push rod (303) to rotate a certain angle, and after the detection sensor (302) recognizes the pipe rod (1), the clamping jaw (304) rotates counterclockwise from an open state to a closed state, at which time the clamping jaw (304) contacts the pipe rod (1), the vehicle body (306) moves, and the clamping jaw (304) drives the pipe rod (1) to move to achieve pipe discharge.

[0007] Preferably, the vehicle body (306) is composed of a lower wing plate (3061), a web plate (3062), an upper wing plate (3063), and a side plate (3064); the upper wing plate (3063) and the side plate (3064) are respectively provided with guide caps (3097) for connecting with and guiding the clamping wheel assembly (309); and the upper wing plate (3063) is also provided with a reduction motor fixing plate (3072) and a clamping claw fixing seat (3051).

[0008] Preferably, the large wheel (310) comprises a wheel body (3104), a large wheel lower shaft (3101), and a large wheel upper shaft (3102); the wheel body (3104) is respectively fixed to the large wheel lower shaft (3101) and the large wheel upper shaft (3102); the reduction motor (307) is connected to the large wheel upper shaft (3102) via a coupling (3103), thereby driving the large wheel (310) to rotate; and the large wheel upper shaft (3102) is connected to the lower wing plate (3061).

[0009] Preferably, the clamping wheel assembly (309) is composed of a cotter pin (3091), a support shaft (3092), a spring (3093), a wheel seat (3094), a clamping wheel (3095), a clamping wheel bolt assembly (3096), and a guide cap (3097). A limiting surface (30921) is provided on the support shaft (3092), which cooperates with a guide cap limiting surface (30971) provided on the guide cap (3097) to limit the axial rotation of the clamping wheel assembly (309) along the support shaft (3092), thereby ensuring good contact between the clamping wheel (3095) and the track (2).

[0010] Preferably, the track (2) is arranged above the pipe rod rack (5), an upper and lower pipe rod device (4) is arranged on one side of the track (2), the pipe arrangement vehicle (3) moves along the track (2), and pipe rods (1) to be arranged are arranged above the track (2).

[0011] Preferably, at least two rails (2) are provided above the pipe rod rack (5), and a pipe arrangement vehicle (3) is provided on each rail (2).

[0012] Preferably, the upper side and the left side of the track (2) are in contact with the clamping wheel group (309), and the right side of the track (2) is in contact with the large wheel (310). The elastic action of the spring (3093) in the clamping wheel group (309) ensures that the clamping wheel group (309) and the large wheel (310) are in contact with the track (2) and the pressure on the track (2) is increased, thereby increasing the friction between the clamping wheel group (309) and the large wheel (310) and the track (2), ensuring that the clamping wheel group (309) and the large wheel (310) do not rotate idly and can effectively push the pipe rod (1) to roll.

[0013] Preferably, the above-mentioned track (2) is composed of a track body (201), an upper cover (202), a lower cover (203), a laser distance measuring sensor (204), and a track bolt group (205), wherein the two track bodies (201) are clamped by the upper cover (202) and the lower cover (203) respectively, and are tightened by the track bolt group (205), and the laser distance measuring sensor (204) is installed on the upper cover (202). The laser distance measuring sensor (204) emits distance measuring light, and the light is reflected by the reflection plate (308), so that the distance between the pipe laying vehicle (3) and the laser distance measuring sensor (204) can be measured in real time.

[0014] The pipe laying method of the cylindrical walking pipe laying vehicle applied to the oil field pipe rod mentioned in the present invention includes the following process: 1. Preparation: First, install the pipe laying vehicle (3) on the track body (201) of the track (2), then install the upper cover (202), the lower cover (203), the laser distance sensor (204), and the track bolt assembly (205), with the pipe laying vehicle (3) close to the laser distance sensor (204); 2. Before the pipe laying vehicle (3) is started, the clamping jaws (304) in the pipe laying vehicle (3) are in an open state; the pipe laying vehicle (3) is started, the reduction motor (307) is started to rotate, and the pipe laying vehicle (3) moves on the track (2) in a direction away from the laser distance measuring sensor (204); when the detection sensor (302) detects the pipe rod, the reduction motor (307) stops rotating; the electric push rod (303) shortens, the clamping jaws (304) rotate counterclockwise until they contact the pipe rod (1), and the electric push rod (303) stops moving; the reduction motor (307) is started to rotate in the reverse direction, and the pipe laying vehicle (3) pushes the pipe rod (1) on the track (2) in a direction close to the laser distance measuring sensor (204); the pipe laying vehicle (3) stops when it is a certain distance away from the laser distance measuring sensor (204). Then, the electric push rod (303) is started to extend, the clamping claw (304) rotates clockwise to an open state, and the reduction motor (307) is started again to rotate in the opposite direction, and moves toward the laser distance sensor (204) until the distance between the pipe rod (1) to be discharged and the pipe discharging vehicle (3) along the track (2) is large enough, and the reduction motor (307) is stopped; the flip arm (401) in the upper and lower pipe rod device (4) is started, the flip arm (401) rotates, the clamping claw (402) in the upper and lower pipe rod device (4) is in an open state, the flip arm (401) continues to rotate, the clamping claw (402) holds the pipe rod (1), the clamping claw (402) is started to clamp the pipe rod (1), the flip arm (401) continues to rotate, and the pipe discharging operation of the pipe rod (1) is completed; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; Fourth, after the pipes and rods on the same layer are laid out, the pipe laying vehicle (3) in the track (2) is taken out, and the track (2) of the layer is removed, and the pipe laying vehicle (3) is placed in the track (2) of the next layer, and the above steps are repeated to complete the laying out of the pipes and rods on the next layer.

[0015] The pipe laying method of the cylindrical walking pipe laying vehicle applied to the oil field pipe rod mentioned in the present invention includes the following process: 1. Preparation: First, install the pipe laying vehicle (3) on the track body (201) of the track (2), then install the upper cover (202), the lower cover (203), the laser distance sensor (204), and the track bolt assembly (205). The pipe laying vehicle (3) is close to the laser distance sensor (204). Before the pipe laying vehicle (3) is started, the clamping claw (304) in the pipe laying vehicle (3) is in an open state. 2. The clamping claw (402) in the upper and lower pipe rod device (4) clamps the pipe rod (1) taken up from the wellhead, and the flip arm (401) rotates counterclockwise from the wellhead side to the pipe rod rack (5) side. When it rotates to the top of the track (2), the clamping claw (402) opens, and the pipe rod (1) contacts the track (2). The flip arm (401) continues to rotate to the bottom of the lowest track (2); the pipe loading vehicle (3) starts, and the reduction motor (307) is started to rotate. The pipe loading vehicle (3) moves on the track (2) in a direction away from the laser ranging sensor (204); when the detection sensor (302) detects the pipe rod (1) just placed on the track (2), the reduction motor (307) stops rotating; the electric push rod (303) shortens. , the clamping jaw (304) rotates counterclockwise until it contacts the pipe rod (1), and the electric push rod (303) stops moving; the reduction motor (307) is started to continue rotating, and the pipe loading vehicle (3) continues to move on the track (2) in a direction away from the laser distance sensor (204); the pipe loading vehicle (3) stops moving when it is a certain distance away from the laser distance sensor (204); then, the electric push rod (303) is started to extend, and the clamping jaw (304) rotates clockwise to an open state, and the pipe rod (1) is discharged into place; the reduction motor (307) is started again to rotate in the opposite direction, and moves toward the laser distance sensor (204), until the pipe loading vehicle (3) moves to the side close to the laser distance sensor (204), waiting for the next pipe rod (1) to fall; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; Fourth, after the pipes and rods on the same layer are laid out, take out the pipe laying vehicle (3) in the track (2), and place a new layer of track (2) above the pipes and rods on the layer that have been laid out, place the pipe laying vehicle (3) in the new layer of track (2), and repeat the above steps to complete the laying out of the new layer of pipes and rods.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention is used in combination with the upper and lower pipe rod device (CN113565454B), and uses a laser distance sensor to control the position coordinates of the pipe laying vehicle in real time, so as to achieve accurate pipe laying of the pipe rods being laid, remove the pipe connection device (disclosed in patent CN115306326B), simplify the structural composition, optimize the structural layout, and reduce the manufacturing cost of the operating equipment; 2. The pipe laying vehicle of the present invention can move along the cylindrical surface of the pipe rod, and the track can use waste oil pipes from the oil field, which effectively utilizes resources, does not add additional tracks, and saves costs; 3. The present invention can be applied to both oil pipes and sucker rods, has wide applicability, and broadens the functions of the operating pipe-rod discharging device; the oilfield pipe-rod discharging vehicle and the pipe-charging method of the present invention can replace manual pipe-charging operations, realize automatic discharging of pipes and rods, improve work efficiency, and reduce the labor intensity of operators.

[0017] 4. The track of the present invention can be placed in one layer, two layers or multiple layers according to the needs, so as to discharge pipes and rods placed in multiple layers, and can be applied to oil wells of different depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the cylindrical walking pipe laying vehicle of the present invention; Figure 2 It is a structural schematic diagram of the cylindrical walking pipe laying vehicle of the present invention in conjunction with the upper and lower pipe rod devices; Figure 3 It is a side view structural schematic diagram of the cylindrical walking pipe laying vehicle of the present invention; Figure 4 It is a front view structural schematic diagram of the cylindrical walking pipe laying vehicle of the present invention; Figure 5 It is a front view structural schematic diagram of the cylindrical walking pipe laying vehicle of the present invention after removing the reflective plate; Figure 6 It is a front view structural schematic diagram of the vehicle body of the cylindrical walking pipe laying vehicle of the present invention; Figure 7 It is a structural schematic diagram of the clamping jaws in the pipe laying vehicle of the present invention in an open state; Figure 8 It is a structural schematic diagram of the clamping wheel group in the pipe laying vehicle of the present invention; Fig. 9 It is a schematic diagram of the structure of one side of the laser ranging sensor in the track of the present invention; Fig.10 It is a schematic diagram of the state where the pipe laying vehicle in the present invention moves to the upper pipe position; Fig.11 It is a schematic diagram of the state in which the pipe placing vehicle of the present invention continues to move to the end of the track after placing the oil pipe; Fig.12 A schematic diagram of the state in which the upper and lower pipe rod device of the present invention is ready to take out the pipe; Fig.13 It is a schematic diagram of the structure of the upper and lower pipe rod devices in the present invention in a state where the pipe rods are clamped and then turned over; Fig.14 It is a top view structural schematic diagram of the cylindrical walking pipe laying vehicle in the present invention cooperating with the upper and lower pipe rod devices; Fig.15 It is a side structural schematic diagram of the vehicle body of the cylindrical walking pipe laying vehicle of the present invention; In the above figure: pipe rod 1, track 2, pipe arrangement vehicle 3, upper and lower pipe rod device 4, pipe rod rack 5; Limit sensor 301, detection sensor 302, electric push rod 303, clamp 304, clamp connection seat 305, vehicle body 306, reduction motor 307, reflection plate 308, clamping wheel group 309, large wheel 310; limit sensor seat 3011; clamp fixing seat 3051; lower wing plate 3061, web plate 3062, upper wing plate 3063, side plate 3064; reduction motor connection plate 3071, reduction motor fixing plate 3072; reflection plate bolt group 3081; opening Pin 3091, support shaft 3092, spring 3093, wheel seat 3094, clamping wheel 3095, clamping wheel bolt group 3096, guide cap 3097; limiting surface 30921; guide cap limiting surface 30971; large wheel lower shaft 3101, large wheel upper shaft 3102, coupling 3103, wheel body 3104; track body 201, upper cover 202, lower cover 203, laser ranging sensor 204, track bolt group 205; flip arm 401, clamping claw 402. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] Example 1, reference Figure 1-Figure 15The cylindrical walking pipe laying vehicle for oilfield pipe rods mentioned in the present invention comprises a limit sensor 301, a detection sensor 302, an electric push rod 303, a clamp 304, a clamp connection seat 305, a vehicle body 306, a reduction motor 307, a reflection plate 308, a clamping wheel group 309 and a large wheel 310. The detection sensor 302 is arranged on the upper side of the front end of the vehicle body 306, the limit sensor 301 is installed at the front end of the vehicle body 306 through a limit sensor seat 3011, and the reflection plate 308 is installed at the middle part of the rear end of the vehicle body 306 through a reflection plate bolt group 3081. A clamp fixing seat 3051 is arranged on the upper surface of the vehicle body 306, and the clamp connection seat 305 is installed on the clamp fixing seat 3051. One end of the clamp 304 is movably connected to the clamp connection seat 305, and the middle and lower parts of the clamp 304 are connected to the electric push rod 3 03 is hinged at the upper end, and the lower end of the electric push rod 303 is hinged to the car body 306. The electric push rod 305 is extended and shortened to push the clamp 304 to rotate around the clamp connecting seat 305; more than one group of reduction motors 307 are installed on the car body 306, and the reduction motor 307 is connected to the large wheel 310 through a coupling. The outer wall of the large wheel 310 contacts the outer wall of one side of the track 2, and the outer wall of the other side of the track 2 contacts the clamping wheel group 309, and the clamping wheel group 309 is fixed on both sides of the car body 306; the clamp 304 rotates a certain angle under the drive of the electric push rod 303. After the detection sensor 302 recognizes the pipe rod 1, the clamp 304 rotates counterclockwise from the open state to the closed state. At this time, the clamp 304 contacts the pipe rod 1, the car body 306 moves, and the clamp 304 drives the pipe rod 1 to move to achieve pipe discharge.

[0021] Reference Figure 6 The vehicle body 306 mentioned in the present invention is composed of a lower wing plate 3061, a web plate 3062, an upper wing plate 3063, and a side plate 3064. The upper wing plate 3063 and the side plate 3064 are respectively provided with guide caps 3097 for connecting and guiding the clamping wheel group 309. The upper wing plate 3063 is also provided with a reduction motor fixing plate 3072 and a clamping claw fixing seat 3051.

[0022] Reference Figure 5 The large wheel 310 mentioned in the present invention includes a wheel body 3104, a large wheel lower shaft 3101, and a large wheel upper shaft 3102. The wheel body 3104 is respectively fixed to the large wheel lower shaft 3101 and the large wheel upper shaft 3102. The reduction motor 307 is connected to the large wheel upper shaft 3102 through a coupling 3103, thereby driving the large wheel 310 to rotate. The large wheel upper shaft 3102 is connected to the lower wing plate 3061.

[0023] In addition, the track 2 is arranged above the pipe rod rack 5 , an upper and lower pipe rod device 4 is arranged on one side of the track 2 , the pipe arrangement vehicle 3 moves along the track 2 , and pipe rods 1 to be arranged are arranged above the track 2 .

[0024] Among them, at least two tracks 2 are provided above the above-mentioned pipe rod rack 5, and a pipe arrangement vehicle 3 is provided on each track 2. Preferably, the present invention has three tracks 2 on each layer, and the tracks 2 are placed in one layer, two layers, or multiple layers according to the number of pipe rods to be arranged, and a number of pipe rods 1 to be arranged are placed above each layer of tracks 2.

[0025] Reference Figure 5 The upper side and the left side of the track 2 are in contact with the clamping wheel group 309, and the right side of the track 2 is in contact with the large wheel 310. The elastic action of the spring 3093 in the clamping wheel group 309 ensures that the clamping wheel group 309 and the large wheel 310 are in contact with the track 2 and increase the pressure on the track 2, thereby increasing the friction between the clamping wheel group 309 and the large wheel 310 and the track 2, ensuring that the clamping wheel group 309 and the large wheel 310 do not rotate idly and can effectively push the pipe rod 1 to roll.

[0026] Reference Fig. 9 The track 2 mentioned in the present invention is composed of a track body 201, an upper cover 202, a lower cover 203, a laser ranging sensor 204, and a track bolt group 205, wherein the two track bodies 201 are clamped by the upper cover 202 and the lower cover 203 respectively, and are tightened by the track bolt group 205, and the laser ranging sensor 204 is installed on the upper cover 202. The laser ranging sensor 204 emits ranging light, which is reflected by the reflective plate 308, and can measure the distance between the pipe laying vehicle 3 and the laser ranging sensor 204 in real time.

[0027] The pipe laying method of the cylindrical walking pipe laying vehicle applied to the oil field pipe rod mentioned in the present invention includes the following process: 1. Preparation: First install the pipe handling vehicle 3 on the track body 201 of the track 2, then install the upper cover 202, the lower cover 203, the laser distance sensor 204, and the track bolt group 205, with the pipe handling vehicle 3 close to the laser distance sensor 204; 2. Before the pipe handling vehicle 3 is started, the clamping jaws 304 in the pipe handling vehicle 3 are in an open state; the pipe handling vehicle 3 is started, the reduction motor 307 is started to rotate, and the pipe handling vehicle 3 moves on the track 2 in a direction away from the laser distance sensor 204; when the detection sensor 302 detects the pipe rod, the reduction motor 307 stops rotating; the electric push rod 303 shortens, the clamping jaws 304 rotate counterclockwise until they contact the pipe rod 1, and the electric push rod 303 stops moving; the reduction motor 307 is started to rotate in the reverse direction, and the pipe handling vehicle 3 pushes the pipe rod 1 on the track 2 in a direction close to the laser distance sensor 204 and moves together; the pipe handling vehicle 3 stops when it is a certain distance away from the laser distance sensor 204. Move; then, start the electric push rod 303 to extend, the clamping claw 304 rotates clockwise to an open state, and start the reduction motor 307 again to rotate in the opposite direction, moving toward the laser distance sensor 204, until the distance between the discharged pipe rod 1 and the pipe laying vehicle 3 along the track 2 is large enough, and stop the reduction motor 307; start the flip arm 401 in the upper and lower pipe rod device 4, the flip arm 401 rotates, the clamping claw 402 in the upper and lower pipe rod device 4 is in an open state, the flip arm 401 continues to rotate, the clamping claw 402 hugs the pipe rod 1, the clamping claw 402 is started to clamp the pipe rod 1, the flip arm 401 continues to rotate, and the pipe lowering operation of the pipe rod 1 is completed; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; Fourth, after the pipes and rods on the same layer are laid out, take out the pipe laying cart 3 in the track 2, remove the track 2 of the layer, place the pipe laying cart 3 in the track 2 of the next layer, repeat the above steps to complete the laying out of the pipes and rods on the next layer.

[0028] The pipe laying method of the cylindrical walking pipe laying vehicle applied to the oil field pipe rod mentioned in the present invention includes the following process: 1. Preparation: First, install the pipe laying vehicle 3 on the track body 201 of the track 2, then install the upper cover 202, the lower cover 203, the laser distance sensor 204, and the track bolt group 205. The pipe laying vehicle 3 is close to the laser distance sensor 204. Before the pipe laying vehicle 3 is started, the clamping claws 304 in the pipe laying vehicle 3 are in an open state; 2. The clamping claw 402 in the upper and lower pipe rod device 4 clamps the pipe rod 1 taken up from the wellhead, and the flip arm 401 rotates counterclockwise from the wellhead side to the pipe rod rack 5 side. When it rotates to the top of the track 2, the clamping claw 402 opens, the pipe rod 1 contacts the track 2, and the flip arm 401 continues to rotate to the bottom of the lowest track 2; the pipe laying vehicle 3 starts, and the reduction motor 307 is started to rotate, and the pipe laying vehicle 3 moves on the track 2 away from the laser ranging sensor 204; when the detection sensor 302 detects the pipe rod 1 just placed on the track 2, the reduction motor 307 stops rotating; the electric push rod 303 shortens, and the clamping claw 3 04 rotates counterclockwise until it contacts the pipe rod 1, and the electric push rod 303 stops moving; the reduction motor 307 is started to continue rotating, and the pipe arranging vehicle 3 continues to move on the track 2 away from the laser ranging sensor 204; the pipe arranging vehicle 3 stops moving when it is a certain distance away from the laser ranging sensor 204; then, the electric push rod 303 is started to extend, and the clamping claw 304 rotates clockwise to an open state, and the pipe rod 1 is discharged into place; the reduction motor 307 is started again to rotate in the opposite direction, moving toward the laser ranging sensor 204, until the pipe arranging vehicle 3 moves to the side close to the laser ranging sensor 204, waiting for the next pipe rod 1 to fall; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; 4. After the pipes and rods on the same layer are laid out, take out the pipe laying cart 3 in the track 2, and place a new layer of track 2 above the pipes and rods on the layer that have been laid out. Place the pipe laying cart 3 in the new layer of track 2, and repeat the above steps to complete the laying out of the new layer of pipes and rods.

[0029] Embodiment 2, a cylindrical walking pipe laying vehicle for oil field pipe rods mentioned in the present invention is different from Embodiment 1 in that: Reference Figure 8 The clamping wheel assembly 309 mentioned in the present invention is composed of a cotter pin 3091, a support shaft 3092, a spring 3093, a wheel seat 3094, a clamping wheel 3095, a clamping wheel bolt assembly 3096, and a guide cap 3097. A limiting surface 30921 is provided on the support shaft 3092, which cooperates with a guide cap limiting surface 30971 provided on the guide cap 3097 to limit the axial rotation of the clamping wheel assembly 309 along the support shaft 3092, thereby ensuring good contact between the clamping wheel 3095 and the track 2.

[0030] The above are only some preferred embodiments of the present invention. Any person skilled in the art may modify the above technical solutions or modify them into equivalent technical solutions. Therefore, the corresponding simple modifications or equivalent transformations made according to the technical solutions of the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A cylindrical walking pipe laying vehicle used for oil field pipe rods, characterized by: The vehicle body (306) comprises a limit sensor (301), a detection sensor (302), an electric push rod (303), a clamping claw (304), a clamping claw connecting seat (305), a vehicle body (306), a reduction motor (307), a reflection plate (308), a clamping wheel group (309) and a large wheel (310). The detection sensor (302) is provided on the upper side of the front end of the vehicle body (306), the limit sensor (301) is provided on the front end of the vehicle body (306), the reflection plate (308) is provided in the middle part of the rear end of the vehicle body (306), a clamping claw fixing seat (3051) is provided on the upper surface of the vehicle body (306), the clamping claw connecting seat (305) is mounted on the clamping claw fixing seat (3051), one end of the clamping claw (304) is movably connected to the clamping claw connecting seat (305), the middle and lower part of the clamping claw (304) is hinged to the upper end of the electric push rod (303), and the lower end of the electric push rod (303) is hinged to the vehicle body ( The vehicle body (306) is provided with a plurality of reduction motors (307), the reduction motors (307) are connected to a large wheel (310) via a coupling, the outer wall of the large wheel (310) contacts the outer wall of one side of the track (2), the outer wall of the other side of the track (2) contacts the clamping wheel group (309), and the clamping wheel group (309) is fixed on both sides of the vehicle body (306); the clamping jaw (304) is rotated by a certain angle under the drive of the electric push rod (303), and after the detection sensor (302) recognizes the pipe rod (1), the clamping jaw (304) rotates counterclockwise from an open state to a closed state, at which time the clamping jaw (304) contacts the pipe rod (1), the vehicle body (306) moves, and the clamping jaw (304) drives the pipe rod (1) to move to realize pipe discharge.

2. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 1 is characterized by: The vehicle body (306) is composed of a lower wing plate (3061), a web plate (3062), an upper wing plate (3063), and a side plate (3064). The upper wing plate (3063) and the side plate (3064) are respectively provided with guide caps (3097) for connecting with and guiding the clamping wheel assembly (309). The upper wing plate (3063) is also provided with a reduction motor fixing plate (3072) and a clamping claw fixing seat (3051).

3. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 2 is characterized by: The large wheel (310) comprises a wheel body (3104), a large wheel lower shaft (3101), and a large wheel upper shaft (3102); the wheel body (3104) is respectively fixed to the large wheel lower shaft (3101) and the large wheel upper shaft (3102); a reduction motor (307) is connected to the large wheel upper shaft (3102) via a coupling (3103), thereby driving the large wheel (310) to rotate; and the large wheel upper shaft (3102) is connected to the lower wing plate (3061).

4. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 3 is characterized by: The clamping wheel assembly (309) is composed of a cotter pin (3091), a support shaft (3092), a spring (3093), a wheel seat (3094), a clamping wheel (3095), a clamping wheel bolt assembly (3096), and a guide cap (3097). A limiting surface (30921) is provided on the support shaft (3092) and cooperates with a guide cap limiting surface (30971) provided on the guide cap (3097) to limit the axial rotation of the clamping wheel assembly (309) along the support shaft (3092), thereby ensuring good contact between the clamping wheel (3095) and the track (2).

5. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 1 is characterized by: The track (2) is arranged above the pipe rod rack (5), and an upper and lower pipe rod device (4) is arranged on one side of the track (2). The pipe arrangement vehicle (3) moves along the track (2), and pipe rods (1) to be arranged are arranged above the track (2).

6. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 5 is characterized by: At least two tracks (2) are arranged above the pipe rod rack (5), and a pipe arrangement vehicle (3) is arranged on each track (2).

7. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 6 is characterized by: The upper side and the left side of the track (2) are in contact with the clamping wheel group (309), and the right side of the track (2) is in contact with the large wheel (310). The elastic action of the spring (3093) in the clamping wheel group (309) ensures that the clamping wheel group (309) and the large wheel (310) are in contact with the track (2) and the pressure on the track (2) is increased, thereby increasing the friction between the clamping wheel group (309) and the large wheel (310) and the track (2), ensuring that the clamping wheel group (309) and the large wheel (310) do not rotate idly and can effectively push the pipe rod (1) to roll.

8. The cylindrical walking pipe arrangement vehicle for oil field pipe rods according to claim 7 is characterized by: The track (2) is composed of a track body (201), an upper cover (202), a lower cover (203), a laser distance measuring sensor (204), and a track bolt group (205), wherein the two track bodies (201) are clamped by the upper cover (202) and the lower cover (203) respectively and are tightened by the track bolt group (205), and the laser distance measuring sensor (204) is installed on the upper cover (202). The laser distance measuring sensor (204) emits distance measuring light, which is reflected by the reflection plate (308), so that the distance between the pipe laying vehicle (3) and the laser distance measuring sensor (204) can be measured in real time.

9. The pipe laying method of the cylindrical walking pipe laying vehicle applied to oil field pipe rods according to claim 4 or 8, characterized in that: The pipe laying method of the down pipe operation includes the following processes:

1. Preparation: First, install the pipe laying vehicle (3) on the track body (201) of the track (2), then install the upper cover (202), the lower cover (203), the laser distance sensor (204), and the track bolt assembly (205), with the pipe laying vehicle (3) close to the laser distance sensor (204); 2. Before the pipe laying vehicle (3) is started, the clamping jaws (304) in the pipe laying vehicle (3) are in an open state; the pipe laying vehicle (3) is started, the reduction motor (307) is started to rotate, and the pipe laying vehicle (3) moves on the track (2) in a direction away from the laser distance measuring sensor (204); when the detection sensor (302) detects the pipe rod, the reduction motor (307) stops rotating; the electric push rod (303) shortens, the clamping jaws (304) rotate counterclockwise until they contact the pipe rod (1), and the electric push rod (303) stops moving; the reduction motor (307) is started to rotate in the reverse direction, and the pipe laying vehicle (3) pushes the pipe rod (1) on the track (2) in a direction close to the laser distance measuring sensor (204); the pipe laying vehicle (3) stops when it is a certain distance away from the laser distance measuring sensor (204). Then, the electric push rod (303) is started to extend, the clamping claw (304) rotates clockwise to an open state, and the reduction motor (307) is started again to rotate in the opposite direction, and moves toward the laser distance sensor (204) until the distance between the pipe rod (1) to be discharged and the pipe discharging vehicle (3) along the track (2) is large enough, and the reduction motor (307) is stopped; the flip arm (401) in the upper and lower pipe rod device (4) is started, the flip arm (401) rotates, the clamping claw (402) in the upper and lower pipe rod device (4) is in an open state, the flip arm (401) continues to rotate, the clamping claw (402) holds the pipe rod (1), the clamping claw (402) is started to clamp the pipe rod (1), the flip arm (401) continues to rotate, and the pipe discharging operation of the pipe rod (1) is completed; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; Fourth, after the pipes and rods on the same layer are laid out, the pipe laying vehicle (3) in the track (2) is taken out, and the track (2) of the layer is removed, and the pipe laying vehicle (3) is placed in the track (2) of the next layer, and the above steps are repeated to complete the laying out of the pipes and rods on the next layer.

10. The pipe laying method of the cylindrical walking pipe laying vehicle applied to oil field pipe rods according to claim 4 or 8, characterized in that: The pipe laying method of the pipe operation includes the following processes:

1. Preparation: First, install the pipe laying vehicle (3) on the track body (201) of the track (2), then install the upper cover (202), the lower cover (203), the laser distance sensor (204), and the track bolt assembly (205). The pipe laying vehicle (3) is close to the laser distance sensor (204). Before the pipe laying vehicle (3) is started, the clamping claw (304) in the pipe laying vehicle (3) is in an open state.

2. The clamping claw (402) in the upper and lower pipe rod device (4) clamps the pipe rod (1) taken up from the wellhead, and the flip arm (401) rotates counterclockwise from the wellhead side to the pipe rod rack (5) side. When it rotates to the top of the track (2), the clamping claw (402) opens, and the pipe rod (1) contacts the track (2). The flip arm (401) continues to rotate to the bottom of the lowest track (2); the pipe loading vehicle (3) starts, and the reduction motor (307) is started to rotate. The pipe loading vehicle (3) moves on the track (2) in a direction away from the laser ranging sensor (204); when the detection sensor (302) detects the pipe rod (1) just placed on the track (2), the reduction motor (307) stops rotating; the electric push rod (303) shortens. , the clamping jaw (304) rotates counterclockwise until it contacts the pipe rod (1), and the electric push rod (303) stops moving; the reduction motor (307) is started to continue rotating, and the pipe loading vehicle (3) continues to move on the track (2) in a direction away from the laser distance sensor (204); the pipe loading vehicle (3) stops moving when it is a certain distance away from the laser distance sensor (204); then, the electric push rod (303) is started to extend, and the clamping jaw (304) rotates clockwise to an open state, and the pipe rod (1) is discharged into place; the reduction motor (307) is started again to rotate in the opposite direction, and moves toward the laser distance sensor (204), until the pipe loading vehicle (3) moves to the side close to the laser distance sensor (204), waiting for the next pipe rod (1) to fall; 3. Repeat the above steps to complete the discharge of pipes and rods on the same layer; Fourth, after the pipes and rods on the same layer are laid out, take out the pipe laying vehicle (3) in the track (2), and place a new layer of track (2) above the pipes and rods on the layer that have been laid out, place the pipe laying vehicle (3) in the new layer of track (2), and repeat the above steps to complete the laying out of the new layer of pipes and rods.

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