Full-automatic vertical pipe arranging device, pipe arranging mechanical arm, pipe arranging frame and related method

Abstract

The invention discloses a full-automatic vertical pipe arranging device, a mechanical arm, a pipe arranging frame and a related method. The pipe arranging device comprises a mechanical arm and a pipe arranging frame. The mechanical arm comprises a longitudinal traveling mechanism, a rotating mechanism, a lifting mechanism, a telescopic mechanism and a gripper mechanism. The longitudinal traveling mechanism can drive the slewing mechanism, the lifting mechanism, the telescopic mechanism and the gripper mechanism to move, and the slewing mechanism rotates to enable the lifting mechanism, the telescopic mechanism and the gripper mechanism to change directions; the lifting mechanism can drive the telescopic mechanism and the gripper mechanism to lift; the telescopic mechanism can drive the gripper mechanism to stretch out and draw back. The pipe arranging frame comprises a bottom frame, a supporting leg assembly, an oil pipe frame provided with a plurality of oil pipe limiting structures, a sucker rod frame provided with a plurality of sucker rod hanging structures and a power control unit. And the power control unit provides power for each component on the pipe rack and the mechanical arm. By means of the supporting leg assembly, the dumper is easy to install and debug on site, the pipe arranging device can achieve automatic pipe arranging operation of oil pipes and sucker rods, and the speed and efficiency of well repairing operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas well exploitation, and in particular to a fully automatic vertical pipe laying device, a pipe laying mechanical arm, a pipe laying rack and related methods for lifting and lowering pipe strings during minor repair operations. Background Art

[0002] In the process of oil and gas well exploitation, downhole operations are important to maintain the daily production of oil, gas and water wells. Among them, the volume of minor repair operations such as oilfield pump inspection and tubing string lifting is large, accounting for more than half of the total volume of downhole operations. At present, minor repair operations can realize automatic operations such as automatic buckling and unbuckling of oil pipes and automatic pipe removal. For example, the flat-laying conveying device disclosed in the invention patent with publication number CN106401505B and its conveying method for an automatic conveying device for oil pipe rods in well repair operations can realize the automatic transportation of oil pipes. Summary of the invention

[0003] The inventor of the present application has found that due to the thin diameter of the sucker rod, it is easy to bend and deform when laid flat on the pipe rack, and it is also easy to bend and deform the sucker rod during transportation from the wellhead to the pipe rack. Therefore, the existing automatic pipe transportation and pipe arrangement operation device cannot realize the automatic operation of the sucker rod. Moreover, the automatic pipe operation device has a low degree of automation and occupies a large area. When used, the conveyor pick-up and delivery mechanism must be directly opposite the wellhead for well repair, resulting in the need to call a crane during on-site installation, which is complicated and time-consuming to install, and difficult to discharge on-site when applied to cluster wells. In short, the existing automatic pipe arrangement technology for minor repair operations is still not mature enough, the degree of automation is still relatively low, and the labor intensity of on-site operators in the oil field is relatively high. Improving the degree of automatic pipe arrangement operation for minor repair operations is the most urgent technical problem to be solved in the automation technology for minor repair operations.

[0004] In view of the above problems, the present invention is proposed to provide a fully automatic vertical pipe laying device, a pipe laying robot arm, a pipe laying rack and related methods that overcome the above problems or at least partially solve the above problems.

[0005] The embodiment of the present invention provides a mechanical arm of a pipe arrangement device, characterized in that it comprises: a longitudinal travel mechanism, a slewing mechanism installed on the longitudinal travel mechanism, a lifting mechanism installed on the slewing mechanism, a telescopic mechanism installed on the lifting mechanism, and a gripping mechanism installed on the telescopic mechanism;

[0006] The longitudinal travel mechanism can be installed on the pipe rack and is provided with a travel track. The slewing mechanism can move along the travel track to drive the lifting mechanism, the telescopic mechanism and the gripping mechanism to move toward the pipe rack or the wellhead.

[0007] The rotary mechanism is used to drive the lifting mechanism, the telescopic mechanism, and the gripping mechanism to change their positions through the rotation of the worm gear mechanism;

[0008] The lifting mechanism is used to drive the telescopic mechanism and the gripper mechanism to rise and fall;

[0009] The telescopic mechanism is used to drive the gripper mechanism to telescope;

[0010] The gripper mechanism is used for gripping the oil pipe or the sucker rod.

[0011] In some optional embodiments, the longitudinal travel mechanism includes:

[0012] A longitudinal track frame, on which a travel track is provided;

[0013] A rack mechanism, mounted on the longitudinal track frame;

[0014] A longitudinal running chassis is provided with a gear mechanism, the gear mechanism is meshed with the rack mechanism, and the gear mechanism cooperates with the rack mechanism to drive the longitudinal running chassis to run along the running track.

[0015] In some optional embodiments, the rotating mechanism includes a worm gear mechanism and a turntable; the worm gear mechanism is installed on the longitudinal travel frame of the longitudinal travel mechanism, and the turntable is installed on the worm gear mechanism, and the turntable can be rotated relative to the longitudinal travel frame through the worm gear mechanism, and a lifting mechanism installation position is provided on the turntable.

[0016] In some optional embodiments, the lifting mechanism includes: a lifting column, a turning cylinder and a turning mechanism;

[0017] The lifting column comprises a fixed column, a telescopic column and a locking structure. The fixed column is installed on the turntable of the rotary mechanism and can be turned over relative to the turntable. The telescopic column is embedded in the hollow structure of the fixed column and can be extended or retracted into the hollow structure relative to the fixed column. The locking structure is used to lock the relative position of the telescopic column and the fixed column.

[0018] The turning cylinder is connected to the lifting column through the turning mechanism to drive the lifting column to turn.

[0019] In some optional embodiments, the telescopic mechanism includes a telescopic cylinder, a first telescopic arm, a second telescopic arm, and a telescopic joint connecting the two telescopic arms;

[0020] The first end of the first telescopic arm is mounted on the lifting mechanism, and the second end is connected to the telescopic joint;

[0021] The first end of the second telescopic arm is connected to the telescopic joint, and the second end is used to install the gripper mechanism;

[0022] The telescopic oil cylinder is installed on the lifting mechanism and is used to drive the first telescopic arm and the second telescopic arm to move so that the second end of the second telescopic arm moves away from or approaches the lifting column.

[0023] In some optional embodiments, the gripper mechanism includes at least two groups of jaws for clamping the oil pipe or the sucker rod.

[0024] The embodiment of the present invention further provides a pipe rack of a pipe racking device, comprising: a base frame, a leg assembly installed on the base frame, a tubing rack, a sucker rod rack and a power control unit;

[0025] The leg assembly is provided with a plurality of laterally retractable legs, and the longitudinal height of the legs is adjustable;

[0026] A plurality of oil pipe limiting structures are arranged on the oil pipe rack to limit the vertically arranged oil pipes;

[0027] The sucker rod rack is provided with a plurality of sucker rod hanging structures for hanging the sucker rods;

[0028] The power control unit provides power to each action component on the pipe rack and / or the mechanical arm, and realizes the control of the action.

[0029] In some optional embodiments, the leg assembly includes a plurality of legs located on both sides of the base frame, a leg telescopic structure and a leg lifting structure, the leg telescopic structure is used to push the legs to move relative to the base frame, and the leg lifting structure is used to adjust the height of the legs to adjust the height of the base frame.

[0030] In some optional embodiments, the oil pipe rack includes: an oil pipe support and an oil pipe stopper provided with an oil pipe stopper structure;

[0031] The oil pipe limiting member is installed above the oil pipe support; the oil pipe limiting member is an oil pipe limiting plate, and the oil pipe limiting structure is a plurality of limiting grooves or a plurality of limiting holes arranged on the oil pipe limiting plate; or the oil pipe limiting member is a plurality of strip plates with limiting arc structures;

[0032] The oil pipe support is provided with an oil pipe support lifting structure to adjust the height of the oil pipe stopper.

[0033] In some optional embodiments, the sucker rod rack includes: a sucker rod support and a sucker rod suspension member provided with a sucker rod suspension structure;

[0034] The sucker rod suspension member is installed above the sucker rod bracket; the sucker rod suspension member is a sucker rod suspension plate, and the sucker rod suspension structure is arranged in a plurality of limit grooves or a plurality of limit holes on the sucker rod suspension plate; or the sucker rod suspension member is a plurality of strip plates with sucker rod suspension structures;

[0035] The sucker rod bracket is provided with a sucker rod bracket lifting structure to adjust the height of the sucker rod hanging member.

[0036] An embodiment of the present invention further provides a fully automatic vertical pipe arrangement device, comprising: the above-mentioned mechanical arm and the above-mentioned pipe arrangement rack, wherein the mechanical arm can be installed on the pipe arrangement rack.

[0037] An embodiment of the present invention further provides a fully automatic pipe arrangement method, which is implemented using the above-mentioned fully automatic vertical pipe arrangement device.

[0038] In some optional embodiments, the method includes at least one of the following operations:

[0039] Discharge process:

[0040] Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the wellhead side;

[0041] Control the slewing mechanism to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract, so that the gripper mechanism moves to the gripping position at the wellhead, and controls the gripper mechanism to grip the oil pipe or the pumping rod;

[0042] After the grabbing is completed, the rotary mechanism is controlled to rotate, the lifting mechanism is lifted and lowered, and the telescopic mechanism is telescoped to put the gripper mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the rotary mechanism, the lifting mechanism, the telescopic mechanism and the gripper mechanism to move to the side of the pipe rack;

[0043] Control the slewing mechanism to rotate and the telescopic mechanism to extend and retract so that the gripper mechanism moves to the discharge position, and control the lifting mechanism to put the gripper mechanism in a pipe-releasing state, discharge the oil pipe to the oil pipe rack or hang the sucker rod on the sucker rod rack;

[0044] Access process:

[0045] Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the side of the pipe rack;

[0046] Control the slewing mechanism to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract to move the gripper mechanism to the grabbing position of the pipe rack, and control the gripper mechanism to grab the oil pipe from the oil pipe rack or grab the sucker rod from the sucker rod rack;

[0047] After the grabbing is completed, the lifting mechanism is controlled to lift, the slewing mechanism is rotated, and the telescopic mechanism is extended to put the gripping mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the slewing mechanism, the lifting mechanism, the telescopic mechanism and the gripping mechanism to move to the wellhead side;

[0048] The rotary mechanism is controlled to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract to move the gripper mechanism to the discharge position, and the gripper mechanism is controlled to be in a pipe releasing state to lower the oil pipe or sucker rod to the wellhead.

[0049] In some optional embodiments, the method further includes at least one of the following operation processes:

[0050] Installation process:

[0051] After the transport vehicle transports the pipe racking device to the installation position, the legs of the pipe rack are extended to the first length, and the height of the legs is adjusted to the first height, so that the pipe rack is placed at the installation position under the support of the legs. After the transport vehicle withdraws, the tubing support of the tubing rack on the pipe rack is adjusted to the second height and the sucker rod support on the sucker rod rack is adjusted to the third height;

[0052] Disassembly process:

[0053] Lower the tubing support of the tubing rack on the tubing rack to the fourth height and lower the sucker rod support on the sucker rod rack to the fifth height, control the transport vehicle to travel to the installation position, retract all the legs of the tubing rack, and let the tubing rack fall onto the transport vehicle.

[0054] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0055] The mechanical arm of the pipe laying device provided in the embodiment of the present invention can grab the oil pipe or sucker rod from the wellhead or on the pipe laying rack, transport it between the wellhead and the pipe laying rack, and deliver it to the wellhead or place it on the pipe laying rack through the cooperation of the longitudinal traveling mechanism, the rotating mechanism, the lifting mechanism, the telescopic mechanism and the gripping mechanism. The longitudinal traveling mechanism can drive the gripping mechanism to move between the wellhead and the pipe laying rack, the rotating mechanism can adjust the orientation of the gripping mechanism, the lifting mechanism can adjust the height of the gripping mechanism, and the telescopic mechanism can adjust the extension length of the gripping mechanism to change the gripping range, so that the mechanical arm can grab the oil pipe or sucker rod at different distances and orientations, realize convenient and fast automatic gripping, reduce the operating intensity of personnel, and improve work efficiency; and the mechanical arm can be installed on the pipe laying rack and transported and installed with the pipe laying rack, which is convenient for installation and debugging.

[0056] The pipe rack of the pipe racking device provided in the embodiment of the present invention has a retractable leg with adjustable height. The legs are fully retracted during transportation. After arriving at the destination, the legs are extended to support the ground, so that the pipe rack can be automatically lifted off the transport vehicle to achieve automatic unloading. When transportation is required, the transport vehicle enters the lower part of the pipe rack, and the legs are fully retracted to achieve self-loading. In the case of no crane, the pipe rack can be automatically loaded and unloaded. At the same time, the oil pipe can be limited by multiple oil pipe limiting structures arranged on the oil pipe rack. One end of the oil pipe is placed on the ground and the other end is limited by the oil pipe limiting structure to achieve vertical discharge of the oil pipe; the multiple sucker rod hanging structures on the sucker rod rack can hang the sucker rod, so that the sucker rod can be vertically discharged on the sucker rod rack in a hanging manner.

[0057] Both the tubing rack and the sucker rod rack are equipped with a lifting structure. During transportation, the overall height of the tubing rack and the sucker rod rack is lowered to meet transportation requirements. During operation, the height of the tubing rack and the sucker rod rack is raised to meet operation requirements, thereby realizing the fully automatic pipe laying operation of the tubing and the sucker rod conveniently and quickly.

[0058] In the fully automatic vertical pipe racking device provided by the embodiment of the present invention, the mechanical arm can be installed on the pipe rack and transported and installed together with the pipe rack, thereby realizing convenient and fast automated installation and debugging, reducing manual operations, reducing the workload of personnel, and improving the level of automation. Through the cooperation of the mechanical arm and the pipe rack, the automatic movement of the oil pipe and the pumping rod during the process of grabbing, transporting, and discharging the pipe rack from the wellhead, as well as grabbing, transporting, and sending the pipe rack into the wellhead, fully automated operations are realized, reducing the number of on-site operators and improving the efficiency of well repair and pipe racking operations.

[0059] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0060] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 This is one of the three-dimensional structural schematic diagrams of the fully automatic vertical pipe arrangement device in an embodiment of the present invention;

[0063] Figure 2a This is the second schematic diagram of the three-dimensional structure of the fully automatic vertical pipe arrangement device in the embodiment of the present invention;

[0064] Figure 2b It is a front view of a fully automatic vertical pipe arrangement device in an embodiment of the present invention;

[0065] Figure 2c It is a left view of the fully automatic vertical pipe arrangement device in the embodiment of the present invention;

[0066] Figure 2d A top view of a fully automatic vertical pipe arrangement device in an embodiment of the present invention;

[0067] Figure 3a It is a schematic diagram of the three-dimensional structure of the robot arm in the extended state in an embodiment of the present invention;

[0068] Figure 3b This is a front view of the robot arm in the extended state in the embodiment of the present invention;

[0069] Figure 3c It is a left view of the robot arm in the extended state according to the embodiment of the present invention;

[0070] Figure 3d A top view of the robot arm in an extended state in an embodiment of the present invention;

[0071] Figure 4a It is a schematic diagram of the three-dimensional structure of the mechanical arm in the retracted state according to an embodiment of the present invention;

[0072] Figure 4b This is a front view of the mechanical arm in a retracted state in an embodiment of the present invention;

[0073] Figure 4c It is a left view of the mechanical arm in the retracted state in the embodiment of the present invention;

[0074] Figure 4d A top view of the mechanical arm in a retracted state in an embodiment of the present invention;

[0075] Figure 5a A schematic diagram of the three-dimensional structure of the robot arm in the transport state according to an embodiment of the present invention;

[0076] Figure 5b This is a front view of the transport state of the robotic arm in an embodiment of the present invention;

[0077] Figure 5c It is a left view of the transport state of the robot arm in an embodiment of the present invention;

[0078] Figure 5d A top view of the robot arm in the transport state in an embodiment of the present invention;

[0079] Figure 6a It is a schematic diagram of the three-dimensional structure of the pipe rack in an embodiment of the present invention;

[0080] Figure 6bThis is a front view of a pipe rack in an embodiment of the present invention;

[0081] Figure 6c It is a left view of the pipe rack in the embodiment of the present invention;

[0082] Figure 6d A top view of a pipe rack in an embodiment of the present invention;

[0083] Figure 7a A three-dimensional schematic diagram of a cluster well operation scene in an embodiment of the present invention

[0084] Figure 7b It is a plan view schematic diagram of a cluster well operation scene in an embodiment of the present invention.

[0085] Description of reference numerals:

[0086] 1. Mechanical arm; 2. Pipe rack; 3. Oil pipe; 4. Sucker rod; 5. Transport vehicle; 6. Pumping unit; 7. Production wellhead; 8. Workover rig;

[0087] 11. Longitudinal travel mechanism; 12. Rotating mechanism; 13. Lifting mechanism; 14. Telescopic mechanism; 15. Gripping mechanism;

[0088] 111. longitudinal track frame; 112. travel track; 113. rack mechanism; 114. longitudinal travel chassis; 115. gear mechanism;

[0089] 121. Worm gear mechanism; 122. Turntable;

[0090] 131. Lifting column; 132. Turning cylinder; 133. Turning mechanism;

[0091] 141. telescopic cylinder; 142. first telescopic arm; 143. second telescopic arm; 144. telescopic joint;

[0092] 151, Gripping jaws;

[0093] 21. Base frame; 22. Outrigger assembly; 23. Tubing rack; 24. Sucker rod rack; 25. Power control unit;

[0094] 221, outrigger; 222, outrigger telescopic structure; 223, outrigger lifting structure;

[0095] 231. Oil pipe limiting structure; 232. Oil pipe bracket; 233. Oil pipe limiting member; 234. Oil pipe rack lifting structure;

[0096] 241. Sucker rod hanging structure; 242. Sucker rod bracket; 243. Sucker rod hanging member; 244. Sucker rod frame lifting structure. DETAILED DESCRIPTION

[0097] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0098] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0099] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] In order to solve the problems existing in the prior art that the sucker rod is easily bent and deformed during transportation from the wellhead to the pipe rack, the automatic operation of the sucker rod cannot be realized, and the installation and debugging of the operating device are complicated, etc., the embodiment of the present invention provides a fully automatic vertical pipe laying device with quick assembly and disassembly, which is used in the process of underground operations, especially in the process of laying pipes in the process of lifting and lowering pipes for measures and well repair operations in underground operations, and provides a technical solution for lifting and lowering pipes that can achieve efficient pipe laying operations.

[0101] The fully automatic vertical pipe laying device with quick assembly and disassembly provided in the embodiment of the present invention is a skid-mounted fully automatic vertical pipe laying device for pipe string lifting and lowering operations. The device can be quickly installed in place at the operation site, and can realize the automated operations of grabbing the oil pipe and sucker rod at the wellhead, transporting them from the wellhead to the pipe laying rack, and discharging them on the pipe laying rack, thereby improving the operation efficiency of the oil pipe and sucker rod pipe laying, reducing the labor intensity of the operators, and reducing the number of on-site operators.

[0102] The embodiment of the present invention provides a fully automatic vertical pipe arrangement device, the structure of which is as follows: Figure 1 , Figure 2a , Figure 2b , Figure 2c , Figure 2d As shown, Figure 1 and Figure 2a Schematic diagram of the three-dimensional structure from different viewing angles. Figure 2b For the main view, Figure 2c For the left view, Figure 2d The fully automatic vertical pipe racking device includes a mechanical arm 1 and a pipe rack 2. The mechanical arm 1 can grab the oil pipe 3 or the sucker rod 4 from the wellhead and place the oil pipe 3 or the sucker rod 4 on the pipe rack, or grab the oil pipe 3 or the sucker rod 4 from the pipe rack and transport the oil pipe 3 or the sucker rod 4 to the wellhead. Figure 3a , Figure 3b , Figure 3c , Figure 3d , Figure 4a , Figure 4b , Figure 4c , Figure 4d , Figure 5a , Figure 5b , Figure 5c , Figure 5d As shown, Figure 3a-3d They are the three-dimensional structural diagram, front view, left view, and top view of the robot arm in the extended state. Figures 4a-4d They are the three-dimensional structural diagram, front view, left view, and top view of the robot arm in the retracted state. Figure 5a-5d They are the three-dimensional structural diagram, front view, left view and top view of the robot arm after disassembly and transportation. Figure 6a-6d As shown. Among them, Figure 6a is a schematic diagram of the three-dimensional structure. Figure 6b For the main view, Figure 6c For the left view, Figure 6d This is a top view.

[0103] See also Figure 1 The skid-mounted fully automatic vertical pipe laying device shown in the figure includes two functional parts: a pipe laying rack and a mechanical arm. Considering the number of pipes and sucker rods required for well repair operations and the restrictions on road transportation, these two parts need to be separated during transportation. When working on the job site, the two parts can be put into operation by simply assembling them together. During on-site installation, the mechanical arm is installed on the crossbeam of the pipe laying rack leg, so that the mechanical arm and the pipe laying rack can be combined into a whole, ensuring the integrity of the connection between the two during the pipe laying operation.

[0104] In some optional embodiments, as shown in FIG2 , the mechanical arm 1 in the above pipe laying device is the main component for completing the grabbing and placement of the oil pipe and the sucker rod, and is the core component of the entire pipe laying device to complete the fully automatic pipe laying operation. The mechanical arm 1 includes: a longitudinal travel mechanism 11, a slewing mechanism 12 installed on the longitudinal travel mechanism 11, a lifting mechanism 13 installed on the slewing mechanism 12, a telescopic mechanism 14 installed on the lifting mechanism 13, and a gripper mechanism 15 installed on the telescopic mechanism 14;

[0105] The longitudinal travel mechanism 11 can be installed on the pipe rack 2, and is provided with a travel track for the slewing mechanism 12 to move; the slewing mechanism 12 can move along the travel track on the longitudinal travel mechanism 11 to drive the lifting mechanism 13, the telescopic mechanism 14 and the gripping mechanism 15 to move toward the pipe rack 2 or the wellhead; the slewing mechanism 12 is used to drive the lifting mechanism 13 and the gripping mechanism 15 to change their orientation through the rotation of the worm gear mechanism 121; the lifting mechanism 13 is used to drive the telescopic mechanism 14 and the gripping mechanism 15 to rise and fall; the telescopic mechanism 14 is used to drive the gripping mechanism 15 to extend and retract; the gripping mechanism 15 is used to grasp the oil pipe or the sucker rod. The power and control of each component on the mechanical arm comes from the power control unit installed on the pipe rack 2.

[0106] In some optional embodiments, the longitudinal travel mechanism 11 includes: a longitudinal track frame 111, on which a travel track 112 is provided; a rack mechanism 113, which is installed on the longitudinal track frame 111; and a longitudinal travel chassis 114, on which a gear mechanism 115 is provided, the gear mechanism 115 is meshed with the rack mechanism 113, and the gear mechanism 115 cooperates with the rack mechanism 113 to drive the longitudinal travel chassis 114 to travel along the travel track. The gear mechanism 115 can cooperate with the rack mechanism 113 under the drive of the power control unit to drive the longitudinal travel chassis 114 to travel along the travel track 112. The longitudinal travel mechanism 11 is provided with a travel track and a running mechanism, and the running mechanism can adopt a gear rack structure, and the rack installed on the longitudinal track frame cooperates with the gear installed on the longitudinal travel chassis to enable the longitudinal travel chassis to move along the travel track; of course, other structures can also be adopted, such as a screw slider instead of a gear rack, in short, it can be realized that the longitudinal travel chassis can move along the travel track.

[0107] In some optional embodiments, the slewing mechanism 12 includes a worm gear mechanism 121 and a turntable 122; the worm gear mechanism 121 is installed on the longitudinal travel chassis 114 of the longitudinal travel mechanism 11, and the turntable 122 is installed on the worm gear mechanism 121. The turntable 122 can rotate relative to the longitudinal travel chassis 114 through the worm gear mechanism 121, and the turntable 122 is provided with a mounting position for the lifting mechanism 13 to install the lifting mechanism 13. The slewing mechanism 12 can drive the lifting mechanism 13 to rotate, thereby driving other mechanisms installed on the lifting mechanism 13 to rotate. The structure of the slewing mechanism 12 is not limited to the structure of the above-mentioned worm gear mechanism and turntable combination, and can also be other structures that can realize slewing motion and adjust the orientation of the gripper mechanism. The rotation angle is preferably 360 degrees, and the rotatable angle range can also be designed according to needs.

[0108] In some optional embodiments, the lifting mechanism 13 includes a lifting column 131;

[0109] The lifting column 131 includes a fixed column, a telescopic column and a locking structure. The fixed column is installed on the turntable 122 of the rotary mechanism 12 and can be turned relative to the turntable 122. The telescopic column is embedded in the hollow structure of the fixed column and can be extended or retracted relative to the fixed column. The locking structure is used to lock the relative position of the telescopic column and the fixed column. The telescopic distance of the lifting column can be designed as needed. The telescopic column can be embedded in the fixed column, or the fixed column can be embedded in the telescopic column. The telescopic column can be set in one section or several sections, as long as it can achieve relative telescopicity to achieve the purpose of adjusting the height of the lifting column.

[0110] The lifting mechanism 13 also includes a turning cylinder 132 and a turning mechanism 133. The turning cylinder 132 is connected to the lifting column 131 through the turning mechanism 133 to drive the lifting column 131 to turn over. The turning cylinder and the turning mechanism can be used to turn down the mechanical arm when the pipe arrangement device is transported to avoid an upright state for easy transportation. The turning mechanism 133 can be a structure such as an axis hole structure, a hinge structure, etc. that can achieve a turning within a range of 90 degrees or a range of 180 degrees.

[0111] In some optional embodiments, the telescopic mechanism 14 includes a telescopic cylinder 141, a first telescopic arm 142, a second telescopic arm 143 and a telescopic joint 144 connecting the two telescopic arms; the first end of the first telescopic arm 142 is installed on the lifting mechanism 13, and the second end is connected to the telescopic joint 144; the first end of the second telescopic arm 143 is connected to the telescopic joint 144, and the second end is used to install the gripping mechanism 15; the telescopic cylinder 141 is installed on the lifting mechanism, and is used to drive the first telescopic arm 142 and the second telescopic arm 143 to move, so that the second end of the second telescopic arm 143 moves away from or close to the lifting column 131.

[0112] Optionally, the first telescopic arm 142, the second telescopic arm 143 and the telescopic joint 144 may be provided with an axial hole structure to realize relative rotation, and the telescopic arm can be extended and retracted through the relative rotation between the telescopic arm and the telescopic joint.

[0113] In some optional embodiments, the gripping mechanism 15 may be a manipulator, which includes at least two groups of jaws 151 for clamping the oil pipe or sucker rod. The gripping mechanism 15 may be a manipulator, which may tighten the oil pipe or sucker rod of different sizes by replacing clamps of different sizes.

[0114] The mechanical arm of the pipe laying device provided in the embodiment of the present invention can grab the oil pipe or sucker rod from the wellhead or on the pipe laying rack, transport it between the wellhead and the pipe laying rack, and deliver it to the wellhead or place it on the pipe laying rack through the cooperation of the longitudinal traveling mechanism, the rotating mechanism, and the telescopic mechanism. The longitudinal traveling mechanism can drive the gripping mechanism to move between the wellhead and the pipe laying rack, the rotating mechanism can adjust the orientation of the gripping mechanism, and the telescopic mechanism can adjust the extension length of the gripping mechanism to change the gripping range, so that the mechanical arm can grab the oil pipe or sucker rod at different distances and orientations, realize convenient and fast automatic grabbing, reduce the operating intensity of personnel, and improve work efficiency; and the mechanical arm can be installed on the pipe laying rack and transported and installed with the pipe laying rack, which is convenient for installation and debugging.

[0115] In some optional embodiments, the pipe rack 2 in the above pipe rack device is a component for storing the oil pipes 3 and the sucker rods 4, and the pipe rack 2 includes: a base frame 21, a leg assembly 22 installed on the base frame 21, an oil pipe rack 23, a sucker rod rack 24 and a power control unit 25;

[0116] The leg assembly 22 is provided with a plurality of laterally retractable legs 221, and the longitudinal height of the legs 221 is adjustable;

[0117] A plurality of oil pipe limiting structures 231 are provided on the oil pipe rack 23 to limit the vertically arranged oil pipes;

[0118] A plurality of sucker rod hanging structures 241 are provided on the sucker rod rack 24 to hang the sucker rods;

[0119] The power control unit 25 provides power to each component on the entire pipe arrangement device (including the pipe arrangement rack and / or the mechanical arm) and realizes the control of the movement.

[0120] In some optional embodiments, the leg assembly 22 includes a plurality of legs 221 located on both sides of the base frame 21, a leg telescopic structure 222 and a leg lifting structure 223, the leg telescopic structure 222 is used to push the legs 221 to move relative to the base frame, and the leg lifting structure 223 is used to adjust the height of the legs 221 to adjust the height of the base frame 21. The legs on the leg assembly 22 have a telescopic function, and the pipe rack can be stably placed by adjusting the extension length and height of the legs, and the supporting height of the legs can be adjusted to be appropriate.

[0121] In some optional embodiments, the oil pipe rack 23 includes: an oil pipe support 232 and an oil pipe limiting member 233 provided with an oil pipe limiting structure 231; the oil pipe limiting member 233 is installed above the oil pipe support 232; the oil pipe limiting member 233 is an oil pipe limiting plate, and the oil pipe limiting structure 231 is a plurality of limiting grooves or a plurality of limiting holes arranged on the oil pipe limiting plate; or the oil pipe limiting member 233 is a plurality of strip plates with limiting arc structures, also called oil pipe finger beams, there can be multiple oil pipe finger beams, and each oil pipe finger beam can be provided with multiple limiting arc structures; the oil pipe support 232 is provided with an oil pipe rack lifting structure 234 to adjust the height of the oil pipe limiting member.

[0122] In some optional embodiments, the sucker rod rack 24 includes: a sucker rod support 242 and a sucker rod suspension member 243 provided with a sucker rod suspension structure 241; the sucker rod suspension member 243 is installed above the sucker rod support 242; the sucker rod suspension member 243 is a sucker rod suspension plate, and the sucker rod suspension structure 241 is set in multiple limit grooves or multiple limit holes on the sucker rod suspension plate; or the sucker rod suspension member 243 is a plurality of strip plates with sucker rod suspension structures, also called sucker rod finger beams; there can be multiple sucker rod finger beams, and each sucker rod finger beam can be provided with multiple sucker rod suspension structures, and the sucker rod suspension structure can be a suspension groove. The sucker rod support 242 is provided with a sucker rod rack lifting structure 244 to adjust the height of the sucker rod suspension member.

[0123] The pipe rack of the pipe racking device provided in the embodiment of the present invention has a retractable leg with adjustable height. The legs are fully retracted during transportation. After arriving at the destination, the legs are extended to support the ground, so that the pipe rack can be automatically lifted off the transport vehicle to achieve automatic unloading. When transportation is required, the transport vehicle enters the lower part of the pipe rack, and the legs are fully retracted to achieve self-loading. In the case of no crane, the pipe rack can be automatically loaded and unloaded. At the same time, the oil pipe can be limited by multiple oil pipe limiting structures arranged on the oil pipe rack. One end of the oil pipe is placed on the ground and the other end is limited by the oil pipe limiting structure to achieve vertical discharge of the oil pipe; the multiple sucker rod hanging structures on the sucker rod rack can hang the sucker rod, so that the sucker rod can be vertically discharged on the sucker rod rack in a hanging manner.

[0124] Both the tubing rack and the sucker rod rack are equipped with a lifting structure. During transportation, the overall height of the tubing rack and the sucker rod rack is lowered to meet transportation requirements. During operation, the height of the tubing rack and the sucker rod rack is raised to meet operation requirements, thereby realizing the fully automatic pipe laying operation of the tubing and the sucker rod conveniently and quickly.

[0125] Optionally, in the above-mentioned device, power control units can be independently set for the mechanical arm 1 and the pipe rack 2. Considering the rationality of the entire device, the hydraulic power source and the electrical and hydraulic control system of the fully automatic vertical pipe racking device can also be integrated on the pipe rack, that is, set as a common power control unit. The common power control unit can be installed on the base frame 21 of the pipe rack 2. In the above-mentioned fully automatic vertical pipe racking device, the mechanical arm can be installed on the pipe rack and transported and installed together with the pipe rack, so as to achieve convenient and fast automated installation and debugging, reduce manual operations, reduce the intensity of personnel work, and improve the level of automation. Through the cooperation of the mechanical arm and the pipe rack, the automatic movement of the oil pipe and the sucker rod during the process of grabbing, transporting, discharging the pipe rack from the wellhead, grabbing, transporting, and lowering the pipe rack from the wellhead can be realized, and fully automated operations can be realized without reducing the number of on-site operators, thereby improving the efficiency of well repair and pipe laying operations.

[0126] Each part of the skid-mounted fully automatic vertical pipe laying device can be folded, lifted, and compressed to meet the transportation restrictions of road transportation. After the equipment is transported to the site, each part can be opened, lifted, and quickly assembled to form an operational state. The device is designed to be electrically driven, and the power is taken from the wellhead power distribution system on the oil field site, or mobile power supply facilities are used. The skid-mounted fully automatic vertical pipe laying device meets the on-site requirements of single well and cluster well operations. For cluster well operation scenarios, please refer to Figure 7a and Figure 7b As shown. A plurality of pumping units 6 are arranged at a plurality of production wellheads 7. When one of the production wellheads 7 needs to be repaired, a workover machine 8 is placed at the production wellhead to be repaired. The pipe arrangement device including the mechanical arm 1 and the pipe arrangement rack 2 can be unloaded from the transport vehicle 5 and installed at the production wellhead to be repaired. It can be conveniently placed at any wellhead to be repaired, facilitating automated operations.

[0127] The robot arm 1 can be hydraulically driven, and can realize a series of precise actions of the robot arm such as fully automatic pipe grabbing, pipe transportation, pipe arrangement, pipe placement, and pipe removal through electro-hydraulic proportional, servo and other control and intelligent detection methods.

[0128] During transportation, the legs of the pipe rack 2 are fully retracted, and the lifting structures of the oil pipe support and the sucker rod support are fully retracted to meet the requirements of road transportation conditions, and the pipe rack can be transported by the transport vehicle 5. The legs of the pipe rack 2 can be extended. When arriving at the work site, the legs are extended to both sides beyond the width of the transport vehicle, and the leg cylinders are extended downward, and the legs are supported on the ground, and the pipe rack is lifted off the transport vehicle. The transport vehicle can freely enter and exit the lower part of the pipe rack, and the pipe rack can be automatically loaded and unloaded without the need for a crane.

[0129] The pipe rack 2 can realize the lifting and lowering of the oil pipe limiter and the sucker rod limiter by extending and retracting the lifting frame. When the lifting frame is retracted, the size of the pipe rack meets the requirements of road transportation. When the lifting frame is extended, the pipe rack is in a working state and can perform automated pipe laying operations.

[0130] When the fully automatic vertical pipe laying device needs to be transported, the transportation status of its mechanical arm can be found in Figure 5a-5d As shown, the telescopic mechanism is controlled to retract the gripper mechanism, the slewing mechanism is controlled to rotate the lifting column so that the telescopic mechanism and the gripper mechanism are at an angle suitable for transportation, the lifting mechanism is controlled to lower the telescopic mechanism and the gripper mechanism to a height suitable for transportation, the flipping cylinder and the flipping mechanism are controlled to flip the lifting mechanism so that the lifting column is overturned, and the mechanical arm is in a transportation state suitable for transportation; after the mechanical arm is transported to the installation position, the flipping cylinder and the flipping mechanism are controlled to flip the lifting mechanism so that the lifting column is upright, so that the mechanical arm is in a working state, and the slewing mechanism can be controlled to rotate and the lifting mechanism can be raised and lowered as needed, and the telescopic mechanism can be extended and retracted so that the gripper mechanism reaches a position and state suitable for operation. During transportation, the column is overturned by the flipping mechanism, which is more convenient for transportation.

[0131] Based on the same inventive concept, an embodiment of the present invention further provides a pipe laying method, which is implemented using the above-mentioned fully automatic vertical pipe laying device and includes at least one of the following operation processes:

[0132] Discharge process:

[0133] Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the wellhead side;

[0134] Control the slewing mechanism to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract, so that the gripper mechanism moves to the gripping position at the wellhead, and controls the gripper mechanism to grip the oil pipe or the pumping rod;

[0135] After the grabbing is completed, the rotary mechanism is controlled to rotate, the lifting mechanism is lifted and lowered, and the telescopic mechanism is telescoped to put the gripper mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the rotary mechanism, the lifting mechanism, the telescopic mechanism and the gripper mechanism to move to the side of the pipe rack;

[0136] Control the slewing mechanism to rotate and the telescopic mechanism to extend and retract so that the gripper mechanism moves to the discharge position, and control the lifting mechanism to put the gripper mechanism in a pipe-releasing state, discharge the oil pipe to the oil pipe rack or hang the sucker rod on the sucker rod rack;

[0137] Access process:

[0138] Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the side of the pipe rack;

[0139] Control the lifting mechanism to lift and lower, and the telescopic mechanism to extend and retract so that the gripper mechanism moves to the grabbing position of the pipe rack, and control the gripper mechanism to grab the oil pipe from the oil pipe rack or grab the sucker rod from the sucker rod rack;

[0140] After the grabbing is completed, the rotary mechanism is controlled to rotate, the lifting mechanism is lifted and lowered, and the telescopic mechanism is telescoped to put the gripping mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the rotary mechanism, the lifting mechanism, the telescopic mechanism and the gripping mechanism to move to the wellhead side;

[0141] The rotary mechanism is controlled to rotate, the lifting mechanism is controlled to rise and fall, and the telescopic mechanism is controlled to extend and retract to move the gripper mechanism to the discharge position, and the gripper mechanism is controlled to be in a pipe releasing state to deliver the oil pipe or the sucker rod to the wellhead.

[0142] In the above discharge process, the implementation of each action of the robot arm's fully automatic pipe discharge operation is described in detail as follows:

[0143] (1) Pipe grabbing: The robot arm is equipped with a gripper mechanism, such as a manipulator. The hydraulic cylinder moves in a telescopic manner to drive the gripper mechanism to open and close the gripper jaws to achieve the pipe grabbing action of the manipulator. Figure 3a-3d Before grabbing the pipe, the manipulator can use the longitudinal travel mechanism to move the gripper mechanism to a position close to the wellhead, and adjust the gripper mechanism to a suitable grabbing position by adjusting the height by the lifting mechanism, adjusting the orientation by the rotating mechanism, and adjusting the extension length of the manipulator by the telescopic mechanism, and then control the gripper mechanism to open the clamp to grab the oil pipe or the sucker rod.

[0144] (2) Transportation management: Transportation management includes a series of actions:

[0145] The mechanical arm lifting column rises to lift the tubing / sucker rod away from the wellhead; the mechanical arm is retracted from the center of the wellhead to the position where it merges with the column, that is, the mechanical arm is in the retracted state, see Figures 4a-4dAs shown, the robot arm rotates to the opening position of the finger beam (i.e., the opening position of the oil pipe limit structure) where the robot finger points, and the robot arm moves on the travel track of the longitudinal travel mechanism to the finger beam groove (oil pipe limit structure) where the oil pipe / sucker rod is placed. The lifting and lowering action of the robot arm lifting column is realized by the extension and retraction of the oil cylinder in the lifting column, the retraction and extension of the robot arm are realized by the extension and retraction of the robot arm extension cylinder, the rotation of the robot arm is realized by the robot arm slewing mechanism, and the movement of the robot arm on the track is realized by the longitudinal travel mechanism.

[0146] After the gripper mechanism grabs the oil pipe or sucker rod, it is raised to a higher height through the lifting column, and the gripper mechanism is retracted to be close to the lifting column through the telescopic mechanism. The gripper mechanism is adjusted to a suitable position for transportation through the slewing mechanism to facilitate transportation of the oil pipe or sucker rod. After being transported to the vicinity of the pipe rack, the lifting column is turned over and made upright.

[0147] (3) Pipe placement: The mechanical arm extends and puts the oil pipe / sucker rod into the finger beam slot set position, which is achieved by the mechanical arm telescopic cylinder. The gripper mechanism can be adjusted to the appropriate pipe placement position by adjusting the height of the lifting mechanism, the azimuth of the slewing mechanism, and the extension length of the mechanical arm through at least one of the following adjustment actions:

[0148] (4) Tube laying: The tubing can be placed at a tubing limit structure of the tubing rack, or the sucker rod can be placed at a sucker rod hanging structure of the sucker rod rack. The mechanical arm column retracts, the tubing is dropped on the bottom plate, or the sucker rod is dropped into the sucker rod finger beam slot, and then the manipulator is released to complete the mechanical arm pipe laying action. The retraction of the mechanical arm column is achieved by the retraction of the cylinder inside the mechanical arm column, and the release of the manipulator is achieved by the mechanical arm opening and closing the tubing extension.

[0149] The above-mentioned process of taking the oil pipe or sucker rod and the above-mentioned discharge process include the reverse actions of the pipe grabbing, pipe transporting, pipe laying and pipe releasing operations.

[0150] In some optional embodiments, the above method further includes at least one of the following processes:

[0151] Device installation process:

[0152] After the transport vehicle transports the pipe racking device to the installation position, the legs of the pipe rack are extended to the first length, and the height of the legs is adjusted to the first height, so that the pipe rack is placed at the installation position under the support of the legs. After the transport vehicle withdraws, the tubing support of the tubing rack on the pipe rack is adjusted to the second height and the sucker rod support on the sucker rod rack is adjusted to the third height;

[0153] Device disassembly process: lower the tubing support of the tubing rack on the tubing rack to the fourth height and lower the sucker rod support on the sucker rod rack to the fifth height, control the transport vehicle to drive to the installation position, retract all the legs of the tubing rack, and let the tubing rack fall onto the transport vehicle.

[0154] When the device is transported, the robotic arm can be overturned using the overturning cylinder, which greatly reduces the transportation size of the robotic arm and improves the transportation stability of the robotic arm.

[0155] The fully automatic vertical pipe laying device provided by the present invention has the characteristics of easy installation, quick debugging, high degree of automation, good operating effect, etc. It can realize the automated and quick operation of grabbing the oil pipe and the sucker rod from the wellhead of the well repair operation, moving from the wellhead to the pipe laying rack, and laying them on the pipe laying rack, thereby improving the operating efficiency of the oil pipe and sucker rod laying, reducing the labor intensity of the operators, and reducing the number of on-site operators.

[0156] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0157] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0158] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A mechanical arm of a pipe arrangement device, characterized in that: include: A longitudinal travel mechanism, a slewing mechanism installed on the longitudinal travel mechanism, a lifting mechanism installed on the slewing mechanism, a telescopic mechanism installed on the lifting mechanism, and a gripping mechanism installed on the telescopic mechanism; The longitudinal travel mechanism can be installed on the pipe rack and is provided with a travel track. The slewing mechanism can move along the travel track to drive the lifting mechanism, the telescopic mechanism and the gripping mechanism to move toward the pipe rack or the wellhead. The rotary mechanism is used to drive the lifting mechanism, the telescopic mechanism, and the gripping mechanism to change their positions through the rotation of the worm gear mechanism; The lifting mechanism is used to drive the telescopic mechanism and the gripper mechanism to rise and fall; The telescopic mechanism is used to drive the gripper mechanism to telescope; The gripper mechanism is used for gripping the oil pipe or the sucker rod.

2. The mechanical arm according to any one of claim 1, characterized in that: The longitudinal travel mechanism comprises: A longitudinal track frame, on which a travel track is provided; A rack mechanism, mounted on the longitudinal track frame; The longitudinal running chassis is provided with a gear mechanism, the gear mechanism is meshed with the rack mechanism, and the gear mechanism cooperates with the rack mechanism to drive the longitudinal running chassis to run along the running track.

3. The robotic arm according to claim 1, characterized in that: The rotating mechanism includes a worm gear mechanism and a turntable; the worm gear mechanism is installed on the longitudinal travel frame of the longitudinal travel mechanism, and the turntable is installed on the worm gear mechanism. The turntable can be rotated relative to the longitudinal travel frame through the worm gear mechanism, and a lifting mechanism installation position is provided on the turntable.

4. The mechanical arm according to claim 1, characterized in that: The lifting mechanism comprises: a lifting column, a turning cylinder and a turning mechanism; The lifting column comprises a fixed column, a telescopic column and a locking structure. The fixed column is installed on the turntable of the rotary mechanism and can be turned over relative to the turntable. The telescopic column is embedded in the hollow structure of the fixed column and can be extended or retracted into the hollow structure relative to the fixed column. The locking structure is used to lock the relative position of the telescopic column and the fixed column. The turning cylinder is connected to the lifting column through the turning mechanism to drive the lifting column to turn.

5. The robotic arm according to claim 1, characterized in that: The telescopic mechanism comprises a telescopic oil cylinder, a first telescopic arm, a second telescopic arm and a telescopic joint connecting the two telescopic arms; The first end of the first telescopic arm is mounted on the lifting mechanism, and the second end is connected to the telescopic joint; The first end of the second telescopic arm is connected to the telescopic joint, and the second end is used to install the gripper mechanism; The telescopic oil cylinder is installed on the lifting mechanism and is used to drive the first telescopic arm and the second telescopic arm to move so that the second end of the second telescopic arm moves away from or approaches the lifting column.

6. The mechanical arm according to any one of claims 1 to 5, characterized in that: The gripper mechanism comprises at least two groups of clamping jaws for clamping the oil pipe or the sucker rod.

7. A pipe rack of a pipe rack device, characterized in that: include: A base frame, a leg assembly mounted on the base frame, a tubing rack, a sucker rod rack and a power control unit; The leg assembly is provided with a plurality of laterally retractable legs, and the longitudinal height of the legs is adjustable; A plurality of oil pipe limiting structures are arranged on the oil pipe rack to limit the vertically arranged oil pipes; The sucker rod rack is provided with a plurality of sucker rod hanging structures for hanging the sucker rods; The power control unit provides power to each action component on the pipe rack and / or the mechanical arm, and realizes the control of the action.

8. The pipe rack according to claim 7, characterized in that: The leg assembly includes a plurality of legs located on both sides of the base frame, a leg telescopic structure and a leg lifting structure, the leg telescopic structure is used to push the legs to move relative to the base frame, and the leg lifting structure is used to adjust the height of the legs to adjust the height of the base frame.

9. The pipe rack according to claim 8, characterized in that: The oil pipe rack comprises: an oil pipe support and an oil pipe limiting member provided with an oil pipe limiting structure; The oil pipe limiting member is installed above the oil pipe support; the oil pipe limiting member is an oil pipe limiting plate, and the oil pipe limiting structure is a plurality of limiting grooves or a plurality of limiting holes arranged on the oil pipe limiting plate; or the oil pipe limiting member is a plurality of strip plates with limiting arc structures; The oil pipe support is provided with an oil pipe support lifting structure to adjust the height of the oil pipe stopper.

10. The pipe rack according to any one of claims 7 to 9, characterized in that: The sucker rod rack comprises: a sucker rod support and a sucker rod hanging member provided with a sucker rod hanging structure; The sucker rod suspension member is installed above the sucker rod bracket; the sucker rod suspension member is a sucker rod suspension plate, and the sucker rod suspension structure is arranged in a plurality of limit grooves or a plurality of limit holes on the sucker rod suspension plate; or the sucker rod suspension member is a plurality of strip plates with sucker rod suspension structures; The sucker rod bracket is provided with a sucker rod bracket lifting structure to adjust the height of the sucker rod hanging member.

11. A fully automatic vertical pipe arrangement device, characterized in that: include: The robotic arm as described in any one of claims 1-6 and the pipe rack as described in any one of claims 7-10, wherein the robotic arm can be installed on the pipe rack.

12. A fully automatic pipe arrangement method, characterized in that: This is achieved using the fully automatic vertical pipe arrangement device described in claim 11.

13. The method according to claim 12, characterized in that Include at least one of the following coursework: Discharge process: Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the wellhead side; Control the slewing mechanism to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract, so that the gripper mechanism moves to the gripping position at the wellhead, and controls the gripper mechanism to grip the oil pipe or the pumping rod; After the grabbing is completed, the rotary mechanism is controlled to rotate, the lifting mechanism is lifted and lowered, and the telescopic mechanism is telescoped to put the gripper mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the rotary mechanism, the lifting mechanism, the telescopic mechanism and the gripper mechanism to move to the side of the pipe rack; Control the slewing mechanism to rotate and the telescopic mechanism to extend and retract so that the gripper mechanism moves to the discharge position, and control the lifting mechanism to put the gripper mechanism in a pipe-releasing state, discharge the oil pipe to the oil pipe rack or hang the sucker rod on the sucker rod rack; Access process: Control the longitudinal travel mechanism on the mechanical arm to drive the slewing mechanism, lifting mechanism, telescopic mechanism and gripper mechanism to move to the side of the pipe rack; Control the slewing mechanism to rotate, the lifting mechanism to rise and fall, and the telescopic mechanism to extend and retract to move the gripper mechanism to the grabbing position of the pipe rack, and control the gripper mechanism to grab the oil pipe from the oil pipe rack or grab the sucker rod from the sucker rod rack; After the grabbing is completed, the lifting mechanism is controlled to lift, the slewing mechanism is rotated, and the telescopic mechanism is extended to put the gripping mechanism in a transporting state, and the longitudinal travel mechanism is controlled to drive the slewing mechanism, the lifting mechanism, the telescopic mechanism and the gripping mechanism to move to the wellhead side; The rotary mechanism is controlled to rotate, the lifting mechanism is controlled to rise and fall, and the telescopic mechanism is controlled to extend and retract to move the gripper mechanism to the discharge position, and the gripper mechanism is controlled to be in a pipe releasing state to deliver the oil pipe or the sucker rod to the wellhead.

14. The method according to claim 12, characterized in that Also includes at least one of the following work processes: Installation process: After the transport vehicle transports the pipe racking device to the installation position, the legs of the pipe rack are extended to the first length, and the height of the legs is adjusted to the first height, so that the pipe rack is placed at the installation position under the support of the legs. After the transport vehicle withdraws, the tubing support of the tubing rack on the pipe rack is adjusted to the second height and the sucker rod support on the sucker rod rack is adjusted to the third height; Disassembly process: Lower the tubing support of the tubing rack on the tubing rack to the fourth height and lower the sucker rod support on the sucker rod rack to the fifth height, control the transport vehicle to travel to the installation position, retract all the legs of the tubing rack, and let the tubing rack fall onto the transport vehicle.

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