Oil pipe remote directional lifting system and method for under-pressure operation

Abstract

The invention relates to the technical field of oil and gas equipment, in particular to an oil pipe remote directional lifting system and method for under-pressure operation. In the process of lifting the oil pipe, the oil pipe is positioned and supported for at least two times. The system is composed of a control unit, a traction unit and a guide unit. The control unit sends signals to the traction unit and the guide unit in a remote control mode. The traction unit is responsible for clamping and stably lifting the oil pipe, and the guide unit is used for accurately positioning and centralizing the oil pipe in the lifting process, so that unnecessary swinging of the oil pipe caused by external factors can be prevented, more importantly, the oil pipe can be prevented from colliding with a wellhead operation platform, equipment is protected from being damaged, and the service life of the oil pipe is prolonged. And the oil pipe lifting operation is carried out in a remote operation mode, so that the personal safety of constructors is guaranteed, the opportunity that the constructors make direct contact with the dangerous environment is reduced, and meanwhile the operation precision and the working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas equipment, and in particular to a system and method for remote directional lifting of an oil pipe under pressure. Background Art

[0002] In the exploration and development of oil and gas, many pipeline operation tasks are involved, such as the handling, lifting, lowering and connection of oil pipes. Especially in the oil pipe lifting operation, this work usually refers to the oil pipe stored on the ground track to the work platform at the wellhead by lifting. This process is an important part of drilling and completion operations, and requires precise operation to ensure safety and efficiency.

[0003] In the existing technology, the oil pipe near the wellhead operating platform is usually grabbed by a jacking device, and then the jacking device lifts the oil pipe. At the same time, the end of the oil pipe away from the wellhead operating platform is placed on the sliding shoe on the catwalk. As the jacking device lifts the oil pipe, the sliding shoe will slide along the track of the ground catwalk, gradually moving the end of the oil pipe away from the wellhead operating platform toward the wellhead operating platform until the oil pipe completely leaves the ground catwalk. In this process, the oil pipe will gradually change from the initial horizontal position to an inclined state.

[0004] When performing tubing lifting operations, when the tubing is lifted from the ground catwalk, it is easy to shake during the lifting process, which may cause the tubing to collide with the wellhead operating platform, thereby causing damage to both the tubing and the platform. To avoid this, the current common measure is for on-site construction workers to manually adjust the position of the tubing to prevent it from colliding with the wellhead operating platform during the lifting process.

[0005] However, although this method can solve the problem to a certain extent, it also significantly increases the safety risks faced by construction workers, especially when performing pressure operations, any accidents may have serious consequences. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art, such as the oil pipe lifting operation is prone to collision, resulting in damage to the oil pipe and the wellhead operating platform; and the construction workers manually straightening the oil pipe has a high safety risk, and to provide a remote directional lifting system and method for oil pipes under pressure.

[0007] In a first aspect, the present invention provides a method for remote directional lifting of an oil pipe under pressure, which comprises at least the following steps: S1, clamping the oil pipe and lifting the oil pipe; S2: positioning and supporting the oil pipe at least twice during the lifting process.

[0008] According to a preferred embodiment, step S1 includes: S11, clamping the oil pipe. Clamping one end of the oil pipe placed on the oil pipe transmission device; S12, confirming that the oil pipe is clamped successfully; S13, pulling the oil pipe upward.

[0009] The present invention also provides a remote directional lifting system for oil pipes under pressure, comprising: a traction unit, a guide unit and a control unit. The traction unit is used to clamp and lift the oil pipe. The guide unit is used to position and support the oil pipe at least twice during the lifting process. The control unit is used to control the traction unit and the guide unit to perform the remote directional lifting method for oil pipes under pressure provided by the present invention.

[0010] According to a preferred embodiment, the traction unit includes: a traveling carriage and a winch. The traveling carriage is equipped with two guide rails, and a lifting card for clamping the oil pipe is arranged in the middle of the two guide rails. The guide rail is sleeved on the guide steel cable. One end of the guide steel cable is connected to the ground, and the other end is connected to the suspension point of the wellhead operation platform. The winch is connected to the traveling carriage through the traction steel cable, and the winch is connected to the control unit by signal. The winch is equipped with an encoder and a motor. The encoder and the motor are connected to the control unit by signal. The control unit controls the rotation of the winch to move the traveling carriage close to the oil pipe transmission device, so that the lifting card arranged on the traveling carriage can clamp the oil pipe placed on the oil pipe transmission device. The lifting card clamps one end of the oil pipe. In addition, the control unit can also control the rotation of the winch to move the traveling carriage away from the oil pipe transmission device and pull the oil pipe up.

[0011] According to a preferred embodiment, the guide unit includes at least a first mechanical arm. The first mechanical arm is arranged on the ground and between the wellhead operation platform and the oil pipe transmission device. When the traveling carriage leaves the rotation range of the first mechanical arm and the end of the oil pipe that is not connected to the elevator does not leave the catwalk, the control unit controls the first mechanical arm to rotate so that the first mechanical arm supports the oil pipe.

[0012] According to a preferred embodiment, the first mechanical arm at least includes a first base, a first main arm, a first telescopic rod, a first guide roller and a first sensor. The first guide roller is arranged at one end of the first main arm, and the other end of the first main arm is connected to the first base. One end of the first telescopic rod is connected to the first base, and the other end is connected to the middle part of the first main arm; the first telescopic rod drives the first main arm to swing around the first base by telescoping, and the first telescopic rod is connected to the control unit in communication. The first sensor is arranged on the first telescopic rod, and the first sensor is connected to the control unit in communication.

[0013] According to a preferred embodiment, the guide unit further includes a second mechanical arm. The second mechanical arm is arranged at the top edge of the wellhead operation platform. When the traveling carriage leaves the rotation range of the second mechanical arm, the control unit controls the second mechanical arm to rotate so that the second mechanical arm supports the oil pipe.

[0014] According to a preferred embodiment, the second mechanical arm at least includes a second base, a second main arm, a second telescopic rod, a second guide roller, a second sensor and a slewing mechanism. The second guide roller is arranged at one end of the second main arm, and the other end of the second main arm is connected to the second base. One end of the second telescopic rod is connected to the second base, and the other end is connected to the middle part of the second main arm. The second telescopic rod drives the second main arm to swing around the second base by telescoping, and the second telescopic rod is connected to the control unit for communication. The second sensor is arranged on the second telescopic rod, and the second sensor is connected to the control unit for communication. The second main arm and the second telescopic rod are connected to the second base through the slewing mechanism. The slewing mechanism is used to drive the second main arm to rotate around the second base. The slewing mechanism is connected to the control unit for communication.

[0015] According to a preferred embodiment, the first telescopic rod and the second telescopic rod are hydraulic telescopic rods. The first sensor and the second sensor are pressure sensors. The first telescopic rod and the second telescopic rod are connected to a hydraulic control unit through a hydraulic oil pipeline. The hydraulic control unit is connected to the control unit by signal, and the control unit adjusts the increase or decrease of the hydraulic oil in the first telescopic rod and the second telescopic rod through the hydraulic control unit, thereby controlling the extension and retraction of the first telescopic rod and the second telescopic rod.

[0016] According to a preferred embodiment, the control unit is data-connected with a camera. The camera is used to obtain images of the traveling block and the first mechanical arm. The camera includes a first camera and a second camera. The first camera is arranged on the traveling block in a manner capable of collecting state images of the elevator and the oil pipe on the traveling block. The second camera is used to collect working images of the first mechanical arm. The control unit confirms whether the elevator has successfully clamped the oil pipe through the image captured by the first camera.

[0017] The present invention also provides a method for remote directional lifting of an oil pipe under pressure. The method for remote directional lifting of an oil pipe under pressure at least comprises the following steps: S1, clamping the oil pipe and lifting the oil pipe. The control unit controls the traction unit to clamp the oil pipe and lift the oil pipe; S2, during the process of lifting the oil pipe, positioning and supporting the oil pipe at least twice. During the process of lifting the oil pipe, the control unit controls the guide unit to position and support the oil pipe.

[0018] According to a preferred embodiment, the traction unit includes: a traveling carriage and a winch. The traveling carriage is equipped with an elevator for clamping the oil pipe. The winch is connected to the traveling carriage through a traction cable, and the winch is connected to the control unit by signal. Step S1 includes: S11, clamping the oil pipe; the control unit controls the rotation of the winch to move the traveling carriage close to the oil pipe transmission device, so that the elevator configured on the traveling carriage can clamp the oil pipe placed on the oil pipe transmission device; wherein the elevator clamps one end of the oil pipe; S12, confirming that the oil pipe is clamped successfully; the control unit confirms that the elevator completes the clamping of the oil pipe through the image taken by the first camera; S13, pulling the oil pipe up; the control unit controls the rotation of the winch to move the traveling carriage away from the oil pipe transmission device, so that the oil pipe rises.

[0019] According to a preferred embodiment, the guide unit at least includes: a first mechanical arm and a second mechanical arm. The first mechanical arm is arranged on the ground and between the wellhead operating platform and the oil pipe transmission device; and the first mechanical arm is provided with a first guide roller for supporting the pipe positioning. The second mechanical arm is arranged at the top edge of the wellhead operating platform. And the second mechanical arm is provided with a second guide roller for supporting the pipe positioning. Step S2 includes: S21, first pipe supporting; when the traveling carriage leaves the rotation range of the first mechanical arm and the end of the oil pipe that is not connected to the elevator does not leave the catwalk, the control unit controls the first mechanical arm to rotate so that the first mechanical arm supports the oil pipe; S22, second pipe supporting; when the traveling carriage leaves the rotation range of the second mechanical arm, the control unit controls the second mechanical arm to rotate so that the second mechanical arm supports the oil pipe.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention provides a remote directional lifting system and method for oil pipes under pressure operation, which positions and supports the oil pipes at least twice during the lifting process. The present invention can control the traction unit and the guide unit through a control unit. Specifically, the control unit controls the traction unit to clamp and lift the oil pipe, and controls the guide unit to position and support the oil pipe during the lifting process of the traction unit. The traction unit is responsible for clamping and steadily lifting the oil pipe, while the guide unit accurately positions and straightens the oil pipe during the lifting process, which can not only prevent the oil pipe from unnecessary swinging due to external factors (such as wind force), but more importantly, it can avoid collision between the oil pipe and the wellhead operation platform, thereby protecting the equipment from damage, and further ensuring the safety of the operation site. Through this remote operation mode, not only the personal safety of construction personnel is guaranteed, and their chances of direct contact with dangerous environments are reduced, but also the accuracy and work efficiency of the operation are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a flow chart of a method for remote directional lifting of a pipe under pressure according to a preferred embodiment of the present invention

[0023] Figure 2 This is a schematic diagram of the communication connection of each unit of a remote directional lifting system for oil pipes under pressure according to a preferred embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of an implementation of a remote directional lifting system for oil pipes under pressure according to a preferred embodiment of the present invention;

[0025] Figure 4 A schematic diagram of a first mechanical arm of a preferred embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of a second robotic arm according to a preferred embodiment of the present invention.

[0027] Markings in the figure:

[0028] Traction unit 100, guide cable 101, traveling carriage 110, winch 120, guide unit 200, first mechanical arm 210, first base 211, first main arm 212, first telescopic rod 213, first guide roller 214, first sensor 215, second mechanical arm 220, second base 221, second main arm 222, second telescopic rod 223, second guide roller 224, second sensor 225, slewing mechanism 226, control unit 300. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0030] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0031] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0032] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0033] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0034] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0035] Example 1

[0036] This embodiment provides a method for remote directional lifting of a pipe under pressure. The method for remote directional lifting of a pipe under pressure includes at least the following steps: S1: clamping the pipe and lifting it; S2: positioning and supporting the pipe at least twice during the lifting process. Figure 1 Step S1 includes: S11, clamping the oil pipe, clamping one end of the oil pipe placed on the oil pipe transmission device; S12, confirming that the oil pipe is clamped successfully; S13, pulling the oil pipe up. Step S2 includes: S21, supporting the pipe for the first time; S22, supporting the pipe for the second time.

[0037] In the process of lifting the oil pipe, this embodiment positions and supports the oil pipe at least twice, which can prevent the oil pipe from swinging unnecessarily due to external factors, and more importantly, can prevent the oil pipe from colliding with the wellhead operation platform, thereby protecting the equipment from damage. In addition, this embodiment performs the oil pipe lifting operation by remote operation, which reduces the chance of construction workers directly contacting dangerous environments and ensures the personal safety of construction workers.

[0038] Example 2

[0039] This embodiment is a specific implementation of embodiment 1, and provides a remote directional lifting system for oil pipes under pressure. Figure 2 The system for remote directional lifting of oil pipes under pressure operation includes: a traction unit 100, a guide unit 200 and a control unit 300. The traction unit 100 is used to clamp and lift the oil pipe. The guide unit 200 is used to position and support the oil pipe at least twice during the lifting process. The control unit 300 is used to control the traction unit 100 and the guide unit 200 to execute the method for remote directional lifting of oil pipes under pressure operation involved in Example 1.

[0040] The control unit 300 is connected to the traction unit 100 and the guide unit 200 by signals. The control unit 300 can control the traction unit 100 and the guide unit 200 so that the traction unit 100 clamps and lifts the oil pipe, and the guide unit 200 positions and supports the oil pipe when the traction unit 110 lifts the oil pipe.

[0041] The control unit 300 sends signals to the traction unit 100 and the guide unit 200 by remote control. The traction unit 100 is responsible for clamping and steadily lifting the oil pipe, while the guide unit 200 accurately positions and straightens the oil pipe during the lifting process, which can not only prevent the unnecessary swing of the oil pipe due to external factors, but more importantly, it can avoid the collision between the oil pipe and the wellhead operation platform, thereby protecting the equipment from damage and further ensuring the safety of the operation site. In addition, this embodiment can perform the oil pipe lifting operation by remote operation. Through this remote operation mode, not only the personal safety of the construction personnel is guaranteed, and their chances of direct contact with dangerous environments are reduced, but also the accuracy and work efficiency of the operation are improved.

[0042] The remote directional lifting system for oil pipes under pressure provided in this embodiment is intended to significantly improve the safety and efficiency of oil pipe lifting operations. The core components of the system include a control unit 300, a traction unit 100, and a guide unit 200, which work together to achieve remote precise control and safe lifting of the oil pipe.

[0043] The control unit 300 serves as the command center of the entire system. The control unit 300 is responsible for receiving instructions from construction personnel and converting these instructions into specific actions, such as starting or stopping the traction unit 100, adjusting the position of the guide unit 200, etc. This process not only greatly reduces the workload of on-site workers, but also greatly reduces the risk of workers being exposed to potentially dangerous environments, since the operation can be completed through the remote control console, thus ensuring the safety of construction personnel.

[0044] The traction unit 100 can accurately respond to the operation command issued by the control unit 300 through close cooperation with the control unit 300 to achieve the traction of the oil pipe.

[0045] The function of the guide unit 200 is to accurately position and straighten the oil pipe during its lifting process. This can not only prevent the oil pipe from swinging unnecessarily due to external factors (such as wind), but more importantly, it can prevent the oil pipe from colliding with the wellhead operation platform, thereby protecting the equipment from damage and further ensuring the safety of the operation site.

[0046] By utilizing the remote directional lifting system for oil pipes under pressure provided in this embodiment to perform oil pipe lifting operations, construction workers do not need to directly contact dangerous areas, thereby reducing the possibility of accidents. The use of the guide unit 200 ensures the stability of the oil pipe during the lifting process and reduces errors caused by human factors. In addition, this embodiment uses an automated control system to increase the operating speed, shorten the overall construction period, and help reduce project costs.

[0047] Example 3

[0048] This embodiment is a further improvement of embodiment 2, and the repeated contents will not be repeated. Figure 3 The traction unit 100 includes a traveling block 110 and a winch 120 .

[0049] Preferably, the traveling block 110 is provided with two guide rails, and a lifting card for clamping the oil pipe is provided in the middle of the two guide rails. The guide rails are sleeved on the guide steel cable 101. One end of the guide steel cable 101 is connected to the ground, and the other end is connected to the suspension point of the wellhead operation platform. Figure 3 The suspension point of the wellhead operating platform can be set at the top of the support rod 102 of the wellhead operating platform.

[0050] The winch 120 is connected to the traveling block 110 through a traction steel cable, and the winch 120 is connected to the control unit 300 by signal. The winch 120 is configured with an encoder and a motor. The encoder and the motor are connected to the control unit 300 by signal. The winch 120 is arranged on the support rod 102 of the wellhead operation platform. The control unit 300 can control the rotation direction of the motor so that the winch 120 retracts and releases the traction steel cable, thereby achieving traction of the traveling block 110.

[0051] The control unit 300 controls the rotation of the winch 120 to move the traveling block 110 closer to the oil pipe transmission device, so that the elevator configured on the traveling block 110 can clamp the oil pipe placed on the oil pipe transmission device. The elevator clamps one end of the oil pipe. The control unit 300 can also control the rotation of the winch 120 to move the traveling block 110 away from the oil pipe transmission device and pull the oil pipe upward.

[0052] The guide unit 200 includes at least a first robot arm 210 and a second robot arm 220 .

[0053] See also Figure 3 Preferably, the first mechanical arm 210 is arranged on the ground and between the wellhead operation platform and the oil pipe transmission device. The oil pipe transmission device may be a catwalk or other oil pipe transmission equipment. When the traveling carriage 110 leaves the rotation range of the first mechanical arm 210 and the end of the oil pipe not connected to the elevator does not leave the catwalk, the control unit 300 controls the first mechanical arm 210 to rotate so that the first mechanical arm 210 supports the oil pipe.

[0054] See also Figure 4 The first mechanical arm 210 at least includes a first base 211, a first main arm 212, a first telescopic rod 213, a first guide roller 214 and a first sensor 215. The first guide roller 214 is arranged at one end of the first main arm 212, and the other end of the first main arm 212 is connected to the first base 211. One end of the first telescopic rod 213 is connected to the first base 211, and the other end is connected to the middle part of the first main arm 212; the first telescopic rod 213 drives the first main arm 212 to swing around the first base 211 by telescoping, and the first telescopic rod 213 is connected to the control unit 300 in communication. The first sensor 215 is arranged on the first telescopic rod 213, and the first sensor 215 is connected to the control unit 300 in communication.

[0055] See also Figure 3 Preferably, the second mechanical arm 220 is arranged at the top edge of the wellhead operation platform. When the traveling carriage 110 leaves the rotation range of the second mechanical arm 220, the control unit 300 controls the second mechanical arm 220 to rotate so that the second mechanical arm 220 supports the oil pipe. Figure 5The second mechanical arm 220 at least includes a second base 221, a second main arm 222, a second telescopic rod 223, a second guide roller 224, a second sensor 225 and a slewing mechanism 226. The second guide roller 224 is arranged at one end of the second main arm 222, and the other end of the second main arm 222 is connected to the second base 221. One end of the second telescopic rod 223 is connected to the second base 221, and the other end is connected to the middle part of the second main arm 222. The second telescopic rod 223 drives the second main arm 222 to swing around the second base 221 by telescoping, and the second telescopic rod 223 is connected to the control unit 300 for communication. The second sensor 225 is arranged on the second telescopic rod 223, and the second sensor 225 is connected to the control unit 300 for communication. The second main arm 222 and the second telescopic rod 223 are connected to the second base 221 through the slewing mechanism 226. The slewing mechanism 226 is used to drive the second main arm 222 to rotate around the second base 221. The slewing mechanism 226 is communicatively connected to the control unit 300 .

[0056] Preferably, the first telescopic rod 213 and the second telescopic rod 223 are hydraulic telescopic rods. The first sensor 215 and the second sensor 225 are pressure sensors.

[0057] Preferably, the first telescopic rod 213 and the second telescopic rod 223 are connected to the hydraulic control unit through a hydraulic oil pipeline. The hydraulic control unit is connected to the control unit 300 by signal, and the control unit 300 adjusts the increase or decrease of the hydraulic oil in the first telescopic rod 213 and the second telescopic rod 223 through the hydraulic control unit, thereby controlling the extension and retraction of the first telescopic rod 213 and the second telescopic rod 223.

[0058] Preferably, the control unit 300 determines the telescopic length of the first telescopic rod 213 according to the pressure data of the first sensor 215, and then can adjust the telescopic length of the first telescopic rod 213, so as to adjust the swing angle of the first main arm 212 around the first base 221. Preferably, the first telescopic rod 213 can be connected to the control unit 300 for communication, and can be extended and retracted in response to the control command of the control unit 300. Preferably, the first telescopic rod 213 can also be connected to the hydraulic control unit through a hydraulic oil pipeline, and the hydraulic control unit is connected to the control unit 300 by signal, and the control unit 300 adjusts the increase or decrease of the hydraulic oil in the first telescopic rod 213 through the hydraulic control unit, so as to control the extension and retraction of the first telescopic rod 213.

[0059] Preferably, the control unit 300 determines the telescopic length of the second telescopic rod 223 according to the pressure data of the second sensor 225, and then can adjust the telescopic length of the second telescopic rod 223, so as to adjust the swing angle of the second main arm 222 around the second base 221. Preferably, the second telescopic rod 223 can be connected to the control unit 300 for communication, and can be extended and retracted in response to the control command of the control unit 300. Preferably, the second telescopic rod 223 can also be connected to the hydraulic control unit through a hydraulic oil pipeline, and the hydraulic control unit is connected to the control unit 300 by signal, and the control unit 300 adjusts the increase or decrease of the hydraulic oil in the second telescopic rod 223 through the hydraulic control unit, so as to control the extension and retraction of the second telescopic rod 223.

[0060] Preferably, the control unit 300 adjusts the length of the telescopic rod according to the pressure sensor data configured for the hydraulic telescopic rod, and then adjusts the rotation angle of the robot arm. The principle is: the initial value and the actual value of the pressure sensor change linearly, and the corresponding relationship between the rotation angle of the robot arm and the indication of the pressure sensor can be tested in advance; when the oil pipe lifting operation is officially carried out, the control unit 300 can adjust the hydraulic pressure of the hydraulic telescopic rod according to the corresponding relationship between the rotation angle of the robot arm and the indication of the pressure sensor, thereby adjusting the rotation angle of the robot arm.

[0061] Preferably, the slewing mechanism 226 can be a hydraulic slewing drive device composed of a hydraulic motor, a reducer, and a slewing bearing, etc. Of course, the slewing mechanism 226 can also be an electric slewing drive device composed of a servo motor, a planetary reducer, and a slewing bearing, etc. That is, as long as the driving force or torque can be reliably transmitted to the second main arm 222, so that it can perform a plane rotation movement within a specified angle around the second base 221. Preferably, the slewing mechanism 226 is connected to the control unit 300 by signal, and the control unit 300 can control the power output of the slewing mechanism 226 so that the second main arm 222 can rotate around the second base 221 within a specified plane at a specific angle.

[0062] Preferably, the control unit 300 is data-connected with a camera. The camera is used to obtain images of the traveling block 110 and the first mechanical arm 210. The camera includes a first camera and a second camera. The first camera is arranged on the traveling block 110 in a manner capable of collecting state images of the elevator and the oil pipe on the traveling block 110. The second camera is used to collect working images of the first mechanical arm 210. The control unit 300 confirms whether the elevator successfully clamps the oil pipe through the image captured by the first camera.

[0063] Preferably, the control unit 300 is provided with a display screen, a data processor and a plurality of function keys. The data processor is respectively connected to the display screen and the plurality of function keys. The data processor can process the data collected by each sensor and transmit it to the display screen for display. Preferably, the content displayed on the display screen may include images collected by the camera, the retracted and extended length of the traction cable by the winch 120, the hydraulic pressure value collected by the first sensor 215, the rotation angle of the slewing mechanism 226, the hydraulic pressure value collected by the second sensor 225, etc.

[0064] The plurality of function buttons can send different function instructions to the data processor. Preferably, the plurality of function buttons include: a winch control button, a first mechanical arm control button and a second mechanical arm rotation control button.

[0065] The winch control button is used to send a command to the data processor to control the winch to retract and release the traction cable. After receiving the command, the data processor controls the rotation of the winch 120 motor to achieve the retraction and release of the traction cable.

[0066] The first mechanical arm control button is used to send a command to the data processor to control the rotation of the first mechanical arm 210. After receiving the command, the data processor adjusts the increase or decrease of the hydraulic oil in the first telescopic rod 213 through the hydraulic control unit, thereby adjusting the rotation angle of the first mechanical arm 210.

[0067] The second mechanical arm rotation control button is used to send a command to the data processor to control the rotation of the second mechanical arm 220. After receiving the command, the data processor adjusts the increase or decrease of the hydraulic oil in the second telescopic rod 223 through the hydraulic control unit, thereby adjusting the rotation angle of the second mechanical arm 220.

[0068] Preferably, the data processor can control the winch 120, the first robotic arm 210, the second robotic arm 220 and other equipment in response to instructions sent by function keys; it can also automatically control the winch 120, the first robotic arm 210, the second robotic arm 220 and other equipment according to a preset program.

[0069] The communication connection and data connection involved in this embodiment may be a remote communication connection implemented through wired communication, or a remote communication connection implemented through wireless network communication.

[0070] Example 4

[0071] This embodiment provides a method for remote directional lifting of an oil pipe under pressure. The method for remote directional lifting of an oil pipe under pressure includes at least the following steps: S1, clamping the oil pipe and lifting the oil pipe. The control unit 300 controls the traction unit 100 to clamp the oil pipe and lift the oil pipe; S2, during the process of lifting the oil pipe, positioning and supporting the oil pipe at least twice. During the process of lifting the oil pipe, the control unit 300 controls the guide unit 100 to position and support the oil pipe.

[0072] Preferably, the method for remote directional lifting of the oil pipe under pressure in this embodiment is implemented by using the remote directional lifting system for the oil pipe under pressure involved in Embodiment 2 and Embodiment 3.

[0073] Preferably, the traction unit 100 comprises: a traveling block 110 and a winch 120. The traveling block 110 is provided with an elevator for clamping the oil pipe. The winch 120 is connected to the traveling block 110 via a traction cable, and the winch 120 is connected to the control unit 300 by signals.

[0074] Preferably, the guide unit 100 at least includes: a first mechanical arm 210 and a second mechanical arm 220. The first mechanical arm 210 is arranged on the ground and between the wellhead operating platform and the oil pipe transmission device; and the first mechanical arm 210 is equipped with a first guide roller 214 for supporting the pipe positioning. The second mechanical arm 220 is arranged at the top edge of the wellhead operating platform. And the second mechanical arm 220 is equipped with a second guide roller 224 for supporting the pipe positioning.

[0075] See also Figure 1 The method for remote directional lifting of oil pipes under pressure operation includes at least the following steps:

[0076] S11, clamping the oil pipe. The control unit 300 controls the rotation of the winch 120 to move the traveling block 110 close to the catwalk, so that the elevator configured on the traveling block 110 can clamp the oil pipe placed on the catwalk. The elevator clamps one end of the oil pipe.

[0077] S12, confirming that the oil pipe is clamped successfully. The control unit 300 can confirm whether the elevator has successfully clamped the oil pipe through the image captured by the first camera. In the case of confirming that the elevator has successfully clamped the oil pipe, step S13 is executed. The method of confirming that the elevator has successfully clamped the oil pipe can be to confirm whether one end of the oil pipe enters the elevator based on the image captured by the first camera.

[0078] S13, pull the oil pipe upward. When confirming that the lifting card has successfully clamped the oil pipe, the control unit 300 controls the rotation of the winch 120 to move the traveling carriage 110 away from the oil pipe transmission device, so that the oil pipe rises and begins to detach from the catwalk. Specifically, the control unit 300 sends a command to the winch 120, so that the winch 120 rotates to recycle the traction cable, thereby pulling the traveling carriage 110 upward and driving the oil pipe upward. In the process of the traveling carriage 110 driving the oil pipe upward, the end of the oil pipe connected to the lifting card is first detached from the catwalk, and the end of the oil pipe not connected to the lifting card gradually approaches the wellhead operating platform until it detaches from the catwalk.

[0079] S21, first pipe support. When the traveling block 110 leaves the rotation range of the first mechanical arm 210 and the end of the oil pipe not connected to the elevator has not left the catwalk, the control unit 300 controls the first mechanical arm 210 to rotate so that the first mechanical arm 210 supports the oil pipe.

[0080] The control unit 300 can determine the detachment of the oil pipe from the catwalk through the images captured by the first camera and the second camera, and the length of the traction cable recovered by the winch 120. When the traveling carriage 110 leaves the rotation range of the first mechanical arm 210 and the end of the oil pipe that is not connected to the elevator is not detached from the catwalk, the control unit 300 controls the first mechanical arm 210 to rotate so that the first mechanical arm 210 supports the oil pipe. Specifically, the control unit 300 drives the first main arm 212 to swing around the first base 211 through the first telescopic rod 213, away from the wellhead operating platform, so that the first guide roller 214 contacts the oil pipe, ensuring that the oil pipe moves along the first guide roller 214 during the ascent process, thereby preventing the oil pipe from shaking due to the change in force when it is detached from the catwalk, and further preventing the oil pipe from colliding with the wellhead operating platform when it is detached from the catwalk.

[0081] S22, secondary pipe support. When the traveling block 110 leaves the rotation range of the second mechanical arm 220, the control unit 300 controls the second mechanical arm 220 to rotate, so that the second mechanical arm 220 supports the oil pipe.

[0082] The control unit 300 determines the lifting condition of the oil pipe through the images captured by the first camera and the second camera, and the length of the traction cable recovered by the winch 120. When the traveling block 110 leaves the rotation range of the second mechanical arm 220 and the end of the oil pipe that is not connected to the elevator is not separated from the guide roller, the control unit 300 controls the second mechanical arm 220 to rotate so that the second mechanical arm 220 can support the oil pipe. Specifically, the control unit 300 drives the second main arm 222 to swing around the second base 221 through the second telescopic rod 223, so that the second guide roller 224 contacts the oil pipe, ensuring that the oil pipe moves along the second guide roller 224 during the rising process, thereby preventing the oil pipe from colliding with the wellhead operating platform after being separated from the first guide roller 224 or the guide roller set on the wellhead operating platform. Preferably, before controlling the second mechanical arm 220 to support the oil pipe, the control unit 300 first controls the slewing mechanism 226 of the second mechanical arm 220 to work so that the second guide roller 224 is aligned with the oil pipe.

[0083] In the case where the oil pipe is short or the wellhead operating platform is high, the wellhead operating platform can be additionally provided with several guide rollers. During the rising process of the oil pipe, the control unit 300 controls the first mechanical arm 210 to rotate and approach the wellhead operating platform, so that after the oil pipe is separated from the first guide roller 214, the guide rollers provided on the wellhead operating platform can continue to guide the oil pipe to avoid collision between the oil pipe and the wellhead operating platform. Preferably, the guide rollers provided on the wellhead operating platform are in the same plane as the first guide roller 214 of the first mechanical arm 210.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for remote directional lifting of oil pipes under pressure, characterized in that: At least the following steps are included: S1, clamp the oil pipe and lift it; S2: During the process of lifting the oil pipe, the oil pipe shall be positioned and supported at least twice.

2. A method for remote directional lifting of oil pipes under pressure according to claim 1, characterized in that: Step S1 includes: S11, clamping the oil pipe, clamping one end of the oil pipe placed on the oil pipe transmission device; S12, confirming that the oil pipe is clamped successfully; S13, pulling the oil pipe upward.

3. A remote directional lifting system for oil pipes under pressure, characterized in that: include: A traction unit (100) is used to clamp and lift the oil pipe; The guide unit (200) is used to position and support the oil pipe at least twice during the process of lifting the oil pipe; A control unit (300) is used to control the traction unit (100) and the guide unit (200) to execute the method for remote directional lifting of oil pipes under pressure according to claim 1 or 2.

4. The remote directional lifting system for oil pipes under pressure according to claim 3 is characterized in that: The traction unit (100) comprises: a traveling block (110) and a winch (120); The traveling carriage (110) is provided with two guide rails, and a lifting card for clamping the oil pipe is arranged in the middle of the two guide rails; the guide rails are sleeved on the guide steel cable (101); one end of the guide steel cable (101) is connected to the ground, and the other end is connected to the suspension point of the wellhead operation platform; The winch (120) is connected to the traveling carriage (110) via a traction steel cable, and the winch (120) is connected to the traveling carriage (110) via a traction steel cable, and the winch (120) is signal-connected to the control unit (300); the winch (120) is equipped with an encoder and a motor; the encoder and the motor are signal-connected to the control unit (300); The control unit (300) controls the rotation of the winch (120) to move the traveling block (110) close to the oil pipe transmission device, so that the elevator configured on the traveling block (110) can clamp the oil pipe placed on the oil pipe transmission device; wherein the elevator clamps one end of the oil pipe; The control unit (300) can also control the rotation of the winch (120) to move the traveling block (110) away from the oil pipe transmission device, thereby pulling the oil pipe upward.

5. The remote directional lifting system for oil pipes under pressure according to claim 4, characterized in that: The guiding unit (200) comprises at least a first mechanical arm (210); The first mechanical arm (210) is arranged on the ground and between the wellhead operating platform and the oil pipe transmission device; When the traveling carriage (110) leaves the rotation range of the first mechanical arm (210) and the end of the oil pipe not connected to the elevator has not left the catwalk, the control unit (300) controls the first mechanical arm (210) to rotate so that the first mechanical arm (210) supports the oil pipe.

6. The oil pipe remote directional lifting system for pressure operation according to claim 5, characterized in that: The first mechanical arm (210) comprises at least a first base (211), a first main arm (212), a first telescopic rod (213), a first guide roller (214) and a first sensor (215); The first guide roller (214) is arranged at one end of the first main arm (212), and the other end of the first main arm (212) is connected to the first base (211); One end of the first telescopic rod (213) is connected to the first base (211), and the other end is connected to the middle part of the first main arm (212); the first telescopic rod (213) drives the first main arm (212) to swing around the first base (211) by telescoping, and the first telescopic rod (213) is communicatively connected to the control unit (300); The first sensor (215) is arranged on the first telescopic rod (213), and the first sensor (215) is communicatively connected with the control unit (300).

7. The remote directional lifting system for oil pipes under pressure according to claim 6, characterized in that: The guiding unit (200) further comprises a second mechanical arm (220); The second mechanical arm (220) is arranged at the top edge of the wellhead operation platform; When the traveling carriage (110) leaves the rotation range of the second mechanical arm (220), the control unit (300) controls the second mechanical arm (220) to rotate, so that the second mechanical arm (220) supports the oil pipe.

8. The oil pipe remote directional lifting system for pressure operation according to claim 7, characterized in that: The second mechanical arm (220) comprises at least a second base (221), a second main arm (222), a second telescopic rod (223), a second guide roller (224), a second sensor (225) and a slewing mechanism (226); The second guide roller (224) is arranged at one end of the second main arm (222), and the other end of the second main arm (222) is connected to the second base (221); One end of the second telescopic rod (223) is connected to the second base (221), and the other end is connected to the middle part of the second main arm (222); the second telescopic rod (223) drives the second main arm (222) to swing around the second base (221) by telescoping, and the second telescopic rod (223) is communicatively connected to the control unit (300); The second sensor (225) is arranged on the second telescopic rod (223), and the second sensor (225) is communicatively connected with the control unit (300); The second main arm (222) and the second telescopic rod (223) are connected to the second base (221) via the rotating mechanism (226); the rotating mechanism (226) is used to drive the second main arm (222) to perform a rotating motion around the second base (221); The rotating mechanism (226) is communicatively connected to the control unit (300).

9. The oil pipe remote directional lifting system for pressure operation according to claim 8, characterized in that: The first telescopic rod (213) and the second telescopic rod (223) are hydraulic telescopic rods; the first sensor (215) and the second sensor (225) are pressure sensors; The first telescopic rod (213) and the second telescopic rod (223) are connected to a hydraulic control unit via a hydraulic oil pipeline; The hydraulic control unit is connected to the control unit (300) by signal, and the control unit (300) adjusts the increase or decrease of hydraulic oil in the first telescopic rod (213) and the second telescopic rod (223) through the hydraulic control unit, thereby controlling the extension and retraction of the first telescopic rod (213) and the second telescopic rod (223).

10. The oil pipe remote directional lifting system for pressure operation according to claim 9, characterized in that: The control unit (300) is data-connected to a camera; the camera is used to obtain images of the traveling carriage (110) and the first mechanical arm (210); The camera comprises a first camera and a second camera; The first camera is arranged on the traveling block (110) in a manner capable of collecting state images of the elevator and the oil pipe on the traveling block (110); The second camera is used to collect working images of the first mechanical arm (210); The control unit (300) confirms whether the elevator has successfully clamped the oil pipe through the image captured by the first camera.

Images