Automatic oil pipe transfer system and method

Abstract

The invention discloses an automatic oil pipe transfer system and method, and belongs to the technical field of oil automation under-pressure workover pipe column transfer, the system comprises a pipe bin, a storing and taking manipulator, a variable-amplitude arm, a lifting manipulator and a control system, and the pipe bin, the storing and taking manipulator, the variable-amplitude arm and the lifting manipulator are all connected with the control system. Supporting legs of the pipe bin are adjusted, so that the oil pipe column can roll to a pipe column baffle; the control system starts a lifting mechanism of the storing and taking manipulator, and the oil pipe column is transferred between the pipe bin and the variable-amplitude arm; the variable-amplitude arm is converted from a horizontal state to a vertical state under the driving of the displacement device, the variable-amplitude arm and a second manipulator of the lifting manipulator are connected with an oil pipe string, the lifting manipulator is vertically lifted to a preset position under the driving of the lifting mechanism, and the lifting manipulator is driven by the horizontal rotation driving mechanism to complete horizontal rotation and transfer the oil pipe string to a wellhead; according to the invention, operators can be liberated from a high-altitude operation platform, the safety risk in the operation process is reduced, and the operation accuracy is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic oil well repair pipe string transportation under pressure, and in particular relates to an automatic oil pipe transportation system and method. Background Art

[0002] During the drilling and repair process of oil fields, pipe string transportation is a relatively arduous task. At present, during manual operations, pipe strings are transported by lifting with a small hydraulic winch. The pipe strings are placed on the pipe racks or taken out from the pipe racks and hoisted to the wellhead by the workers at the wellhead for manual centering. In this process, there are many manual links and there are certain safety risks, especially after vertical lifting, the height is high and the risk is greater. In order to reduce labor intensity and reduce operational risks, automated operations have been put on the agenda. Automated operations require unmanned operation of the well platform. Once the well platform is unmanned, the links that require manual participation in the pipe string transportation process must also be automated. Summary of the invention

[0003] In order to solve the above-mentioned problems, the present invention proposes: an automatic oil pipe transportation system and method, including a pipe warehouse, a storage and retrieval robot, a variable arm, a lifting robot and a control system, wherein the pipe warehouse, the storage and retrieval robot, the variable arm and the lifting robot are all connected to the control system.

[0004] Furthermore, the pipe warehouse includes a support leg, a pipe rack, and a pipe column baffle. One end of the pipe rack is hinged to the pipe column baffle, and the other end of the pipe rack is mounted on the support leg. The support leg controls the inclination angle of the pipe rack by driving the oil cylinder, and the oil pipe column is placed on the pipe rack.

[0005] Furthermore, the startup storage and retrieval manipulator includes a lifting mechanism and a first manipulator, the first manipulator is arranged on the lifting mechanism, and the first manipulator is provided with a clamping mechanism for clamping the oil pipe column.

[0006] Furthermore, the luffing arm includes a clamping manipulator and a displacement device, and one end of the clamping manipulator is arranged on the base platform through the displacement device.

[0007] Furthermore, the lifting manipulator includes a second manipulator, a lifting mechanism, and a horizontal rotation drive mechanism. The second manipulator is arranged on the lifting mechanism, the bottom end of the lifting mechanism is arranged on the base platform, and the top end of the lifting mechanism is arranged with a horizontal rotation drive mechanism.

[0008] An automatic oil pipe transfer method based on an automatic oil pipe transfer system, the transfer system action sequence of the oil pipe string from the pipe warehouse to the wellhead is as follows: adjusting the legs of the pipe warehouse to tilt the pipe rack upward so that the oil pipe string can roll to the pipe string baffle;

[0009] The control system starts the lifting mechanism of the access robot, so that the tubing string contacts the first manipulator of the access robot and clamps the tubing string. The tubing string is transferred to the luffing arm through the displacement function of the lifting mechanism. Then the first manipulator of the access robot releases the tubing string, completing the transfer of the tubing string between the pipe bin and the luffing arm.

[0010] Furthermore, the clamping manipulator on the luffing arm clamps the tubing string, and under the drive of the position changing device, changes from a horizontal state to a vertical state, and hands over the tubing string to the second manipulator of the lifting manipulator. When the second manipulator completely clamps the tubing string, the clamping manipulator releases, and the handover of the tubing string is completed; after the handover is completed, the luffing arm falls back to a horizontal state; the lifting manipulator is vertically lifted to a preset position under the drive of the lifting mechanism, and then, under the drive of the horizontal rotation drive mechanism, it completes a horizontal rotation and moves the tubing string to the wellhead; thus, the automatic transfer of the tubing string from the pipe warehouse to the wellhead platform is completed;

[0011] Furthermore, the transfer of the oil tubing from the pipe warehouse to the wellhead is automatically completed under the program control of the control system, and each action has a corresponding sensor to achieve precise and logical control.

[0012] The beneficial effects of the present invention are as follows: the present invention provides an automatic oil pipe transfer system and a method of using the same, which is the first time in the industry to use automated operations to transfer pipes. The use of this method can free operators from high-altitude operating platforms, reduce safety risks during operations, and improve the accuracy of operations.

[0013] At present, in the field of automation, the automated transportation of pipe strings has many handover times and a low degree of automation. The present invention proposes a pipe string transportation method with a small number of handovers and a high degree of automation. This technical method is the first of its kind. Compared with the traditional manual pipe lifting technical method, this method can reduce safety failures caused by human factors, reduce operational risks, and improve operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the equipment composition of the oil pipe automatic transshipment method of the present invention;

[0015] Figure 2 It is a schematic diagram of the pipe warehouse structure of the present invention;

[0016] Figure 3 It is a schematic diagram of the structure of the storage and access robot of the present invention;

[0017] Figure 4 It is a schematic diagram of the luffing arm structure of the present invention;

[0018] Figure 5 It is a schematic diagram of the structure of the lifting manipulator of the present invention.

[0019] The accompanying drawings are denoted as follows:

[0020] 1. Pipe warehouse; 2. Access manipulator; 3. Boom arm; 4. Lifting manipulator; 5. Control system; 1-1. Support legs; 1-2. Pipe rack; 1-3. Pipe column baffle; 2-1. Lifting mechanism; 2-2. First manipulator; 3-1. Clamping manipulator; 3-2. Positioning device; 4-1. Second manipulator; 4-2. Lifting mechanism; 4-3. Horizontal rotation drive mechanism. DETAILED DESCRIPTION

[0021] In order to make the technical means and objectives of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments. An automatic oil pipe transport system, such as Figure 1 As shown, it includes a pipe warehouse 1, a storage and retrieval robot 2, a luffing arm 3, a lifting robot 4 and a control system 5, and the pipe warehouse 1, the storage and retrieval robot 2, the luffing arm 3, and the lifting robot 4 are all connected to the control system 5.

[0022] Among them, Figure 2 As shown, the pipe warehouse 1 includes a support leg 1-1, a pipe rack 1-2, and a pipe column baffle 1-3. One end of the pipe rack 1-2 is hinged to the pipe column baffle 1-3, and the other end of the pipe rack 1-2 is placed on the support leg 1-1. The support leg 1-1 controls the inclination angle of the pipe rack 1-2 by driving the cylinder, and the oil pipe column is placed on the pipe rack 1-2.

[0023] Among them, Figure 3 As shown, the startup storage and retrieval manipulator 2 includes a lifting mechanism 2-1 and a first manipulator 2-2. The first manipulator 2-2 is arranged on the lifting mechanism 2-1. The first manipulator 2-2 is provided with a clamping mechanism for clamping the oil pipe column.

[0024] Among them, Figure 4 As shown, the variable amplitude arm 3 includes a clamping manipulator 3-1 and a displacement device 3-2, and one end of the clamping manipulator 3-1 is arranged on the base platform through the displacement device 3-2.

[0025] Among them, Figure 5 As shown, the lifting manipulator 4 includes a second manipulator 4-1, a lifting mechanism 4-2, and a horizontal rotation drive mechanism 4-3. The second manipulator 4-1 is arranged on the lifting mechanism 4-2, the bottom end of the lifting mechanism 4-2 is arranged on the base platform, and the horizontal rotation drive mechanism 4-3 is arranged at the top end of the lifting mechanism 4-2.

[0026] An automatic oil pipe transfer method based on an automatic oil pipe transfer system, the transfer system action sequence of the oil pipe string from the pipe warehouse 1 to the wellhead is as follows: adjust the support leg 1-1 of the pipe warehouse 1 to tilt the pipe rack 1-2 upward, so that the oil pipe string can roll to the pipe string baffle 1-3;

[0027] The control system 5 starts the lifting mechanism 2-1 of the access manipulator 2, so that the tubing string contacts the first manipulator 2-2 of the access manipulator 2 and clamps the tubing string. The tubing string is transferred to the variable-length arm 3 through the displacement function of the lifting mechanism 2-1, and then the first manipulator 2-2 of the access manipulator 2 releases the tubing string, completing the transfer of the tubing string between the pipe bin 1 and the variable-length arm 3.

[0028] Among them, the clamping manipulator 3-1 on the variable arm 3 clamps the oil pipe string, and under the drive of the displacement device 3-2, it changes from a horizontal state to a vertical state, and hands over the oil pipe string with the second manipulator 4-1 of the lifting manipulator 4. When the second manipulator 4-1 completely clamps the oil pipe string, the clamping manipulator 3-1 is released to complete the handover of the oil pipe string; after the handover is completed, the variable arm 3 falls back to a horizontal state; the lifting manipulator 4 is vertically lifted to a preset position under the drive of the lifting mechanism 4-2, and then, under the drive of the horizontal rotation drive mechanism 4-3, it completes a horizontal rotation and moves the oil pipe string to the wellhead; thus, the automatic transportation of the pipe string from the pipe warehouse to the wellhead platform is completed;

[0029] Among them, the transportation action of the oil pipe string from the pipe warehouse 1 to the wellhead is automatically completed under the program control of the control system 5, and each action has a corresponding sensor to achieve precise and logical control.

[0030] The present invention provides an automatic oil pipe transfer system and a method for using the system, which is applied to automatic pipe lifting and lowering operations and is based on an automatic pressure-carrying operation device.

[0031] The method is applied to automated pressure-carrying operations; the dynamic transfer of the pipe string between the wellhead platform and the ground pipe bin is achieved by combining remote control, PLC program control and hydraulic control.

[0032] The structure of the automatic oil pipe reverse transportation method mainly includes a pipe warehouse 1, a storage and retrieval manipulator 2, a variable-length arm 3, a lifting manipulator 4 and a control system 5.

[0033] The pipe warehouse 1 is an automated pipe warehouse, and the pipe string can automatically reach the storage and retrieval position in the pipe warehouse 1. Specifically, the tilt angle is adjusted by the oil cylinder so that the pipe string can be automatically stored and retrieved in place under its own weight.

[0034] The storage and retrieval robot 2 can firmly grasp the pipe column, and can transfer the pipe column from the pipe warehouse 1 side to the luffing arm 3, and can also remove the pipe column from the luffing arm 3 and transfer the pipe column from the luffing arm 3 side to the pipe warehouse 1 side for storage.

[0035] The luffing arm 3 is provided with a holding manipulator 3-1, and the pipe string can be safely held on the luffing arm 3. The luffing arm 3 is provided with a shifting device 3-2, which can change the luffing arm 3 from a horizontal state to a vertical state, and can also change the luffing arm 3 from a vertical state to a horizontal state.

[0036] The lifting manipulator 4 has the functions of vertical lifting and horizontal rotation, and can lift the pipe string from the luffing arm 3 to the platform height after handing it over, and deliver the pipe string to the wellhead through horizontal rotation, or clamp the pipe string from the wellhead, rotate it horizontally away from the wellhead, and then vertically lower it to a low position to hand over the pipe string to the luffing arm 3, so as to realize the transfer of the pipe string between the wellhead and the luffing arm 3 on the ground.

[0037] The control system 5 is a remote control system that can realize the logical movement of each component through program control.

[0038] like Figure 1-Figure 5 As shown, the structure of the oil pipe automatic transshipment method mainly includes a pipe warehouse 1, a storage and retrieval manipulator 2, a variable amplitude arm 3, a lifting manipulator 4 and a control system 5.

[0039] The action sequence from the wellhead to the pipe warehouse is opposite to that from the pipe warehouse to the wellhead. The action sequence from the pipe warehouse to the wellhead is introduced below.

[0040] The specific method is as follows: adjust the legs 1-1 of the pipe bin 1 to tilt the pipe rack 1-2 upward. Allow the pipe string to roll to the pipe string baffle 1-3. Start the lifting mechanism 2-1 of the access manipulator 2 to make the pipe string contact with the first manipulator 2-2 of the access manipulator 2 and clamp the pipe string. Through the displacement function of the lifting mechanism 2-1, the pipe string is transferred to the luffing arm 3, and then the first manipulator 2-2 of the access manipulator 2 releases the pipe string, completing the transfer of the pipe string between the pipe bin and the luffing arm.

[0041] The clamping manipulator 3-1 on the luffing arm 3 clamps the pipe string, and under the drive of the displacement device 3-2, it changes from a horizontal state to a vertical state, and hands over the pipe string to the second manipulator 4-1 of the lifting manipulator 4. When the second manipulator 4-1 completely clamps the pipe string, the clamping manipulator 3-1 is released to complete the handover of the pipe string. After the handover is completed, the luffing arm 3 falls back to a horizontal state. The lifting manipulator 4 is vertically lifted to a preset position under the drive of the lifting mechanism 4-2, and then driven by the horizontal rotation drive mechanism 4-3, it completes a horizontal rotation and moves the pipe string to the wellhead. At this point, the automatic transfer of the pipe string from the pipe warehouse to the wellhead platform is completed.

[0042] The sequence of actions for transporting from the wellhead to the pipe warehouse is similar and will not be described here.

[0043] The above actions are all completed automatically under the program control of the control system 5. Each action has a corresponding sensor, which can achieve precise and logical control.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic oil pipe transport system, characterized in that: The invention comprises a pipe warehouse (1), a storage and retrieval manipulator (2), a luffing arm (3), a lifting manipulator (4) and a control system (5); the pipe warehouse (1), the storage and retrieval manipulator (2), the luffing arm (3) and the lifting manipulator (4) are all connected to the control system (5).

2. The automatic oil pipe transfer system according to claim 1, characterized in that: The pipe warehouse (1) comprises a support leg (1-1), a pipe rack (1-2), and a pipe column baffle (1-3); one end of the pipe rack (1-2) is hinged to the pipe column baffle (1-3); the other end of the pipe rack (1-2) is mounted on the support leg (1-1); the support leg (1-1) controls the tilt angle of the pipe rack (1-2) by driving an oil cylinder, and the oil pipe column is placed on the pipe rack (1-2).

3. The automatic oil pipe transfer system according to claim 1, characterized in that: The startup access manipulator (2) comprises a lifting mechanism (2-1) and a first manipulator (2-2). The first manipulator (2-2) is arranged on the lifting mechanism (2-1). The first manipulator (2-2) is provided with a clamping mechanism for clamping the oil pipe column.

4. The automatic oil pipe transfer system according to claim 1, characterized in that: The luffing arm (3) comprises a clamping manipulator (3-1) and a displacement device (3-2); one end of the clamping manipulator (3-1) is arranged on a base platform via the displacement device (3-2).

5. The automatic oil pipe transfer system according to claim 1, characterized in that: The lifting manipulator (4) comprises a second manipulator (4-1), a lifting mechanism (4-2), and a horizontal rotation drive mechanism (4-3); the second manipulator (4-1) is arranged on the lifting mechanism (4-2); the bottom end of the lifting mechanism (4-2) is arranged on a base platform; and the top end of the lifting mechanism (4-2) is arranged on the horizontal rotation drive mechanism (4-3).

6. An automatic oil pipe transfer method based on an automatic oil pipe transfer system, characterized in that: The operation sequence of the system for transferring the oil pipe string from the pipe warehouse (1) to the wellhead is as follows: adjusting the legs (1-1) of the pipe warehouse (1) to tilt the pipe rack (1-2) upward so that the oil pipe string can be rolled to the pipe string baffle (1-3); The control system (5) starts the lifting mechanism (2-1) of the access manipulator (2), so that the oil pipe string contacts the first manipulator (2-2) of the access manipulator (2) and clamps the oil pipe string. The oil pipe string is transferred to the variable amplitude arm (3) through the displacement function of the lifting mechanism (2-1). Then, the first manipulator (2-2) of the access manipulator (2) releases the oil pipe string, completing the transfer of the oil pipe string between the pipe bin (1) and the variable amplitude arm (3).

7. The automatic oil pipe transfer method based on the automatic oil pipe transfer system according to claim 6, characterized in that: The clamping manipulator (3-1) on the variable-length arm (3) clamps the oil pipe string, and under the drive of the displacement device (3-2), changes from a horizontal state to a vertical state, and exchanges the oil pipe string with the second manipulator (4-1) of the lifting manipulator (4). When the second manipulator (4-1) completely clamps the oil pipe string, the clamping manipulator (3-1) is released, and the exchange of the oil pipe string is completed; after the exchange is completed, the variable-length arm (3) falls back to a horizontal state; the lifting manipulator (4) is vertically lifted to a preset position under the drive of the lifting mechanism (4-2), and then, under the drive of the horizontal rotation drive mechanism (4-3), it completes a horizontal rotation, and moves the oil pipe string to the wellhead; At this point, the automatic transfer of the pipe string from the pipe warehouse to the wellhead platform is completed.

8. The automatic oil pipe transfer method based on the automatic oil pipe transfer system according to claim 7, characterized in that: The transfer of the oil pipe string from the pipe warehouse (1) to the wellhead is automatically completed under the program control of the control system (5), and each action has a corresponding sensor to achieve precise and logical control.

Images