Automatic horizontal and vertical pipe alignment welding device and method for expansion corrugated pipe

Abstract

The invention relates to the technical field of complex well sections for coping with complex formation drilling fluid leakage or packing instability, in particular to an automatic horizontal and vertical pipe alignment welding device for expansion corrugated pipes and a method of the automatic horizontal and vertical pipe alignment welding device. Horizontal clamping mechanisms used for horizontally positioning the expansion corrugated pipes are arranged on the two sides of the lower portion of the support correspondingly, and a clamping butt joint mechanism used for welding connectors of the two expansion corrugated pipes is arranged between the two horizontal clamping mechanisms. Vertical clamping mechanisms used for vertically positioning the expansion corrugated pipe are arranged on the upper side and the lower side of the clamping butt joint mechanism respectively, the clamping butt joint mechanism is rotationally connected with an adjusting mechanism used for controlling the rotating angle of the clamping butt joint mechanism, the adjusting mechanism is fixedly connected with a driving mechanism, and the driving mechanism is fixedly connected with the support. The expansion corrugated pipe can be effectively welded in the horizontal direction and the vertical direction, the automation degree of automatic pipe alignment and welding machinery can be improved, and the welding precision is improved.

Description

Technical Field

[0001] The present invention relates to oil and gas drilling engineering, geothermal drilling engineering, geological drilling engineering, etc., and is used to deal with the technical field of complex well sections with drilling fluid leakage or sealing instability in complex formations, and in particular to a horizontal and vertical automatic pipe welding device and method for expansion bellows. Background Art

[0002] The expansion bellows technology has important and extensive applications in the field of oil and gas drilling engineering. It can plug drilling fluid leakage (especially large cracks and cave-type malignant leakage), isolate unstable and collapsed well sections, and repair damaged casing without changing the wellbore structure or reducing the wellbore size. The expansion bellows technology is to process the round tube into an "8-shaped corrugated" cross-section by cold pressing, thereby reducing its diameter to ensure smooth passage through the upper well section to the target layer. During the construction of the expansion bellows, it is necessary to weld multiple bellows into a bellows string and lower them into the well according to the operating length of the target well section. Then, the bellows are expanded and pressed against the well wall through hydraulic expansion and mechanical shaping to achieve precise plugging of complex formations. Therefore, the welding quality of the multiple welds on the bellows string is a key factor affecting the strength and reliability of the bellows string.

[0003] When the expansion bellows are welded together before going down into the well, in order to improve the construction efficiency, they are usually welded horizontally on the ground of the well site, and then hoisted to the wellhead for transverse welding with the bellows that have been partially put into the well. However, it still mainly relies on manual pipe welding, which has the disadvantages of low welding accuracy, high labor intensity, and high safety risks. In addition, the welding quality is overly dependent on the experience and skills of the welders, and it is difficult to ensure the stability of welding strength and quality. It is easy to produce welding defects such as slag inclusion, bubbles, misaligned welding, and incomplete welding, which seriously affect the overall performance of the bellows string.

[0004] Therefore, there is an urgent need for an expansion bellows horizontal and vertical automated pipe welding device and method to improve the automation level of automatic pipe and welding machinery, ensure welding accuracy, reduce the labor intensity of workers, and protect the life safety of operators. Summary of the invention

[0005] The purpose of the present invention is to provide an expansion bellows horizontal and vertical automated pipe welding device and method thereof to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above-mentioned objectives, the present invention provides the following solutions: an automated horizontal and vertical pipe welding device for expansion bellows, comprising a bracket as a basic lifting frame, horizontal clamping mechanisms for horizontally positioning the expansion bellows are respectively arranged on both sides of the lower portion of the bracket, a clamping and docking mechanism for welding two expansion bellows interfaces is arranged between the two horizontal clamping mechanisms, vertical clamping mechanisms for vertically positioning the expansion bellows are respectively arranged on the upper and lower sides of the clamping and docking mechanism, the clamping and docking mechanism is rotatably connected to an adjustment mechanism for controlling the rotation angle of the clamping and docking mechanism, the adjustment mechanism is fixedly connected to a driving mechanism, and the driving mechanism is fixedly connected to the bracket.

[0007] Preferably, the horizontal clamping mechanism includes a lifting frame, an X-shaped frame is symmetrically arranged inside the lifting frame, one end of the X-shaped frame is slidably connected to the bottom of the lifting frame, the other end of the X-shaped frame is slidably connected to a top plate, and a first clamping portion is arranged at one end of the top plate facing away from the X-shaped frame.

[0008] Preferably, one end of the X-shaped frame close to the top plate is fixedly connected to the piston end of the first hydraulic cylinder, the fixed end of the first hydraulic cylinder is fixedly connected to the bottom of the lifting frame, and the first hydraulic cylinder is arranged at an angle.

[0009] Preferably, the first clamping portion includes a first support plate fixedly connected to the top plate, a fixed ring of a first circular guide rail is fixedly connected inside the first support plate, and a first pneumatic clamp is symmetrically and fixedly connected on the inner wall of a first movable ring inside the first circular guide rail.

[0010] Preferably, the clamping and docking mechanism includes a third support plate rotatably connected to the adjusting mechanism, a fixed ring symmetrically and fixedly connected to a third circular guide rail at one end of the third support plate facing away from the adjusting mechanism, and a third pneumatic clamp symmetrically and fixedly connected to the inner wall of the third movable ring in the third circular guide rail.

[0011] Preferably, a manipulator is installed on one end of the third support plate away from the adjustment mechanism, and an automatic welding gun is installed on one end of the manipulator away from the third support plate.

[0012] Preferably, the vertical clamping mechanism includes a second support plate slidably connected to the bracket, a fixed ring of a second circular guide rail is fixedly connected to the end of the second support plate facing away from the bracket, and a second pneumatic clamp is symmetrically and fixedly connected to the inner wall of the second movable ring in the second circular guide rail.

[0013] Preferably, the adjustment mechanism includes a movable block slidably connected to the bracket, one end of the movable block facing the third support plate is fixedly connected to the fixed end of the electric turntable, and the movable end of the electric turntable is fixedly connected to the third support plate.

[0014] Preferably, the driving mechanism includes a chain conveyor belt for controlling the up and down movement of the third support plate, the chain conveyor belt is installed on a side of the bracket away from the third support plate, and the movable block is fixedly connected to the chain of the chain conveyor belt.

[0015] A method for horizontal and vertical automated pipe welding of an expansion bellows comprises the following steps:

[0016] S1. Determine the number of expansion bellows to be welded according to the length of the complex well section for downhole isolation, and weld all the expansion bellows in pairs through horizontal welding;

[0017] S2. The two expansion bellows are placed in the two horizontal clamping mechanisms, and the central axes of the two expansion bellows are on the same central axis by leveling the horizontal clamping mechanism;

[0018] S3. Clean the grooves of the two expansion bellows to be welded;

[0019] S4. Insert the two expansion bellows into the clamping docking mechanism, and leave a welding margin between the two expansion bellows to be welded grooves;

[0020] S5. Horizontal automated welding is performed by the clamping docking mechanism;

[0021] S6. After welding is completed, remove the welded expansion bellows, and then repeat steps S2-S4 to obtain several groups of welded expansion bellows pipe strings;

[0022] S7. Move the welding device to the wellhead and adjust the welding mode to a vertical clamping docking mechanism;

[0023] S8. First, lower one end of a set of welded expansion bellows pipe strings into the wellhead, and then install the other end of the welded expansion bellows pipe string to the vertical clamping mechanism located below;

[0024] S9. Place another set of welded expansion bellows pipe strings on the vertical clamping mechanism located above the clamping docking mechanism;

[0025] S10. Clean the grooves at opposite ends of the two sets of welded expansion bellows pipe strings;

[0026] S11. Perform vertical automated welding by the clamping docking mechanism, and then use a nondestructive testing device to detect the quality of the weld, and then go down the well after confirming that it is qualified;

[0027] S12. After the welding is completed, the welded expansion bellows is lowered into the well through the wellhead, and the end of the expansion bellows extending out of the wellhead is clamped by the vertical clamping mechanism at the bottom, and another set of welded expansion bellows pipe strings is installed on the vertical clamping mechanism at the top, and welding is continued;

[0028] S13. Repeat steps S10-S12 to complete the vertical welding and lowering of all expansion bellows into the well; then proceed with subsequent downhole operations.

[0029] The present invention discloses the following technical effects:

[0030] The present invention can clamp and accurately horizontally center two expansion bellows through a horizontal clamping mechanism, can accurately position the end faces of the two expansion bellows in the vertical direction when the bellows are lowered into the well through a vertical clamping mechanism, and can achieve high-quality welding of the expansion bellows through a clamping and docking mechanism; the present invention can effectively achieve high-precision automated welding of the expansion bellows in the horizontal and vertical directions, and can achieve accurate pipe alignment and automated welding, effectively improving welding accuracy, reducing the labor intensity of workers, and ensuring the life safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a front view structural schematic diagram of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the horizontal welding of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the present invention during vertical welding;

[0035] Figure 4 It is a schematic diagram of the structure of the first circular guide rail of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the second circular guide rail of the present invention;

[0037] Figure 6 This is a schematic diagram of the third circular guide rail structure of the present invention;

[0038] Figure 7 It is a schematic diagram of the local structure during vertical welding of the present invention;

[0039] Among them, 1. horizontal clamping mechanism; 2. vertical clamping mechanism; 3. clamping docking mechanism; 4. bracket; 11. lifting frame; 12. X-shaped frame; 13. first hydraulic cylinder; 14. top plate; 15. first support plate; 16. first circular guide rail; 17. first pneumatic clamp; 18. first moving ring; 21. second support plate; 22. second circular guide rail; 23. second pneumatic clamp; 24. second moving ring; 31. third support plate; 32. third circular guide rail; 33. third pneumatic clamp; 34. manipulator; 35. automated welding gun; 36. third moving ring; 41. linear guide rail. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Reference Figure 1-Figure 7 The present invention provides an automatic horizontal and vertical butt welding device for expansion bellows, comprising a bracket 4 as a basic lifting frame, horizontal clamping mechanisms 1 for horizontally positioning the expansion bellows are respectively arranged on both sides of the lower part of the bracket 4, a clamping docking mechanism 3 for welding two expansion bellows interfaces is arranged between the two horizontal clamping mechanisms 1, vertical clamping mechanisms 2 for vertically positioning the expansion bellows are respectively arranged on the upper and lower sides of the clamping docking mechanism 3, the clamping docking mechanism 3 is rotatably connected to an adjusting mechanism for controlling the rotation angle of the clamping docking mechanism 3, the adjusting mechanism is fixedly connected to a driving mechanism, and the driving mechanism is fixedly connected to the bracket 4.

[0043] The horizontal clamping mechanism 1 is used to horizontally position the expansion bellows; and the horizontal automatic welding operation is realized through the clamping docking mechanism 3.

[0044] The vertical clamping mechanism 2 is used to vertically position the expansion bellows, and realizes vertical automated welding operation through the clamping docking mechanism 3.

[0045] The present invention can horizontally position two expansion bellows through the horizontal clamping mechanism 1, can vertically position two expansion bellows through the vertical clamping mechanism 2, and can weld the two expansion bellows through the clamping docking mechanism 3; the present invention can effectively weld the expansion bellows in the horizontal and vertical directions, and can improve the automation degree of automatic pipe alignment and welding machinery, improve welding accuracy, reduce the labor intensity of workers, and ensure the life safety of operators.

[0046] The present invention realizes high-precision automated welding of the expansion bellows in the horizontal and vertical directions through system integration and coordinated control.

[0047] The concepts of system integration and collaborative control System integration refers to the business of combining software, hardware and communication technology to solve information processing problems for users. The separate parts of the integration are originally independent systems. Through system integration, these parts can work organically and coordinately with each other to exert overall benefits and achieve the purpose of overall optimization. Collaborative control is a control strategy that aims to achieve efficient operation of the system through mutual cooperation between multiple subsystems. In the control system, collaborative control theory is based on the idea of ​​overall optimization. By designing appropriate control strategies, the subsystems can cooperate and work together to maximize the performance of the entire system.

[0048] System integration and collaborative control complement each other. System integration provides the hardware and software infrastructure, enabling each subsystem to communicate and collaborate with each other. Collaborative control, on this basis, achieves the collaborative work between each subsystem by designing control algorithms and strategies to achieve the overall optimization goal of the system.

[0049] The present invention enables the horizontal clamping mechanism 1, the vertical clamping mechanism 2, and the clamping docking mechanism 3 to work together through system integration and coordinated control, thereby achieving high-precision automated welding of the expansion bellows in the horizontal and vertical directions.

[0050] According to a further optimized solution, the horizontal clamping mechanism 1 includes a lifting frame 11, an X-shaped frame 12 is symmetrically arranged inside the lifting frame 11, one end of the X-shaped frame 12 is slidably connected to the bottom of the lifting frame 11, and the other end of the X-shaped frame 12 is slidably connected to a top plate 14, and a first clamping portion is arranged at one end of the top plate 14 away from the X-shaped frame 12. The top plate 14 can be driven to rise and fall by the X-shaped frame 12.

[0051] In a further optimized solution, the piston end of the first hydraulic cylinder 13 is fixedly connected to one end of the X-shaped frame 12 near the top plate 14, and the fixed end of the first hydraulic cylinder 13 is fixedly connected to the bottom of the lifting frame 11, and the first hydraulic cylinder 13 is tilted. The piston end of the first hydraulic cylinder 13 is extended and retracted to drive one end of the X-shaped frame 12 to move, and the X-shaped frame 12 is extended or retracted, so that the X-shaped frame 12 can stably drive the top plate 14 to rise and fall.

[0052] In a further optimized solution, the first clamping part includes a first support plate 15 fixedly connected to the top plate 14, a fixed ring of a first circular guide rail 16 is fixedly connected inside the first support plate 15, and a first pneumatic clamp 17 is symmetrically and fixedly connected to the inner wall of a first movable ring 18 inside the first circular guide rail 16. The first pneumatic clamp 17 can effectively clamp and position the expansion bellows in a horizontal state.

[0053] In a further optimized solution, the clamping and docking mechanism 3 includes a third support plate 31 rotatably connected to the adjustment mechanism, a fixed ring of the third circular guide rail 32 is symmetrically and fixedly connected inside the end of the third support plate 31 away from the adjustment mechanism, and a third pneumatic clamp 33 is symmetrically and fixedly connected on the inner wall of the third movable ring 36 in the third circular guide rail 32. When the opposite ends of the two expansion bellows are tightly abutted, the two third pneumatic clamps 33 can be effectively clamped and positioned so that the opposite ends of the two expansion bellows will not separate, which is convenient for welding.

[0054] In a further optimized solution, a manipulator 34 is installed on one end of the third support plate 31 away from the adjustment mechanism, and an automatic welding gun 35 is installed on one end of the manipulator 34 away from the third support plate 31. The manipulator 34 can effectively drive the automatic welding gun 35 to perform stable welding on the welding position.

[0055] Manipulator 34 is a mechanical device that can simulate the movements of human arms, usually used for automated operations in industrial production. It can perform various tasks, such as grasping, carrying, assembling, welding, etc., and can replace humans in dangerous environments to improve production efficiency and quality.

[0056] The robot 34 typically includes:

[0057] Actuator: includes hand, wrist, arm and body, and some also have walking mechanism. Drive system: commonly used are hydraulic drive, pneumatic drive, electric drive and mechanical drive.

[0058] Control system: controls the robot to move according to the prescribed program and memorizes the command information given to the robot by people.

[0059] Position detection device: controls the movement position of the robot actuator and feeds back the actual position of the actuator to the control system at any time.

[0060] When the manipulator 34 uses an ABB robot and the automated welding gun 35 uses a fiber laser multi-axis welder to work together, they can perform automatic identification, positioning, welding and other actions, so that the positioning accuracy is high, the response is sensitive, and the vibration is proof; the quality of welding can be improved.

[0061] In a further optimized solution, the vertical clamping mechanism 2 includes a second support plate 21 slidably connected to the bracket 4, a fixed ring of the second circular guide rail 22 is fixedly connected inside the end of the second support plate 21 away from the bracket 4, and a second pneumatic clamp 23 is symmetrically and fixedly connected to the inner wall of the second movable ring 24 in the second circular guide rail 22. The second pneumatic clamp 23 can effectively clamp and position the expansion bellows in a vertical state.

[0062] In order to adjust the height of the second support plate 21, the second support plate 21 is fixedly connected to the piston end of the second hydraulic cylinder, and the fixed end of the second hydraulic cylinder is fixedly connected to the bracket 4; the second support plate 21 is driven to move by the extension and contraction of the piston end of the second hydraulic cylinder, so that the second hydraulic cylinder can adjust the position of the second support plate 21.

[0063] Ring guides are guide rail systems for circular motion, usually consisting of precision ring guides and ring segments. This guide rail system can achieve 360° or segmented motion and is suitable for a wide range of applications in various industries. The load range of ring guides is usually between 0-9300N and the speed range is between 0-5m / s.

[0064] When the circular guide rail is in a circular shape, the ring segment moves along the inner wall of the circular guide rail, so that the ring segment moves in a circle.

[0065] The circular guide rail achieves high precision through initial positioning and repeated positioning. The initial positioning is achieved by the servo drive pulse driving motor to drive the station to the vicinity of the positioning pin. During the secondary positioning, the side cylinder and solenoid valve are used to extend the positioning cylinder, and then the positioning pin is rotated to perform secondary positioning of the station, achieving high-precision repeated positioning.

[0066] In a further optimized solution, the adjustment mechanism includes a movable block slidably connected to the bracket 4, one end of the movable block facing the third support plate 31 is fixedly connected to the fixed end of the electric turntable, and the movable end of the electric turntable is fixedly connected to the third support plate 31. The electric turntable drives the movable block to rotate, and the movable block drives the third support plate 31 to rotate, so that the third support plate 31 can be in a horizontal state or a vertical state. When the third support plate 31 is in a horizontal state, the horizontally placed expansion bellows can be automatically welded; when the third support plate 31 is in a disposal state, the vertically placed expansion bellows can be automatically welded.

[0067] The electric turntable is used to rotate various objects or workpieces. It is widely used in industrial automation production lines, logistics warehousing systems, exhibitions and other fields. The electric turntable is driven by a motor to achieve the rotation of the object, so that the object can be rotated 360° on the horizontal plane, making it convenient for people to observe or operate the object from different angles.

[0068] Working principle of electric turntable: The working principle of electric turntable mainly includes three aspects: motor drive, gear transmission and control system:

[0069] Motor drive: The core of the electric turntable is the motor, which converts electrical energy into mechanical energy to drive the turntable to rotate. Common types of motors include DC motors and AC motors. DC motors control speed and direction by adjusting voltage or current, while AC motors achieve the same effect by changing the frequency and phase of the voltage. The motor is usually connected to the turntable through a shaft and a transmission.

[0070] Gear drive: Gear drive is a common transmission mechanism in electric turntables, which is used to convert the high-speed rotation of the motor into a relatively low-speed rotation of the turntable. It consists of one or more pairs of gears, one of which is connected to the motor shaft, called the driving wheel, and the other gear is connected to the turntable shaft, called the driven wheel. When the driving wheel rotates, the torque and speed are transmitted through the gears to drive the driven wheel and the turntable to rotate. The size and number of teeth of the gear can be designed as needed to achieve the required speed and torque ratio.

[0071] Control system: Electric turntables usually require a control system to control their rotation direction, speed, and stop operations. This control system can be as simple as using a switch to control the start and stop of the motor, or as complex as using a computer or programmed logic to achieve fine control. In some application scenarios, the speed of the electric turntable can even be measured and adjusted in real time by sensors to achieve higher accuracy and stability.

[0072] In a further optimized solution, the driving mechanism includes a chain conveyor belt for controlling the third support plate 31 to rise and fall, the chain conveyor belt is installed on the side of the bracket 4 away from the third support plate 31, and the movable block is fixedly connected to the chain of the chain conveyor belt. The chain of the chain conveyor belt drives the movable block to rise or fall, the movable block drives the electric turntable to rise or fall, and the electric turntable drives the third support plate 31 to rise or fall.

[0073] Chain conveyor belt includes:

[0074] Chain structure: The chain is the main component of the chain conveyor belt, usually composed of multiple links, each of which includes inner link plates, outer link plates, pins and rollers. The inner and outer link plates are connected by pins, and the rollers are mounted on the pins, so that the chain can roll smoothly on the sprocket.

[0075] Metal mesh structure: The metal mesh is the load-bearing part of the chain conveyor belt. It is usually woven from metal wire and has good air permeability and wear resistance. The mesh size and shape of the metal mesh can be customized as needed to meet the conveying requirements of different materials.

[0076] Connection structure: The connection structure of the chain conveyor belt usually uses plug-in pieces or special-shaped connecting plates to connect the support rod and the chain. This connection method has good structural strength and load-bearing capacity, and the installation process is simple, which can save labor.

[0077] Accessory structure: In order to meet different conveying needs, chain conveyor belts can also be equipped with various accessories, such as baffles, side guards, support belts, etc. These accessories can effectively prevent materials from slipping or spilling during the conveying process, and improve conveying efficiency and safety.

[0078] Driving structure: Chain conveyor belts are usually driven by sprockets. The meshing mode between sprocket and chain can be the meshing of chain plate and sprocket teeth, or the meshing of roller (or sleeve) and sprocket teeth. The rotation of the driving sprocket drives the circulation of the chain, thereby realizing the conveying of materials.

[0079] Support structure: Chain conveyor belts need support structures during operation to keep the chain running smoothly. Support structures can be rails or rollers, which can bear the weight of the chain and materials and guide the movement direction of the chain.

[0080] Tensioning structure: In order to ensure the normal operation of the chain conveyor belt, a tensioning device is usually required to adjust the tightness of the chain. The tensioning device can be a spiral tensioner, spring tensioner or counterweight tensioner, etc. They can automatically or manually adjust the tension of the chain to prevent the chain from being loose or too tight.

[0081] Lubrication system: In order to reduce the wear between the chain and the sprocket, the chain conveyor belt usually needs to be equipped with a lubrication system. The lubrication system can be drip lubrication, oil spray lubrication or oil bath lubrication, which can effectively reduce the friction coefficient between the chain and the sprocket and extend the service life. Protective devices: In order to protect the safety of operators and prevent the scattering of materials, chain conveyor belts usually need to be equipped with protective devices, such as protective covers, guardrails, etc. These protective devices can effectively prevent accidents and improve the safety of the workplace.

[0082] Control system: Modern chain conveyor belts are usually equipped with control systems that can realize automatic operation and monitoring. The control system can include motor controllers, sensors, PLC and other equipment, which can realize the start, stop, speed adjustment, fault diagnosis and other functions of the chain conveyor belt.

[0083] In order to enable the second support plate 21, the third support plate 31, and the movable block to move stably on the bracket 4, the bracket 4 is symmetrically and fixedly connected with the fixed end of the linear guide 41, and the movable end of the linear guide 41 is fixedly connected to the second support plate 21, the third support plate 31, and the movable block. The second support plate 21, the third support plate 31, and the movable block can move stably by moving the movable end of the linear guide 41 along the fixed end of the linear guide 41.

[0084] Guide rails are mechanical parts used to support and guide moving parts to make reciprocating linear motion in a given direction. They play a vital role in modern industrial automation and precision machinery. Guide rails can be divided into many types, including linear guides, roller linear guides, cylindrical linear guides, ball linear guides, etc.

[0085] In order to enable the first pneumatic jaw 17, the second pneumatic jaw 23 and the third pneumatic jaw 33 to effectively clamp the expansion bellows, clamping force sensors are respectively installed on the first pneumatic jaw 17, the second pneumatic jaw 23 and the third pneumatic jaw 33. By monitoring the clamping force through the clamping force sensors, excessive deformation of the expansion bellows due to excessive clamping force can be effectively avoided.

[0086] A method for horizontal and vertical automated pipe welding of an expansion bellows comprises the following steps:

[0087] S1. Determine the number of expansion bellows to be welded according to the length of the complex well section for downhole isolation, and weld all the expansion bellows in pairs through horizontal welding.

[0088] S2. Place the two expansion bellows in two horizontal clamping mechanisms 1 respectively, and make the central axes of the two expansion bellows on the same central axis by leveling the horizontal clamping mechanism 1, that is, through the action of the first hydraulic cylinder 13.

[0089] S3. Clean the grooves of the two expansion bellows to be welded, that is, remove oil, rust and other impurities from the grooves of the bellows to be welded to ensure the welding quality.

[0090] S4. Insert the two expansion bellows into the clamping docking mechanism 3, and leave a welding margin between the two expansion bellows grooves to be welded; at this time, the first pneumatic clamp 17 and the third pneumatic clamp 33 are actuated to effectively clamp and position the expansion bellows.

[0091] S5. Reference Figure 1-Figure 2 , horizontal automatic welding is performed through the clamping docking mechanism 3; the first pneumatic clamp 17 is driven to rotate by the first movable ring 18 of the first circular guide rail 16, and the third pneumatic clamp 33 is driven to rotate by the third movable ring 36 of the third circular guide rail 32, so that the first pneumatic clamp 17 and the third pneumatic clamp 33 can drive the expansion bellows to rotate, and the automatic welding gun 35 can be driven by the manipulator 34 to weld the welding position.

[0092] S6. After welding is completed, the first pneumatic clamp 17 and the third pneumatic clamp 33 release the expansion bellows, take out the welded expansion bellows string, and then repeat steps S2-S4 to obtain several groups of welded expansion bellows strings.

[0093] S7. Move the welding device to the wellhead and adjust the clamping docking mechanism to the vertical welding mode; control the clamping docking mechanism 3 to rotate 90° through the adjustment mechanism, that is, drive the movable block to rotate through the electric turntable, and the movable block drives the third support plate 31 to rotate 90°, so that vertical welding can be carried out.

[0094] S8. First, lower one end of a group of welded expansion bellows pipe strings into the wellhead, and then install the other end of the welded expansion bellows pipe string onto the vertical clamping mechanism 2 located below; and clamp the welded expansion bellows pipe string.

[0095] S9. Place another set of welded expansion bellows pipe strings on the vertical clamping mechanism 2 located above the clamping docking mechanism 3; and clamp the welded expansion bellows pipe strings.

[0096] S10. Clean the grooves at the opposite ends of the two sets of welded expansion bellows pipe strings; that is, remove oil stains, rust and other impurities from the grooves to be welded; then, the second hydraulic cylinder is actuated to leave a welding margin between the opposite ends of the two expansion bellows pipe strings.

[0097] S11. Reference Figure 3 as well as Figure 7 , vertical automated welding is performed through the clamping docking mechanism 3; the second pneumatic clamp 23 is driven to rotate by the second movable ring 24 of the second circular guide rail 22, and the third pneumatic clamp 33 is driven to rotate by the third movable ring 36 of the third circular guide rail 32, so that the second pneumatic clamp 23 and the third pneumatic clamp 33 can drive the expansion bellows to rotate, and the automated welding gun 35 can be driven by the manipulator 34 to weld the welding position; after the welding is completed, the quality of the weld is tested with a non-destructive testing device, and it can be lowered into the well after being confirmed to be qualified.

[0098] S12. After welding is completed, the welded expansion bellows is lowered into the well through the wellhead, and the end of the expansion bellows extending out of the wellhead is clamped by the vertical clamping mechanism 2 below, that is, the second hydraulic cylinder is actuated to make the two second support plates 21 move away from each other, and then the third pneumatic clamp 33 is released, and the third support plate 31 is driven to rise by the chain conveyor belt. When the third support plate 31 is close to the second support plate 21 above, the third pneumatic clamp 33 clamps the expansion bellows. At this time, the second pneumatic clamp 23 is released, and then the chain conveyor belt drives the third support plate 31 to descend, and the welded expansion bellows is pushed into the wellhead. When the end of the expansion bellows extending out of the wellhead is located between the second pneumatic clamp 23 and the third pneumatic clamp 33 below, the end of the expansion bellows extending out of the wellhead is clamped by the vertical clamping mechanism 2 below, and then another group of welded expansion bellows is installed on the vertical clamping mechanism 2 above, and welding is continued.

[0099] S13. Repeat steps S10-S12 to complete the vertical welding and lowering of all expansion bellows into the well; then proceed with subsequent downhole operations.

[0100] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0101] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An automatic horizontal and vertical tube welding device for expansion bellows, characterized in that: The invention comprises a support (4) as a basic lifting frame, wherein horizontal clamping mechanisms (1) for horizontally positioning an expansion bellows are respectively arranged on both sides of the lower part of the support (4), a clamping docking mechanism (3) for welding two expansion bellows interfaces is arranged between the two horizontal clamping mechanisms (1), and vertical clamping mechanisms (2) for vertically positioning the expansion bellows are respectively arranged on the upper and lower sides of the clamping docking mechanism (3), the clamping docking mechanism (3) is rotatably connected to an adjusting mechanism for controlling the rotation angle of the clamping docking mechanism (3), the adjusting mechanism is fixedly connected to a driving mechanism, and the driving mechanism is fixedly connected to the support (4).

2. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 1 is characterized in that: The horizontal clamping mechanism (1) comprises a lifting frame (11), an X-shaped frame (12) is symmetrically arranged inside the lifting frame (11), one end of the X-shaped frame (12) is slidably connected to the bottom of the lifting frame (11), the other end of the X-shaped frame (12) is slidably connected to a top plate (14), and a first clamping portion is arranged at one end of the top plate (14) away from the X-shaped frame (12).

3. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 2 is characterized in that: One end of the X-shaped frame (12) close to the top plate (14) is fixedly connected to the piston end of the first hydraulic cylinder (13), the fixed end of the first hydraulic cylinder (13) is fixedly connected to the bottom of the lifting frame (11), and the first hydraulic cylinder (13) is arranged at an angle.

4. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 2 is characterized in that: The first clamping portion comprises a first supporting plate (15) fixedly connected to the top plate (14), a fixed ring of a first circular guide rail (16) being fixedly connected inside the first supporting plate (15), and a first pneumatic clamping jaw (17) being symmetrically and fixedly connected on the inner wall of a first movable ring (18) inside the first circular guide rail (16).

5. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 1 is characterized in that: The clamping docking mechanism (3) comprises a third support plate (31) rotatably connected to the adjustment mechanism, a fixed ring symmetrically and fixedly connected to a third circular guide rail (32) at one end of the third support plate (31) away from the adjustment mechanism, and a third pneumatic clamp (33) symmetrically and fixedly connected to the inner wall of a third movable ring (36) in the third circular guide rail (32).

6. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 5 is characterized in that: A manipulator (34) is installed on one end of the third support plate (31) away from the adjustment mechanism, and an automated welding gun (35) is installed on one end of the manipulator (34) away from the third support plate (31).

7. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 1 is characterized in that: The vertical clamping mechanism (2) comprises a second support plate (21) slidably connected to the bracket (4); a fixed ring of a second circular guide rail (22) is fixedly connected inside one end of the second support plate (21) away from the bracket (4); and a second pneumatic clamp (23) is symmetrically and fixedly connected on the inner wall of a second movable ring (24) inside the second circular guide rail (22).

8. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 5 is characterized in that: The adjustment mechanism comprises a movable block slidably connected to the bracket (4), one end of the movable block facing the third support plate (31) is fixedly connected to the fixed end of the electric turntable, and the movable end of the electric turntable is fixedly connected to the third support plate (31).

9. The horizontal and vertical automatic tube welding device for expansion bellows according to claim 8 is characterized in that: The driving mechanism comprises a chain conveyor belt for controlling the third support plate (31) to rise and fall, the chain conveyor belt being installed on a side of the bracket (4) away from the third support plate (31), and the movable block being fixedly connected to the chain of the chain conveyor belt.

10. A method for horizontal and vertical automated tube welding of expansion bellows, based on the horizontal and vertical automated tube welding device for expansion bellows according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Determine the number of expansion bellows to be welded according to the length of the complex well section for downhole isolation, and weld all the expansion bellows in pairs through horizontal welding; S2. The two expansion bellows are placed in the two horizontal clamping mechanisms (1), respectively, and the central axes of the two expansion bellows are on the same central axis by leveling the horizontal clamping mechanism (1); S3. Clean the grooves of the two expansion bellows to be welded; S4. Insert the two expansion bellows into the clamping docking mechanism (3), and leave a welding margin between the two expansion bellows to be welded; S5. Horizontal automated welding is performed by the clamping docking mechanism (3); S6. After welding is completed, remove the welded expansion bellows, and then repeat steps S2-S4 to obtain several groups of welded expansion bellows pipe strings; S7. Move the welding device to the wellhead and adjust the welding mode to a vertical clamping docking mechanism; S8. First, one end of a set of welded expansion bellows pipe strings is lowered into the wellhead, and then the other end of the welded expansion bellows pipe string is installed on the vertical clamping mechanism (2) located below; S9. Placing another set of welded expansion bellows pipe strings on the vertical clamping mechanism (2) above the clamping docking mechanism (3); S10. Clean the grooves at opposite ends of the two sets of welded expansion bellows pipe strings; S11. Perform vertical automated welding through the clamping docking mechanism (3), and then use a nondestructive testing device to detect the quality of the weld, and then go down the well after confirming that it is qualified; S12. After the welding is completed, the welded expansion bellows is lowered into the well through the wellhead, and the end of the expansion bellows extending out of the wellhead is clamped by the vertical clamping mechanism (2) at the bottom, and then another set of welded expansion bellows pipe strings is installed on the vertical clamping mechanism (2) at the top, and the welding is continued; S13. Repeat steps S10-S12 to complete the vertical welding and lowering of all expansion bellows into the well; then proceed with subsequent downhole operations.

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