Automatic oil pipe feeding and positioning system and integrated workover rig

Abstract

The invention discloses an automatic oil pipe feeding and positioning system and an integrated workover rig, and mainly relates to the field of workover equipment. Comprising a second-order feeding module, the second-order feeding module comprises a supporting stand column with a lifting stroke, a supporting rod with a lifting stroke is installed on the supporting stand column, a groove frame horizontally extending in the length direction of the well repair vehicle is arranged at the top end of the supporting stand column, and the groove frame has a horizontal follow-up stroke in the length direction of the groove frame; the hoisting module comprises a mast stand column installed on one side of the derrick, and an elevator mechanism with a lifting stroke is installed on the mast stand column; the wellhead positioning module comprises a strip-shaped frame mounted on one side of the derrick, a large-arm truss with a rotating stroke is mounted on the strip-shaped frame in a liftable manner, a small-arm truss is rotatably mounted on one side of the large-arm truss, and a mechanical gripper is mounted on the small-arm truss. The oil pipe feeding and positioning device has the beneficial effects that the structure is simple, vehicle-mounted installation and use are achieved, actions of all links are tightly and smoothly linked, and oil pipe feeding and positioning in automatic workover operation can be completed.

Description

Technical Field

[0001] The invention relates to the field of well repair equipment, in particular to an automatic oil pipe feeding positioning system and an integrated well repair machine. Background Art

[0002] In well repair operations, the transportation and positioning of oil pipes is one of the key links. In the process of transporting and positioning the oil pipes from the ground to the top of the wellhead, traditional well repair equipment mainly uses the lifting equipment that comes with the well repair machine, and requires manual assistance and loading. Not only is the labor intensity high, but it is also easy to cause damage to the oil pipe or safety accidents due to improper human operation. Moreover, during the loading process, there is a lack of effective stable support and precise positioning mechanism, which makes the oil pipe easy to shake and deviate during transportation, affecting the subsequent lifting and positioning operations, and increasing the operation time and difficulty.

[0003] In recent years, with the continuous development of automated well repair equipment, automated tubing loading and conveying equipment has emerged in an endless stream, various catwalk structures and straightening equipment, but there are some defects, including: The overall automation level of existing well repair equipment is low, and the collaborative operation capabilities between various modules are insufficient. Frequent manual intervention and operation are required during the transportation and positioning of the oil pipe, which not only increases labor costs, but also easily leads to operational errors due to human factors, affecting the safety and reliability of well repair operations. In addition, the connection problems between various transportation and transfer actions also affect the efficiency of continuous operations, further reducing the overall efficiency of well repair operations.

[0004] Secondly, the structure of the lifting module is not flexible enough and cannot adapt well to the changes in the posture of the oil pipe during the lifting process. When the oil pipe is lifted from a horizontal state to a vertical state, it is easy for the oil pipe to collide with the equipment during the lifting process, causing scratches or deformation on the surface of the oil pipe, affecting the service life of the oil pipe and the quality of subsequent downhole operations.

[0005] Furthermore, most of the existing equipment requires additional installation and removal steps, which increases the maintenance cost and operation time of the equipment. Moreover, the equipment is large, complex in structure, occupies a large area, and has high requirements for ground leveling, making it difficult to adapt to the complex outdoor well repair operation environment. In addition, the activation cost is high and the operation is difficult, forming a high threshold.

[0006] In summary, the many problems and shortcomings of existing workover equipment in terms of oil pipe transportation and positioning have seriously restricted the efficiency and quality of workover operations, forming a barrier to the realization of a fully automated process for workover operations. Summary of the invention

[0007] The object of the present invention is to provide an automatic tubing loading and positioning system and an integrated workover rig, which has a simple structure, can be installed and used on the vehicle, and the actions of each link are closely and smoothly connected, and can complete the tubing loading and positioning in the automatic workover operation.

[0008] In order to achieve the above object, the present invention is realized through the following technical solutions: An automatic tubing loading and positioning system, comprising: A second-order loading module, installed on one side of the workover truck chassis, including a support column with a lifting stroke, a support rod with a lifting stroke is installed on the support column, the top of the support column is provided with a trough rack horizontally extending along the length direction of the workover truck, and the trough rack has a horizontal following stroke along its length direction; A hoisting module, including a mast column installed on one side of the derrick, a lifting mechanism with a lifting stroke is installed on the mast column, and the lifting mechanism is used for clamping the coupling of the tubing on the trough rack; A wellhead positioning module, including a strip-shaped rack installed on one side of the derrick, a large arm truss with a rotational stroke is installed on the strip-shaped rack in a liftable manner, a small arm truss is rotatably installed on the side of the large arm truss away from the strip-shaped rack, a mechanical gripper is installed on the small arm truss, the rotation of the large arm truss and the small arm truss is linked, and when the large arm truss rotates 90 degrees, the small arm truss is linked to rotate 180 degrees relative to the large arm truss.

[0009] The second-order loading module further includes a plurality of fixed horizontal rails arranged side by side, the fixed horizontal rails are used for fixed installation on one side of the workover truck, a sliding frame is slidably matched with the fixed horizontal rails along its length direction, a bearing seat is fixed at one end of the sliding frame, the bottom end of the support column is installed on the bearing seat, two first-order guide rails are installed on the side of the support column away from the bearing seat in a liftable manner and extend vertically side by side, a first-order slider is slidably matched with the first-order guide rails, the first-order slider is fixed on the bearing seat, a first-order motor is installed on the bearing seat, a first-order gear driven by the first-order motor is rotatably installed on the bearing seat, a first-order rack fixed on the support column is arranged side by side on one side of the first-order guide rails, and the first-order gear and the first-order rack are meshed; Two vertical second-order guide rails arranged side by side are fixedly installed on the side of the support column away from the bearing seat and the first-order guide rails, a second-order slider is slidably matched with the second-order guide rails, the support rod is fixed on the second-order slider, second-order chutes slidably matched with the two second-order guide rails are respectively arranged on both sides of the second-order slider, a second-order gear is rotatably installed on the second-order slider, a second-order motor for driving the second-order gear is also fixed on the second-order slider, a second-order rack extending vertically is installed on the support column, and the second-order rack and the second-order gear are meshed.

[0010] Above the slot rack is provided with a V-shaped slot, which is a through slot running through the length direction of the slot rack. When the supporting rod rises to the upper end of its stroke, the bottom end of the supporting rod corresponds to the edge adjacent to the V-shaped slot, and the edge of the V-shaped slot on the side close to the supporting rod is lower than the edge of the V-shaped slot on the side far from the supporting rod.

[0011] Along the length direction of the slot rack, a plurality of guiding rods are provided. The bottom ends of the guiding rods are hinged to the slot rack. The guiding rods have a swinging stroke with an axial direction corresponding to the length direction of the slot rack, enabling the guiding rods to stand upright or lie down. When the guiding rods stand upright, the guiding rods are close to the supporting rod at the top end of the lifting stroke. When the guiding rods lie down, the guiding rods are located below the V-shaped slot. The bottom ends of the guiding rods are hinged to one side of the slot rack close to the supporting rod. At the position of the slot rack corresponding to the guiding rods, a small oil cylinder is hinged. The top end of the small oil cylinder is telescopically fitted with a small cylinder rod, and the top end of the small cylinder rod is hinged to the bottom of the guiding rod.

[0012] One end of the slot rack is fixed with a tail rack, and a pushing oil cylinder arranged in the same direction as the slot rack is fixed on the tail rack. The end of the pushing oil cylinder close to the slot rack is telescopically fitted with a pushing cylinder rod, and a pushing block is provided at the end of the pushing cylinder rod. The pushing block is located in the V-shaped slot.

[0013] At the top of the supporting column, a guiding pulley is rotatably installed. The axial direction of the guiding pulley is horizontal and perpendicular to the length direction of the slot rack. At the bottom of the slot rack, a plurality of strip-shaped openings extending in the same direction as it are provided. Each strip-shaped opening corresponds to one guiding pulley. The guiding pulley passes through the corresponding strip-shaped opening and cooperates with the notch of the strip-shaped opening to guide the follow-up stroke of the slot rack. At the top of the supporting column, a follow-up gear driven by a motor is rotatably installed. At the bottom of the slot rack, a follow-up rack meshing with the gear is installed. The length direction of the follow-up rack is the same as that of the slot rack.

[0014] The hoisting module further includes a hinge seat and a fixed sleeve fixedly installed on the derrick. The fixed sleeve is horizontally fixed on one side of the derrick close to the vehicle body. The hinge seat is located above the fixed sleeve and close to one end of the fixed sleeve. A swinging seat is rotatably installed on the hinge seat. A swinging rod passing through and slidably connected to the swinging seat is provided. At one end of the swinging rod close to the fixed sleeve, a follow-up sleeve perpendicular to it is fixed. The follow-up sleeve and the fixed sleeve are arranged parallel to each other up and down. One end of the follow-up sleeve is provided with an upper telescopic rod telescopically fitted with it, and one end of the fixed sleeve is provided with a lower telescopic rod telescopically fitted with it. The ends of the upper telescopic rod and the lower telescopic rod are respectively hinged to the mast column.

[0015] The elevating clamp mechanism includes an elevating seat capable of ascending and descending along the mast column. The elevating seat adopts an elevating structure driven by a steel wire rope. A swing shaft is rotatably installed on the elevating seat. A mating plate perpendicular to the swing shaft is fixed at one end of the swing shaft away from the elevating seat. A limiting plate is perpendicularly fixed on one side of the mating plate. A U-shaped groove is provided at the bottom side of the limiting plate. The notch of the U-shaped groove is at the bottom side, and the top end of the U-shaped groove is provided with a semi-circular arc-shaped groove bottom. The width of the U-shaped groove and the diameter of the groove bottom are both adapted to the diameter of the oil pipe. Two clamping blocks parallel to the limiting plate are provided on one side of the limiting plate. Arc-shaped clamping grooves are provided on the adjacent sides of the clamping blocks. The arc-shaped clamping grooves are symmetrically arranged left and right with respect to the groove bottom of the U-shaped groove, and the two clamping blocks have a clamping action of approaching or separating with respect to the U-shaped groove.

[0016] The wellhead positioning module includes an upper slide rail and a lower slide rail fixedly installed on the same side of the derrick. The upper slide rail and the lower slide rail are horizontally installed and fixed. An upper slider is slidably connected to the upper slide rail, and a rotating shaft is fixed on the upper slider. A lower slider is slidably connected to the lower slide rail, and a pin shaft is fixed on the lower slider. A shaft hole rotatably connected to the rotating shaft is provided at the top end of the strip-shaped frame. A strip-shaped hole penetrated by the pin shaft and matched with the notch of the pin shaft is provided at the bottom end of the strip-shaped frame. An elevating slide rail extending in the same direction as the strip-shaped frame is fixed on the strip-shaped frame. Two or more elevating sliders are slidably connected to the elevating slide rail, and a connecting member is fixed on the elevating slider. The boom truss is rotatably installed on the connecting member.

[0017] Horizontally extending machine plates are symmetrically fixed at the top end and the bottom end of the boom truss respectively. An inner shaft penetrating through the machine plate vertically is fixedly installed at one end of the machine plate close to the strip-shaped frame. The inner end of the inner shaft is rotatably installed on the connecting member. A swing arm motor for driving the inner shaft is provided on the machine plate. Large sprockets are installed at the opposite inner ends of the upper and lower inner shafts. An outer shaft is rotatably installed through the machine plate vertically at one end of the machine plate away from the elevating slide rail. Small sprockets are fixed at the opposite ends of the upper and lower outer shafts. A chain is wound between the large sprocket and the small sprocket, and the transmission ratio between the large sprocket and the small sprocket is 1:2.

[0018] An automated workover rig includes a vehicle chassis. A derrick is installed at the tail of the vehicle chassis, and the second-order feeding module is installed on one side of the vehicle chassis. The lifting module and the wellhead positioning module are installed on the derrick.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the cooperation of multiple modules, the system completes the fully automated operation of the oil pipe from the ground to the wellhead positioning. The transfer and positioning are accurate, the action connection is smooth, the structure is simple and stable, the configuration cost is low, and each module is installed on the workover rig, so it is convenient to move and deploy. There is no need for complex disassembly and installation steps before and after use, which is more practical and efficient. Description of the Drawings

[0020] Figure 1 It is a schematic side view of the whole of the present invention.

[0021] Figure 2 It is a schematic structural view of the whole of the present invention.

[0022] Figure 3 It is the present invention Figure 2 An enlarged view of part D.

[0023] Figure 4 It is a schematic view of one end of the second-stage loading module of the present invention.

[0024] Figure 5 It is a partial schematic view of the second-stage loading module of the present invention.

[0025] Figure 6 It is a schematic view of the tail of the second-stage loading module of the present invention.

[0026] Figure 7 It is a schematic view of the whole second-stage loading module of the present invention.

[0027] Figure 8 It is a schematic view of the lifting module of the present invention.

[0028] Figure 9 It is a schematic view of the operation of the lifting module of the present invention (the oil pipe is lifted to the halfway point).

[0029] Figure 10 It is the present invention Figure 9 An enlarged view of part E.

[0030] Figure 11 It is a schematic view of the operation of the wellhead positioning module of the present invention.

[0031] Figure 12 It is a top view schematic of the operation action of the wellhead positioning module of the present invention.

[0032] Figure 13 It is a schematic view of the wellhead positioning module of the present invention retracting the vehicle.

[0033] Reference numerals shown in the drawings: 1. Fixed rail on the ground; 2. Sled; 3. Bearing seat; 4. Support column; 5. First-order guide rail; 6. Second-order guide rail; 7. Second-order slider; 8. Support rod; 9. Loading surface; 10. Groove frame; 11. Strip-shaped opening; 12. Guide rod; 13. Support seat; 14. Guide pulley; 15. Reinforcement frame; 16. Pushing oil cylinder; 17. Pushing block; 18. Mast column; 19. Fixed sleeve; 20. Lower telescopic rod; 21. Hinge seat; 22. Swing seat; 23. Swing rod; 24. Stop block; 25. Follow-up sleeve; 26. Upper telescopic rod; 27. Guide wheel frame; 28. Steel wire rope; 29. Hoisting motor; 30. Lifting seat; 31. Connecting piece; 32. Rotating seat; 33. Swing shaft; 34. Matching plate; 35. Limiting plate; 36. Door-shaped groove; 37. Clamping block; 38. Mounting seat; 39. Double-headed cylinder block; 40. Upper slide rail; 41. Upper slider; 42. Rotating shaft; 43. Lower slide rail; 44. Lower slider; 45. Pin shaft; 46. Strip-shaped hole; 47. Strip-shaped frame; 48. Lifting slide rail; 49. Adapter; 50. Boom truss; 51. Machine board; 52. Inner shaft; 53. Large sprocket; 54. Outer shaft; 55. Small sprocket; 56. Chain; 57. Forearm truss; 58. Machine arm; 59. Mechanical gripper. Detailed implementation mode

[0034] The following combines specific embodiments to further elaborate on the present invention. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0035] Embodiment 1

[0036] The main improved part in this example is the automated oil pipe loading and positioning system. The system adopts a fully automated connection operation, including a second-order loading module, a hoisting module, and a wellhead positioning module. The above modules are all integrated and installed on the derrick or the chassis of the workover rig, so as to obtain a complete automated workover rig product. For the convenience of description, the workover rig will be briefly introduced as follows in this example: A workover rig (also known as a workover truck) is a key device used for oil well maintenance, repair, and stimulation operations in oilfield operations. Its main structure includes: 1. Chassis system Special heavy-duty chassis: Usually uses a truck or trailer chassis (type II chassis), with high load-bearing capacity and off-road performance, adapting to the complex terrain of the oilfield. A power transmission system is installed on the chassis, including an engine, a gearbox, a transfer case, and a drive axle, providing power for the vehicle to move and operate. Some models are equipped with an auxiliary generator to provide an independent power source for the hydraulic and electrical systems. Preferably, an energy storage battery system can also be equipped as the power source to achieve new energy automated workover operations.

[0037] 2. Derrick System Telescopic derrick: Made of high-strength steel, generally installed obliquely for operation, with a height usually ranging from 18 to 30 meters, used to support the hoisting system. A crown block is installed at the top of the derrick, which forms a pulley system with the traveling block (swivel), and cooperates with the wire rope 28 for tripping operations of the pipe string.

[0038] The side of the derrick close to the wellhead is the operation side, i.e., the front side, the side close to the vehicle body is the rear side, and the other two sides are the left and right sides.

[0039] 3. Drawworks System Main drawworks: Controls the winding and unwinding of the wire rope 28 through the drum and brake system, used for hoisting or lowering downhole tools and pipe strings.

[0040] Auxiliary drawworks: Used for auxiliary operations (such as lifting equipment).

[0041] 4. Hydraulic System Hydraulic pump station: Driven by the main engine, provides hydraulic power.

[0042] Hydraulic control valve group: Controls derrick lifting, leg leveling, drawworks operation, etc.

[0043] Hydraulic cylinders and motors: Execute actions such as derrick telescoping and leg supporting.

[0044] 5. Operation Control System Driller control room: Equipped with instrument panels, operating handles, monitoring screens, etc., centrally controls the drawworks, derrick and hydraulic system.

[0045] Electronic monitoring system: Real-time displays parameters such as load, speed, pressure, etc., to ensure operation safety.

[0046] 6. Tubing Loading and Positioning System 6.1 Second-order Loading Module This module is used to lift the tubing to a certain height from the ground for preparing for hoisting.

[0047] 6.1.1 Telescopic Loading Mechanism It includes a fixed track 1 for fixed installation, and the fixed track 1 is used to be fixed on the vehicle chassis of the workover rig. There are two fixed tracks 1, which are installed side by side on one side of the vehicle chassis (generally on the left side facing the vehicle head, not limited to this example, and it is also applicable to be installed on the right side). The length direction of the fixed track 1 is transverse to the workover rig. A carriage 2 extending in the same direction as it is slidably fitted above the fixed track 1, and a bearing seat 3 is fixed above one end of the carriage 2. During specific installation, the bearing seat 3 is arranged at the end far from the vehicle chassis - that is, the bearing seat 3 is located at the edge position of the vehicle chassis. When starting the sliding stroke of the carriage 2, the bearing seat 3 can be pushed outwards from the vehicle chassis, making the whole mechanism suspended, so as to facilitate feeding below and cooperate with the tubing in place below to complete the actions of lifting and feeding.

[0048] In terms of power, hydraulic power can be used. A push oil cylinder is installed at the end of the fixed track 1 far from the bearing seat 3. One end of the push oil cylinder close to the bearing seat 3 is telescopically fitted with a push cylinder rod, and the end of the push cylinder rod is fixed on the carriage 2, so as to realize the control of the sliding stroke of the carriage 2, making the carriage 2 extend out of the body of the workover rig or retract into the range of the vehicle chassis of the workover rig.

[0049] The bearing seat 3 is used to carry the entire feeding module. A lower mounting plate is provided at the bottom of the bearing seat 3, and a horizontal mounting surface is provided on the bottom surface of the lower mounting plate. An upper mounting plate is provided on the upper part of the bearing seat 3, and the upper mounting plate is vertically arranged and has a vertical mounting surface on the side.

[0050] 6.1.2 Second-order feeding mechanism It is used to lift the tubing on the ground upwards, so as to complete the first-step preparation action for feeding the workover rig.

[0051] It includes 2 support columns 4 arranged side by side left and right. The two support columns 4 are respectively arranged corresponding to two groups of bearing seats 3, and are respectively used to be installed on the bearing seats 3 on the same side in a liftable manner.

[0052] On the vertical surface of the support column 4 close to the bearing seat 3, a first-order guide rail 5 is fixed. There are two first-order guide rails 5 arranged on each support column 4 and extending vertically side by side. A first-order slider is slidably fitted on the first-order guide rail 5. The first-order slider is fixed on the mounting surface of the upper mounting plate. The first-order slider is in 2 groups or 4 groups, and is fixed on the mounting surface in left and right columns to improve the lifting stability.

[0053] A first-order motor is installed on the bearing seat 3, and a first-order gear driven by the first-order motor is also rotatably installed on the bearing seat 3. On one side of the first-order guide rail 5, a first-order rack fixed on the support column 4 is arranged side by side. The first-order gear and the first-order rack are meshed to realize the drive control of the overall lifting of the support column 4 relative to the bearing seat 3.

[0054] On the side of the support column 4 away from the bearing seat 3 and the first-order guide rail 5, two vertically arranged second-order guide rails 6 are fixedly installed in parallel. Between the two second-order guide rails 6 on the same support column 4, there is a second-order slider 7. On both sides of the second-order slider 7, there are second-order chutes that are slidably engaged with the two second-order guide rails 6 respectively, enabling it to slide up and down with both guide rails simultaneously, thus increasing stability during the load-bearing lifting of the sub-assembly.

[0055] At the top of the second-order slider 7, there is a support rod 8. One end of the support rod 8 is fixed at the center of the top side of the second-order slider 7, and the other end of the support rod 8 extends upward obliquely away from the support column 4, forming an inclined material-supporting structure. For the convenience of subsequent description, the top surface of the support rod 8 is defined as the loading surface 9, and the loading surface 9 is an inclined surface with the outer end inclined upward.

[0056] When the second-order slider 7 moves upward, an angle is formed between the support rod 8 and the second-order guide rail 6, which can well restrain the oil pipe within the angular space.

[0057] In terms of power, the same gear transmission as the first order is adopted. A second-order gear is rotatably installed on the second-order slider 7. A second-order motor for driving the second-order gear is also fixed on the second-order slider 7. A vertically extending second-order rack is installed on the support column 4, and the second-order rack is engaged with the second-order gear.

[0058] 6.1.3 Transfer mechanism The transfer mechanism is used to temporarily support the oil pipe between the ground and above the wellhead, so as to connect the action of lifting the oil pipe from the ground to the trough rack 10 and the lifting and material-lifting action of lifting the oil pipe from the horizontal state to the vertical state.

[0059] The transfer mechanism includes: a support seat 13, a trough rack 10, a guide rod 12, and a reinforcing frame 15; The trough rack 10 is a component for specifically realizing the horizontal support of the oil pipe. Above the trough rack 10, there is a V-shaped groove structure. The V-shaped groove includes a first groove surface (the side away from the vehicle body) and a second groove surface that are in a V shape. The inner ends of the first groove surface and the second groove surface are connected to form a V shape. The outer sides of the first groove surface and the second groove surface form the notch of the V-shaped groove, and the outer side of the first groove surface is lower than the outer side of the second groove surface, so that the notch of the V-shaped groove is not at the same height, and the side close to the support rod 8 is lower, which forms a cooperation with the support rod 8 to prevent the oil pipe from rolling off during transfer.

[0060] When the second-order slider 7 is at the top of its stroke, the loading surface 9 of the support rod 8 is coplanar with the first groove surface, so that the oil pipe located on the support rod 8 can naturally roll into the V-shaped groove based on gravity.

[0061] There are at least two guide rods 12, or other numbers of guide rods 12. The bottom ends of the guide rods 12 are hinged to one side of the slot frame 10 close to the support rod 8. The guide rods 12 have a swing stroke based on their hinged structure.

[0062] The slot frame 10 is hinged with a small oil cylinder at the position corresponding to the guide rod 12. The top end of the small oil cylinder is telescopically matched with a small cylinder rod. The top end of the small cylinder rod is hinged to the bottom of the guide rod 12, thereby driving and controlling the swing of the guide rod 12.

[0063] Based on the swing stroke of the guide rod 12, the guide rod 12 can change its state between standing upright and laying down. When the guide rod 12 is in the upright state, the guide rod 12 is close to the support rod 8 (located at the top), and the two form an angle, thereby blocking the oil pipe on the support rod 8 and preventing it from falling into the V-shaped groove. When the small oil cylinder is started, the guide rod 12 can be driven to slowly fall until the guide rod 12 is located below the V-shaped groove. In this process, the oil pipe gradually moves and is supported on the guide rod 12 based on gravity, thereby achieving slow descent. Therefore, based on the control and guidance of the guide rod 12, controllable material discharge can be achieved, and the oil pipe is kept waiting above the V-shaped groove, and the material is discharged after the signal is triggered. More importantly, slow descent is achieved to protect the oil pipe, while preventing the oil pipe from rolling violently due to the gravitational potential energy and the danger of escaping from the V-shaped groove.

[0064] The support seat 13 is a mounting member used to support the slot frame 10 and guide the movement of the slot frame 10. The bottom of the support seat 13 is fixed to the top of the support column 4 by a bolt assembly. The top of the support seat 13 is rotatably mounted with a guide pulley 14, and the axial direction of the guide pulley 14 is horizontal and vertical relative to the slot frame 10.

[0065] At the bottom of the trough frame 10, there are multiple strip openings 11 extending in the same direction as the length direction thereof. The strip openings 11 are arranged corresponding to each support seat 13. The guide pulley 14 passes through the corresponding strip openings 11 and cooperates with the notch of the strip openings 11. The outer end or both ends of the guide pulley 14 are provided with circular baffles, so that the guide pulley 14 is an I-shaped structure. The diameter of the guide pulley 14 is adapted to the width of the strip opening. The baffle is larger than the width of the strip opening 11. Therefore, based on the limiting of the baffles at both ends of the guide pulley 14, the trough frame 10 is constrained on the top of the support member, and has a forward and backward follow-up stroke corresponding to the length direction of the trough frame 10 relative to the support member. It is used to cooperate with the action during lifting, provide horizontal follow-up adaptation to the change of the bottom position of the oil pipe when lifting, assist in horizontally transporting the oil pipe to the derrick direction, and stabilize the lifting process.

[0066] Based on the fact that the tubing needs to complete a lateral movement towards the wellhead on the chute rack 10, its weight will mainly be transferred to the support column 4 near the wellhead. Therefore, in order to improve the strength of the support, a reinforcing frame 15 is fixed on the support column 4 near the wellhead. The reinforcing frame 15 is a pair of symmetric triangular trusses. The triangular truss is a right triangle, and its upright right side is fixed on both sides of the support column 4 near the parking space. The outer ends of the triangular trusses are also fixed with support seats 13, and a guiding component is further added to stabilize the movement of the chute rack 10.

[0067] 6.1.4 Pushing mechanism It is installed at one end of the chute rack 10 close to the vehicle head and includes a pushing oil cylinder 16 and a pushing cylinder rod that are telescopically matched. A tail frame is fixed at one end of the chute rack 10 away from the reinforcing frame 15. The pushing oil cylinder 16 is fixed on the tail frame, and the tail frame supports the pushing oil cylinder 16. The pushing oil cylinder 16 can be a multi-stage telescopic oil cylinder. The end of the pushing oil cylinder 16 close to the chute rack 10 is horizontally telescopically matched with a pushing cylinder rod. The end of the pushing cylinder rod is provided with a pushing block 17. The pushing block 17 is located in the V-shaped groove. Based on the telescopic movement, the tubing in the V-shaped chute is pushed towards the lifting direction, so that the pipe head collar is exposed from the V-shaped chute, facilitating the grasping and lifting by the lifting clamp mechanism, realizing the feeding in place, and facilitating the picking up of the lifting action.

[0068] 6.2 Lifting module This module is used to lift the tubing from the horizontal state to the vertical state, providing a preparatory posture for the subsequent wellhead positioning.

[0069] Structurally, it includes: a vehicle retracting mechanism, a lifting mechanism, and a lifting clamp mechanism.

[0070] 6.2.1 Vehicle retracting mechanism It includes a mast column 18 that remains perpendicular to the ground during operation. The mast column 18 is arranged on one side of the derrick. The top of the mast column 18 is provided with an upper hinge shaft, and the lower part of the mast column 18 is provided with a lower hinge shaft. Both the upper hinge shaft and the lower hinge shaft are arranged on the side of the mast column 18 close to the derrick.

[0071] It also includes a hinge seat 21 and a fixed sleeve 19 fixedly installed on the derrick. The hinge seat 21 and the fixed sleeve 19 are arranged vertically. A swing seat 22 is rotatably installed on the hinge seat 21. The swing seat 22 is a hollow sleeve-type structure. A swing rod 23 is penetrated through the swing seat 22 and is slidably connected thereto. A stop block 24 is provided at one end of the swing rod 23 close to the derrick. The swing seat 22 cannot pass through the stop block 24 to prevent slipping. A follower sleeve 25 is fixedly connected to the end of the swing rod 23 far from the derrick perpendicularly thereto. The follower sleeve 25 is parallel to the side of the derrick close to the vehicle body. One end of the swing rod 23 is fixed at the edge of one end of the follower sleeve 25, so that the follower sleeve 25 can be on one side of the derrick and does not protrude significantly beyond the derrick range, which is beneficial to being closer to the derrick after the vehicle is parked. One end of the follower sleeve 25 close to the connection with the swing rod 23 is provided with an upper telescopic rod 26 that is telescopically and slidably engaged therewith. The end of the upper telescopic rod 26 far from the follower sleeve 25 is rotatably connected to an upper hinge shaft.

[0072] The fixed sleeve 19 is fixedly installed on the side of the derrick close to the vehicle body, and the fixed sleeve 19 also extends horizontally. Therefore, the follower sleeve 25 and the fixed sleeve 19 are arranged vertically and in parallel. One end of the fixed sleeve 19 close to the mast column 18 is provided with a lower telescopic rod 20 that is telescopically and slidably engaged therewith. The end of the lower telescopic rod 20 is rotatably connected to a lower hinge shaft.

[0073] Based on the above structure, it is possible to achieve the mast column 18 extending out towards the vehicle body side relative to the derrick (the telescopic movements of the upper telescopic rod 26 and the lower telescopic rod 20), and the angle adjustment relative to the derrick. When the derrick is not in operation, it is laid down above the workover rig, and its bottom end is hinged to the vehicle position, and the laying-down and erection actions are realized through relevant power structures. When approaching the wellhead and starting the workover operation, the derrick gradually erects from the lying-down state. In order to cooperate with the wellhead operation, its final working state is inclined from the vehicle body towards the wellhead direction. The upper and lower parts of the oil pipe must be perpendicular to the wellhead. Therefore, the state of the hoisted oil pipe also needs to be a vertical state. Based on the above structure, during the process of the derrick erecting, the swing rod 23 extends away from the derrick due to its own gravity. The maximum extension amplitude is restricted by the stop block 24. When the derrick reaches its working angle, the stop block 24 contacts the swing seat 22. Combined with the cooperation of the lower hinge shaft, the mast column 18 is in a state perpendicular to the wellhead. And by the upper telescopic rod 26 and the lower telescopic rod 20 protruding towards the side far from the workover rig, the whole mast column 18 is moved away from the derrick, which is convenient for cooperating with the oil pipe below and also provides space for the manipulator to grab.

[0074] In terms of power, in order to improve the positioning during operation, an oil cylinder or electric cylinder can be added to assist in pushing and positioning, for example, a hole is opened on the side wall of the follower sleeve 25, and a connecting block is fixed at the inner end of the lower telescopic rod 20, and an auxiliary cylinder body parallel to it is installed above or below the fixed sleeve 19, and the end of the auxiliary cylinder body close to the mast column 18 is telescopically matched with an auxiliary lever, and the end of the auxiliary lever is fixed relative to the connecting block, thereby achieving auxiliary pushing or restraining the telescopic stroke of the lower telescopic rod 20. Not limited to this example, an auxiliary cylinder body can also be added to the upper telescopic rod 26 as a power, or other linear stroke power can be used.

[0075] 6.2.2 Lifting mechanism The end face of the mast column 18 away from the derrick is defined as the working surface. The mast column 18 is made of hollow square steel and has a passage running through it from top to bottom. The top and bottom ends of the mast column 18 are symmetrically mounted with guide wheel frames 27, on which two parallel guide wheels are rotatably mounted, and a circular steel wire rope 28 is wound between the four guide wheels. Half of the steel wire rope 28 passes through the passage based on the guidance of the guide wheels at both ends, and the other half of the steel wire rope 28 is centered on the working surface to provide power for the lifting action.

[0076] A material lifting motor 29 is installed at the bottom end of the mast column 18, and the output shaft of the material lifting motor 29 is used to provide power for one of the guide wheels at the bottom end.

[0077] A lifting seat 30 is sleeved on the mast column 18 and slides up and down relative to it. The lifting seat 30 adopts a C-shaped structure and is provided with a notch on the side away from the working surface to facilitate the giving way of the upper hinge shaft during lifting.

[0078] A connecting piece 31 is provided in the center of the lifting seat 30. There are two connecting pieces 31 and they are arranged up and down relative to the lifting seat 30. The connecting piece 31 adopts a tubular structure. The steel wire rope 28 passes through the upper and lower connecting pieces 31 and is fixed to the connecting pieces 31, so that the lifting seat 30 is driven to rise and fall when the steel wire rope 28 rotates.

[0079] 6.2.3 Elevator mechanism One side of the lifting seat 30 is fixedly provided with a rotating seat 32. A swing shaft 33 is rotatably penetrated through the rotating seat 32. One end of the swing shaft 33 protrudes from the working surface and is fixedly connected with a matching plate 34. One side of the matching plate 34 is vertically fixed with a limiting plate 35. A U-shaped groove 36 is arranged at the bottom side of the limiting plate 35. The notch of the U-shaped groove 36 is at the bottom side, and the top end of the U-shaped groove 36 is provided with a semi-circular groove bottom. The width of the U-shaped groove 36 and the diameter of the groove bottom are both adapted to the diameter of the oil pipe. When the lifting seat 30 drops, the U-shaped groove 36 can be inserted into the peripheral surface of the oil pipe located on the groove rack 10, and the peripheral surface of the oil pipe is adapted to the groove bottom of the U-shaped groove 36 to realize preliminary positioning.

[0080] Two clamping blocks 37 parallel to the limiting plate 35 are arranged on one side of the limiting plate 35. Arc-shaped clamping grooves are arranged on the adjacent side edges of the clamping blocks 37. The arc-shaped clamping grooves are symmetrically arranged on the left and right with respect to the groove bottom of the U-shaped groove 36. A vertical rod is fixed above the clamping block 37. An installation seat 38 is arranged on the top side of the limiting plate 35 or the top side of the matching plate 34. A double-headed cylinder body 39 is fixed on the installation seat 38. The two ends of the double-headed cylinder body 39 are respectively telescopically matched with double-headed cylinder rods. The outer ends of the double-headed cylinder rods are fixedly connected with the top ends of the vertical rods. Based on the double-headed cylinder body 39, the clamping actions of the two clamping blocks 37 are driven, so that the clamping blocks 37 on both sides have clamping actions of approaching or separating from each other with respect to the U-shaped groove 36. And when the clamping blocks 37 are closed together, the arc-shaped clamping grooves and the groove bottom of the U-shaped groove 36 are co-circular to realize the clamping of the oil pipe. When the lifting seat 30 rises, based on the protrusion of the front joint hoop of the oil pipe, the oil pipe is lifted.

[0081] The action principle of this module is: when the oil pipe is positioned and conveyed below the lifting seat 30, and the joint hoop of the oil pipe is located on the right side of the lifting seat 30 (counting from the working surface), the lifting seat 30 drops so that the oil pipe is inserted into the U-shaped groove 36 and reaches the groove bottom, and the clamping blocks 37 on both sides are closed together to clamp the oil pipe. Start the steel wire rope 28 to lift the lifting seat 30 upward, then the oil pipe joint hoop and the clamping block block to lift the oil pipe. During the lifting process, the oil pipe gradually changes from a lying state to an upright state, and there is a process of attitude change. And through the swing shaft 33, the matching plate 34 can adapt to the attitude of the oil pipe and always keep perpendicular to the axial direction of the oil pipe, so as to adapt to the attitude change of the oil pipe during the lifting process and maintain a good clamping effect without damaging the oil pipe.

[0082] At the same time, during the lifting of the oil pipe, in addition to the attitude change, after the pipe head of the oil pipe is lifted, only its tail end falls into the V-shaped groove. Through the translation of the groove rack 10 in the direction of the derrick, and in cooperation with the dynamic change of the support position at the bottom end of the oil pipe during the lifting action, the effect of follow-up feeding is realized.

[0083] After the operation is completed, the upper telescopic rod 26 and the lower telescopic rod 20 are retracted, so that the mast column 18 is close to the side of the derrick. And the swing rod 23 moves to the right, so that the follower sleeve 25 abuts against the side of the derrick close to the vehicle body. After the vehicle is retracted, this module is arranged close to the derrick, and the whole is relatively compact with respect to the derrick structure, which is convenient for movement.

[0084] 6.3 Wellhead positioning module It is used to move the oil pipe above the wellhead and cooperate with downhole operations to achieve precise positioning.

[0085] It includes a strip-shaped frame 47 that remains perpendicular to the ground during operation. The strip-shaped frame 47 is arranged on the side of the derrick close to the mast column 18. And during operation, the strip-shaped frame 47 and the mast column 18 are arranged side by side in the best operating state.

[0086] It also includes an upper slide rail 40 and a lower slide rail 43 fixedly installed on one side of the derrick. The upper slide rail 40 and the lower slide rail 43 are horizontally installed and fixed, and are arranged on the side of the derrick close to the mast column 18.

[0087] An upper slider 41 is slidably connected to the upper slide rail 40, and a rotating shaft 42 is fixed on the upper slider 41. A lower slider 44 is slidably connected to the lower slide rail 43, and a pin shaft 45 is fixed on the lower slider 44. The top end of the strip-shaped frame 47 is provided with a shaft hole rotatably connected to the rotating shaft 42. The bottom end of the strip-shaped frame 47 is provided with a strip-shaped hole 46 penetrated by the pin shaft 45 and matched with the notch of the pin shaft 45. Based on the fact that the upper slider 41 and the lower slider 44 slide independently, and through the relevant cooperation relationship above and below the strip-shaped frame 47, the strip-shaped frame 47 can maintain a certain angle with the derrick when the derrick is in an inclined working state, so as to obtain the working state where the strip-shaped frame 47 is perpendicular to the ground. Through the up and down lifting action, it is used to cooperate with workover operations to realize the feeding of the oil pipe.

[0088] In terms of power, this example provides a realization method: That is, an upper gear is rotatably installed on the upper slider 41. An upper rack parallel to it is fixed above the upper slide rail 40. An upper motor for driving the upper gear is also fixed on the upper slider 41, and the upper gear meshes with the upper rack. A lower gear is rotatably installed on the lower slider 44. A lower rack parallel to it is fixed above the lower slide rail 43. A lower motor for driving the lower gear is also fixed on the lower slider 44, and the lower gear meshes with the lower rack. Through the driving of their respective motors, the movement and positioning of their respective positions are realized, and finally when the derrick is in an inclined operation, the strip-shaped frame 47 remains upright.

[0089] Not limited to this example, power drive can also be achieved by an oil cylinder or a pneumatic cylinder. For example, an oil cylinder or an electric cylinder is independently arranged below the upper slide rail 40 and above the lower slide rail 43, and drive is achieved by connecting the cylinder rod with the upper slide block 41 and the lower slide block 44.

[0090] The strip frame 47 is provided with a boom truss 50 that is slidably matched and rotatable along its length direction. Its specific structure is that a lifting slide rail 48 extending in the same direction as the strip frame 47 is fixed to the strip frame 47, and two or more lifting sliders are slidably connected to the lifting slide rail 48. An adapter 49 is fixed to the lifting slider, and the adapter 49 adopts an angle iron structure, which is convenient for switching and bearing on two vertical planes. A traveling gear driven by a stepper motor is rotatably installed on one side of the adapter 49, and a traveling rack meshing with the traveling gear is installed on the strip frame 47 in the same direction to realize the driving of the boom truss 50 to rise and fall.

[0091] The boom truss 50 adopts a metal welded truss structure, and organic plates 51 are symmetrically fixed on the top and bottom ends of the boom truss 50. An inner shaft 52 is fixedly installed through the upper and lower ends of the plate 51 close to the lifting slide rail 48. A swivel motor for driving the inner shaft 52 is provided on the plate 51. Large sprockets 53 are installed at the opposite inner ends of the upper and lower inner shafts 52. The inner shaft 52 is rotatably connected to the adapter 49, so that the entire boom truss 50 can be raised and lowered and swung left and right relative to the strip frame 47.

[0092] An outer shaft 54 ​​is rotatably installed on the end of the machine plate 51 away from the lifting slide rail 48, and a small sprocket 55 is fixed to the opposite end of the upper and lower outer shafts 54. A chain 56 is wound between the large sprocket 53 and the small sprocket 55, and the transmission ratio between the large sprocket 53 and the small sprocket 55 is 1:2.

[0093] A small arm truss 57 is rotatably connected to the side of the boom truss 50 away from the strip frame 47, and a machine arm 58 is respectively provided at the upper and lower ends of the small arm truss 57. A mechanical gripper 59 is installed at the end of the machine arm 58 away from the boom truss 50. The mechanical gripper 59 adopts a common connecting mechanical arm structure in the prior art, and has a grasping and opening mechanical claw, which is used to grab the suspended oil pipe.

[0094] The side of the arm 58 close to the boom truss 50 is relatively fixed to the outer shaft 54 ​​of the boom truss 50, so that it is driven to swing based on the rotation of the outer shaft 54. Based on the transmission ratio between the large sprocket 53 and the small sprocket 55 being 1:2, that is, when the boom truss 50 swings 90 degrees, the jib truss 57 has a linkage swinging action of 180 degrees relative to the boom truss, and based on the linkage swinging of the boom truss 50 and the jib truss 57, the boom truss 50 and the jib truss 57 have the following two travel positions: Grabbing stroke position: The boom truss 50 is vertically located on one side of the derrick where the strip-shaped frame 47 is installed and is perpendicular to this side, and the forearm truss 57 is perpendicular to the boom truss 50 and extends towards the mast column 18. Positioning stroke position: The boom truss 50 is vertically located on one side of the derrick where the strip-shaped frame 47 is installed and is parallel to this side, and the forearm truss 57 is perpendicular to the boom truss 50 and is in the opposite direction to the vertical direction of the grabbing stroke position. At this time, the manipulator is located above the wellhead.

[0095] When the boom truss 50 swings from the grabbing stroke position to the positioning stroke position, it rotates 90 degrees from the vertical side of the derrick to the side of the derrick, and at the same time, the forearm truss 57 rotates 180 degrees following the boom truss, achieving a reverse perpendicular to the boom truss 50.

[0096] In addition, after the operation is completed, the upper slider 41 and the lower slider 44 both slide to one end on the same side, and the boom truss 50 swings to lean against the side of the derrick, and the forearm truss 57 swings to lean against the front side of the derrick, that is, attaching to the derrick can complete the state of retracting the vehicle. When the derrick is retracted and lies horizontally above the workover rig, this device follows the derrick and can retract the vehicle and follow the vehicle for transfer conveniently. Therefore, in the operation and the preparation link of retracting the vehicle, there is no need to install and remove equipment additionally, which is very convenient.

[0097] Under the above linkage swing, it realizes one-step in-place from grabbing to wellhead positioning, and through the accurately set transmission ratio, mechanical positioning is completed. Each position can match the wellhead, which is efficient and practical.

[0098] Based on this system, the feeding and positioning actions for the tubing are as follows in sequence: Vehicle deployment: After the workover rig arrives at the wellhead site, first fix the vehicle body, erect the derrick, and at the same time deploy the following modules in sequence: (1) The bearing seat 3 of the second-order feeding module extends outwards from the vehicle body, making the trough frame 10 suspended outside the vehicle body; (2) As the derrick stands upright, the lifting module naturally unfolds due to the action of gravity so that the mast column 18 extends vertically relative to the ground; (3) The upper slider 41 and the lower slider 44 of the wellhead positioning module start to move independently, making the strip-shaped frame 47 vertically located side by side with the mast column 18 on the side of the derrick.

[0099] Operation: The tubing is sent to the ground below the tank rack 10. The support column 4 and the second-order slider 7 both start the descending stroke to achieve second-order descent. The tubing located below is lifted by the support rod 8. The tubing is lifted to one side of the tank rack 10 by the rising of the second-order slider 7. At this time, the guide rod 12 remains upright and blocks the tubing above one side of the V-shaped groove. The guide rod 12 is started to slowly fall, and the support tubing gradually falls into the V-shaped groove on the tank rack 10, completing the second-order feeding action; The push block 17 at the end of the tank rack 10 pushes towards the wellhead, pushing the pipe joint collar of the tubing forward and exposing it outside the V-shaped groove and below the portal groove 36 of the limit plate 35, facilitating cooperation with the lifting module; The lifting seat 30 drops to the bottom of the portal groove 36 where the tubing is clamped, and the clamping blocks 37 come closer to clamp the tubing; The lifting seat 30 rises to drive the pipe head of the tubing to be lifted upwards. The tubing gradually tilts from a lying position to an upright state and is lifted by the lifting seat 30 to the corresponding height of the mechanical gripper 59; The boom truss 50 and the forearm truss 57 are in their grasping stroke positions. The mechanical gripper 59 grasps the tubing. After the two clamping blocks 37 are released, the boom truss 50 swings 90 degrees to the side parallel to the derrick, and the forearm truss 57 swings 180 degrees relative to the boom truss, so that the grasped tubing is located above the wellhead, and the feeding positioning is completed; Based on the operation progress, the entire boom truss 50 drops, moving the bottom end of the tubing downwards corresponding to the wellhead to achieve the discharging cooperation.

Claims

1. An automated tubing loading and positioning system, characterized in that, Including: A second-order feeding module, installed on one side of the workover rig chassis, includes a support column with a lifting stroke. A support rod with a lifting stroke is installed on the support column. The top of the support column is provided with a trough rack horizontally extending along the length direction of the workover rig, and the trough rack has a horizontal following stroke along its length direction; A hoisting module, including a mast column installed on one side of the derrick. A lifting hook mechanism with a lifting stroke is installed on the mast column, and the lifting hook mechanism is used to clamp the coupling of the tubing on the trough rack; A wellhead positioning module, including a strip-shaped rack installed on one side of the derrick. A large arm truss with a rotating stroke is liftably installed on the strip-shaped rack. A small arm truss is rotatably installed on the side of the large arm truss away from the strip-shaped rack. A mechanical gripper is installed on the small arm truss. The rotation of the large arm truss and the small arm truss is linked, and when the large arm truss rotates 90 degrees, the small arm truss is linked to rotate 180 degrees relative to the large arm truss.

2. The automated tubing loading and positioning system according to claim 1, wherein The second-order feeding module further includes a plurality of fixed horizontal rails arranged side by side. The fixed horizontal rails are used for fixed installation on one side of the workover rig. A sliding frame is slidably matched with the fixed horizontal rails along its length direction. One end of the sliding frame is fixed with a bearing seat. The bottom end of the support column is installed on the bearing seat. Two first-order guide rails are liftably installed on the side of the support column away from the bearing seat, and the two first-order guide rails are arranged side by side and vertically extended on each support column. A first-order slider is slidably matched with the first-order guide rails, and the first-order slider is fixed on the bearing seat. A first-order motor is installed on the bearing seat. A first-order gear driven by the first-order motor is also rotatably installed on the bearing seat. A first-order rack fixed on the support column is arranged side by side on one side of the first-order guide rail, and the first-order gear and the first-order rack are meshed; Two second-order guide rails arranged vertically side by side are fixedly installed on the side of the support column away from the bearing seat and the first-order guide rail. A second-order slider is slidably matched with the second-order guide rails, and the support rod is fixed on the second-order slider. Second-order chutes slidably matched with the two second-order guide rails are respectively arranged on both sides of the second-order slider. A second-order gear is rotatably installed on the second-order slider. A second-order motor for driving the second-order gear is also fixed on the second-order slider. A second-order rack extending vertically is installed on the support column, and the second-order rack and the second-order gear are meshed.

3. The automated tubing loading and positioning system according to claim 1, wherein A V-shaped groove is provided above the trough rack. The V-shaped groove is a through groove penetrating along the length direction of the trough rack. When the support rod rises to the upper end of its stroke, the bottom end of the support rod corresponds to the adjacent edge of the V-shaped groove. The edge of the V-shaped groove close to the support rod is lower than the edge of the V-shaped groove away from the support rod.

4. The automated tubing loading and positioning system according to claim 3, wherein A plurality of guide rods are provided on the trough rack along its length direction. The bottom end of the guide rod is hinged to the trough rack. The guide rod has a swinging stroke with an axial direction corresponding to the length direction of the trough rack, enabling the guide rod to stand upright or lie down. When the guide rod stands upright, the guide rod is close to the support rod at the top end of the lifting stroke. When the guide rod lies down, the guide rod is located below the V-shaped groove. The bottom end of the guide rod is hinged to one side of the trough rack close to the support rod. A small oil cylinder is hinged at the position of the trough rack corresponding to the guide rod. The top end of the small oil cylinder is telescopically fitted with a small cylinder rod, and the top end of the small cylinder rod is hinged to the bottom of the guide rod. and / or One end of the trough rack is fixed with a tail rack. A pushing oil cylinder arranged in the same direction as the trough rack is fixed on the tail rack. The end of the pushing oil cylinder close to the trough rack is telescopically fitted with a pushing cylinder rod. A pushing block is arranged at the end of the pushing cylinder rod, and the pushing block is located in the V-shaped groove.

5. The automated tubing loading and positioning system according to claim 1, wherein, A guide pulley is rotatably installed at the top of the support column. The axial direction of the guide pulley is horizontal and perpendicular to the length direction of the trough rack. A plurality of strip-shaped openings extending in the same direction as the trough rack are provided at the bottom of the trough rack. Each strip-shaped opening corresponds to one guide pulley. The guide pulley penetrates through the corresponding strip-shaped opening and is engaged with the notch of the strip-shaped opening to guide the follow-up stroke of the trough rack. A follow-up gear driven by a motor is rotatably installed at the top of the support column. A follow-up rack engaged with the gear is installed at the bottom of the trough rack, and the length direction of the follow-up rack is the same as that of the trough rack.

6. The automated tubing loading and positioning system according to claim 1, wherein, The lifting module further includes a hinge seat and a fixed sleeve fixedly installed on the derrick. The fixed sleeve is horizontally fixed on one side of the derrick close to the vehicle body. The hinge seat is located above the fixed sleeve and close to one end of the fixed sleeve. A swinging seat is rotatably installed on the hinge seat. A swinging rod passing through the swinging seat and slidably connected thereto is provided. A follow-up sleeve perpendicular to the fixed sleeve is fixed at one end of the swinging rod close to the fixed sleeve. The follow-up sleeve and the fixed sleeve are arranged parallel to each other up and down. One end of the follow-up sleeve is provided with an upper telescopic rod telescopically fitted therewith, and one end of the fixed sleeve is provided with a lower telescopic rod telescopically fitted therewith. The ends of the upper telescopic rod and the lower telescopic rod are respectively hinged to the mast column.

7. The automated tubing loading and positioning system according to claim 1, wherein The elevator mechanism includes a lifting seat capable of ascending and descending along the mast column. The lifting seat adopts a lifting structure driven by a steel wire rope. A swinging shaft is rotatably installed on the lifting seat. A matching plate perpendicular to the swinging shaft is fixed at one end of the swinging shaft away from the lifting seat. A limiting plate is vertically fixed on one side of the matching plate. A U-shaped groove is provided at the bottom side of the limiting plate. The notch of the U-shaped groove is at the bottom side, and the bottom of the U-shaped groove is provided with a semi-circular arc. The width of the U-shaped groove and the diameter of the bottom of the groove are both adapted to the diameter of the oil pipe. Two clamping blocks parallel to the limiting plate are provided on one side of the limiting plate. Arc-shaped clamping grooves are provided on the adjacent sides of the clamping blocks. The arc-shaped clamping grooves are symmetrically arranged on the left and right with respect to the bottom of the U-shaped groove, and the two clamping blocks have a clamping action of approaching or separating with respect to the U-shaped groove.

8. The automated tubing loading and positioning system according to claim 1, characterized in that, The wellhead positioning module includes an upper slide rail and a lower slide rail fixedly installed on the same side of the derrick, the upper slide rail and the lower slide rail are horizontally installed and fixed, the upper slide rail is slidably connected with an upper slider, the upper slider is fixed with a rotating shaft, the lower slide rail is slidably connected with a lower slider, and the lower slider is fixed with a pin shaft; the top of the strip frame is provided with an axial hole rotatably connected to the rotating shaft, the bottom end of the strip frame is provided with a strip hole penetrated by the pin shaft and matched with the pin shaft groove, the strip frame is fixed with a lifting slide rail extending in the same direction as the strip frame, the lifting slide rail is slidably connected with two or more lifting slide blocks, the lifting slide block is fixed with an adapter, and the boom truss is rotatably mounted on the adapter.

9. The automated tubing loading and positioning system according to claim 1, wherein, The top and bottom ends of the large arm truss are symmetrically fixed with horizontally extending machine plates, respectively; an inner shaft is fixedly installed through the upper and lower ends of the machine plate close to the strip frame, and the inner end of the inner shaft is rotatably installed on the adapter; a swivel motor for driving the inner shaft is provided on the machine plate, and large sprockets are installed at the opposite inner ends of the upper and lower inner shafts; an outer shaft is rotatably installed through the upper and lower ends of the machine plate away from the lifting slide rail, and a small sprocket is fixed at the opposite ends of the upper and lower outer shafts, a chain is wound between the large sprocket and the small sprocket, and the transmission ratio between the large sprocket and the small sprocket is 1:

2.

10. An integrated workover rig, comprising a vehicle chassis, wherein a derrick is installed at the tail of the vehicle chassis, and is characterized in that, An automated tubing loading and positioning system as described in any one of claims 1 to 9 is installed, and the second-stage loading module is installed on one side of the vehicle chassis, and the lifting module and the wellhead positioning module are installed on the derrick.

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