An automated tubing feeding and positioning system and an integrated workover rig

Abstract

The present invention discloses an automated oil pipe loading and positioning system and an integrated well repair machine, which mainly relates to the field of well repair equipment. It includes a two-stage loading module, including a support column with a lifting stroke, a support rod with a lifting stroke installed on the support column, and a trough frame extending horizontally along the length direction of the well repair vehicle at the top of the support column, and the trough frame has a horizontal follow-up stroke along its length direction; a lifting module, including a mast column installed on one side of the derrick, and a lifting card mechanism with a lifting stroke installed on the mast column; a wellhead positioning module, including a strip frame installed on one side of the derrick, a large arm truss with a rotation stroke installed on the strip frame, a small arm truss rotatably installed on one side of the large arm truss, and a mechanical gripper installed on the small arm truss. The beneficial effects of the present invention are: simple structure, easy installation and use on the vehicle, tight and smooth connection of the actions of each link, and the ability to complete the oil pipe loading and positioning in automated well repair operations.

Description

Technical Field

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

[0002] The transportation and positioning of oil pipes is a critical step in well repair operations. Traditional workover equipment primarily uses the workover rig's built-in lifting equipment to transport and position the pipes from the surface to above the wellhead, requiring manual assistance and loading. This is not only labor-intensive but also prone to damage to the pipes and accidents due to improper operation. Furthermore, the lack of effective stable support and precise positioning mechanisms during loading can cause the pipes to wobble and shift during transportation, compromising subsequent lifting and positioning operations and increasing both 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, as well as various catwalk structures and straightening equipment. However, they all have some defects, including:

[0004] Existing workover equipment has a low overall level of automation, and the interoperability between its various modules is insufficient. Frequent manual intervention and operation are required during the transportation and positioning of the oil pipes, which not only increases labor costs but also easily leads to operational errors, compromising the safety and reliability of workover operations. Furthermore, issues with the connection between various transportation and transfer operations hinder the efficiency of continuous operations, further reducing the overall efficiency of workover operations.

[0005] Secondly, the lifting module's structure was not flexible enough to adapt to changes in the tubing's posture during the lifting process. When lifting the tubing from a horizontal to a vertical position, it could easily collide with the equipment, causing scratches or deformation on the tubing surface, impacting the tubing's service life and the quality of subsequent downhole operations.

[0006] Furthermore, existing equipment often requires additional installation and removal steps, increasing maintenance costs and operation time. Furthermore, the equipment is bulky, complex, and requires a large floor space. It also requires high surface leveling, making it difficult to adapt to the complex outdoor well repair environment. Furthermore, the high cost of commissioning and the difficulty of operation create a high barrier to entry.

[0007] 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 well workover operations, forming a barrier to the realization of a fully automated process for well workover operations. Summary of the Invention

[0008] The purpose of the present invention is to provide an automated tubing loading and positioning system and an integrated workover rig, which has a simple structure, can be installed and used on a vehicle, and has tight and smooth movement in each link, thereby being able to complete tubing loading and positioning in automated workover operations.

[0009] To achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions:

[0010] An automatic oil pipe feeding and positioning system, comprising:

[0011] The second-stage loading module is installed on one side of the workover vehicle chassis and includes a support column with a lifting stroke, a support rod with a lifting stroke installed on the support column, and a trough frame extending horizontally along the length of the workover vehicle at the top of the support column. The trough frame has a horizontal follow-up stroke along its length;

[0012] The lifting module includes a mast column installed on one side of the derrick, and an elevator mechanism with a lifting stroke is installed on the mast column. The elevator mechanism is used to clamp the joint clamp of the oil pipe on the trough frame;

[0013] The wellhead positioning module includes a strip frame installed on one side of the derrick, on which a boom truss with a rotation stroke is installed in a liftable manner, and a small arm truss is rotatably installed on the side of the boom truss away from the strip frame, and a mechanical gripper is installed on the small arm truss. The rotation of the boom truss is linked to that of the small arm truss, and when the boom truss rotates 90 degrees, the small arm truss is linked to rotate 180 degrees relative to the boom truss.

[0014] The lifting mechanism is a bottom end of the support frame, and the support frame is lifted up and down and is in a state of being lifted and lowered. The support frame is equipped with a first-stage guide rail, and a first-stage guide rail is installed on the support frame. The first-stage guide rail is equipped with a first-stage slider, and the first-stage slider is fixed on the support frame. The support frame is equipped with a first-stage motor, and a first-stage gear driven by the first-stage motor is also rotatably installed on the support frame. A first-stage rack fixed to the supporting column is provided in parallel on one side of the first-stage guide rail, and the first-stage gear is meshed with the first-stage rack;

[0015] Two second-order guide rails arranged vertically in parallel are fixedly installed on the side of the support column away from the bearing seat and the first-order guide rail, and a second-order slider is slidably fitted on the second-order guide rail. The support rod is fixed on the second-order slider, and two sides of the second-order slider are respectively provided with second-order slide grooves that slidably fit with the two second-order guide rails. A second-order gear is rotatably installed on the second-order slider, and a second-order motor that drives the second-order gear is also fixed on the second-order slider. A vertically extending second-order rack is installed on the support column, and the second-order rack is meshed with the second-order gear.

[0016] A V-shaped groove is provided above the groove frame, and the V-shaped groove is a through groove running through the length direction of the groove frame. When the support rod is raised to the upper end of its stroke, the bottom end of the support rod corresponds to the edge adjacent to the V-shaped groove, and 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.

[0017] A plurality of guide rods are provided on the trough frame along its length direction, and the bottom end of the guide rod is hinged to the trough frame, and the guide rod has an axial swing stroke corresponding to the length direction of the trough frame, so that the guide rod can stand upright or lie down. When the guide rod is upright, the guide rod is close to the support rod at the top of the lifting stroke. When the guide rod is lying down, the guide rod is located below the V-shaped groove. The bottom end of the guide rod is hinged to the side of the trough frame close to the support rod. A small oil cylinder is hinged at the position of the guide rod corresponding to the trough frame. The top end of the small oil cylinder is telescopically matched with a small cylinder rod, and the top end of the small cylinder rod is hinged to the bottom of the guide rod.

[0018] A tail frame is fixed at one end of the trough frame, and a pushing cylinder arranged in the same direction as the trough frame is fixed on the tail frame. The pushing cylinder is telescopically matched with a pushing cylinder rod at one end close to the trough frame, and a pushing block is provided at the end of the pushing cylinder rod, and the pushing block is located in the V-shaped groove.

[0019] A guide pulley is rotatably installed on the top of the supporting column, and the axial direction of the guide pulley is horizontal and perpendicular to the length direction of the slot frame. A plurality of strip openings extending in the same direction are provided at the bottom of the slot frame, and the strip openings are arranged corresponding to each guide pulley, and the guide pulley passes through the corresponding strip opening and cooperates with the strip opening notch to guide the follow-up stroke of the slot frame. A follow-up gear driven by a motor is rotatably installed on the top of the supporting column, and a follow-up rack meshing with the gear is installed at the bottom of the slot frame, and the length direction of the follow-up rack is in the same direction as the slot frame.

[0020] The lifting module also includes an articulated seat and a fixed sleeve fixedly mounted on the derrick, the fixed sleeve being horizontally fixed on a side of the derrick close to the vehicle body, the articulated seat being located above the fixed sleeve and arranged close to one end of the fixed sleeve, a swing seat being rotatably mounted on the articulated seat, a swing rod being passed through the swing seat and being slidably connected to the swing seat, a follower sleeve being fixed at one end of the swing rod close to the fixed sleeve and being perpendicular to the swing rod, the follower sleeve being arranged parallel to the fixed sleeve up and down, one end of the follower sleeve being provided with an upper telescopic rod that cooperates with the follower sleeve, and one end of the fixed sleeve being provided with a lower telescopic rod that cooperates with the follower sleeve, the ends of the upper telescopic rod and the lower telescopic rod being hinged to the mast column respectively.

[0021] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0022] The top end of the strip frame is provided with an axial hole rotatably connected to the rotating shaft, and the bottom end of the strip frame is provided with a strip hole penetrated by the pin and matched with the pin slot. A lifting slide rail extending in the same direction as the strip frame is fixed on the strip frame, and two or more lifting slide blocks are slidably connected to the lifting slide rail, and an adapter is fixed on the lifting slide, and the boom truss is rotatably mounted on the adapter.

[0023] Horizontally extending machine plates are symmetrically fixed to the top and bottom ends of the boom truss, and an inner shaft is fixedly installed through the upper and lower ends of the machine plate close to the strip frame. The inner end of the inner shaft is rotatably installed on the adapter. A rotating arm motor for driving the inner shaft is provided on the machine plate, and large sprockets are installed on 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 small sprockets are fixed to 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.

[0024] An automated workover rig comprises a chassis, a derrick is installed at the rear of the chassis, a second-stage loading module is installed on one side of the chassis, and a lifting module and a wellhead positioning module are installed on the derrick.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] This system completes the fully automated operation of positioning the oil pipe from the ground to the wellhead through the coordination of multiple modules. It has accurate transfer and positioning, smooth movement connection, simple and stable structure, low configuration cost, and each module is installed on the workover rig, which is easy to move and deploy. There is no need for complicated disassembly and installation steps before and after use, which is more practical and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an overall side schematic diagram of the present invention.

[0028] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0029] Figure 3 This invention Figure 2 Enlarged view of part D.

[0030] Figure 4 It is a schematic diagram of one end of the second-stage loading module of the present invention.

[0031] Figure 5 It is a partial schematic diagram of the second-stage loading module of the present invention.

[0032] Figure 6 It is a schematic diagram of the tail of the second-stage loading module of the present invention.

[0033] Figure 7 It is an overall schematic diagram of the second-stage loading module of the present invention.

[0034] Figure 8 Schematic diagram of the lifting module of the present invention.

[0035] Figure 9 This is a schematic diagram of the operation of the lifting module of the present invention (the oil pipe is lifted to halfway).

[0036] Figure 10 This invention Figure 9 Enlarged view of part E.

[0037] Figure 11 It is a schematic diagram of the operation of the wellhead positioning module of the present invention.

[0038] Figure 12 It is a top view schematic diagram of the operation of the wellhead positioning module of the present invention.

[0039] Figure 13It is a schematic diagram of the wellhead positioning module of the present invention being retracted.

[0040] Reference numerals shown in the accompanying drawings:

[0041] 1. Fixed rail; 2. Slide; 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. Slot frame; 11. Strip mouth; 12. Guide rod; 13. Support seat; 14. Guide pulley; 15. Reinforcement frame; 16. Push cylinder; 17. Push block; 18. Mast column; 19. Fixed sleeve; 20. Lower telescopic rod; 21. Articulated seat; 22. Swing seat; 23. Swing rod; 24. Stopper; 25. Follower sleeve; 26. Upper telescopic rod; 27. Guide wheel frame; 28. Wire rope; 29. Lifting motor; 30 , lifting seat; 31. Connecting piece; 32. Rotating seat; 33. Swinging shaft; 34. Matching plate; 35. Limiting plate; 36. Door-shaped groove; 37. Clamping block; 38. Mounting seat; 39. Double-headed cylinder; 40. Upper slide rail; 41. Upper slider; 42. Rotating shaft; 43. Lower slide rail; 44. Lower slider; 45. Pin shaft; 46. Strip hole; 47. Strip frame; 48. Lifting slide rail; 49. Adapter; 50. Big arm truss; 51. Machine plate; 52. Inner shaft; 53. Big sprocket; 54. Outer shaft; 55. Small sprocket; 56. Chain; 57. Small arm truss; 58. Machine arm; 59. Mechanical gripper. DETAILED DESCRIPTION

[0042] Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiments are only used to illustrate the present invention and are not used in limiting the scope of the present invention.In addition, 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 fall within the scope limited by the application equally.

[0043] Example 1

[0044] The main improvement in this example is the automated tubing loading and positioning system. The system utilizes fully automated connection operations, including a two-stage loading module, a hoisting module, and a wellhead positioning module. These modules are integrated and installed on the derrick or workover vehicle chassis, resulting in a complete automated workover rig product. For ease of description, the workover rig is briefly introduced in this example as follows:

[0045] A workover rig (also known as a workover vehicle) is a key piece of equipment used in oilfield operations for well maintenance, repair, and production stimulation. Its main structure includes:

[0046] 1. Chassis system

[0047] Dedicated heavy-duty chassis: Typically constructed from a truck or trailer chassis (Class II chassis), these vehicles offer high load capacity and off-road performance, adapting to the complex terrain of oilfields. The chassis houses the powertrain, including the engine, transmission, transfer case, and drive axle, providing power for vehicle movement and operation. Some models are equipped with an auxiliary generator to provide independent power for the hydraulic and electrical systems. Optimally, they can also be equipped with an energy storage battery system for power, enabling new energy automated well repair operations.

[0048] 2. Derrick system

[0049] Telescopic derrick: Made of high-strength steel, it is typically installed at an angle, typically 18-30 meters in height, to support the hoisting system. A crown block is mounted on top of the derrick, forming a pulley system with a traveling block (traveling block), which uses a wire rope 28 to raise and lower the pipe.

[0050] The side of the derrick close to the wellhead is the working side, that is, 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.

[0051] 3. Winch system

[0052] Main winch: controls the retraction and extension of the wire rope 28 through a drum and brake system, and is used to lift or lower downhole tools and pipes.

[0053] Auxiliary winch: used for auxiliary operations (such as lifting equipment).

[0054] 4. Hydraulic system

[0055] Hydraulic pump station: driven by the main engine and provides hydraulic power.

[0056] Hydraulic control valve group: controls the lifting and lowering of the derrick, leveling of the outriggers, action of the winch, etc.

[0057] Hydraulic cylinders and motors: perform actions such as derrick extension and retraction, and outrigger support.

[0058] 5. Operation control system

[0059] Driller's control room: equipped with instrument panel, operating handle, monitoring screen, etc., centrally controls the winch, derrick and hydraulic system.

[0060] Electronic monitoring system: real-time display of load, speed, pressure and other parameters to ensure operation safety.

[0061] 6. Oil pipe loading and positioning system

[0062] 6.1 Second-order loading module

[0063] This module is used to raise the oil pipe to a certain height from the ground to prepare for lifting.

[0064] 6.1.1 Telescopic bearing mechanism

[0065] It includes a fixed rail 1 for fixed installation, the fixed rail 1 is used to be fixed on the chassis of the well repair vehicle, the fixed rail 1 is two and is installed in parallel on one side of the chassis (generally the left side facing the front of the vehicle, not limited to this example, it is also applicable to be installed on the right side), the length direction of the fixed rail 1 is horizontal relative to the well repair vehicle, and the fixed rail 1 is slidably matched with a slide 2 extending in the same direction as it, and a bearing seat 3 is fixed above one end of the slide 2. During specific installation, the bearing seat 3 is set at the end away from the chassis - that is, the bearing seat 3 is located at the edge of the chassis. When the sliding stroke of the slide 2 is started, the bearing seat 3 can be pushed outward from the chassis, so that the entire mechanism is suspended, thereby facilitating feeding from below, and cooperating with the oil pipe in place below to complete the lifting and loading actions.

[0066] In terms of power, hydraulic power can be used. A pushing cylinder is installed at the end of the fixed rail 1 away from the bearing seat 3. The end of the pushing cylinder close to the bearing seat 3 is telescopically matched with a pushing cylinder rod. The end of the pushing cylinder rod is fixed on the slide 2, thereby realizing the control of the sliding stroke of the slide 2, so that the slide 2 can be extended out of the well repair vehicle body or retracted into the chassis range of the well repair vehicle.

[0067] The supporting seat 3 is used to support the entire loading module. A lower mounting plate is provided at the bottom of the supporting seat 3, and a horizontal mounting surface is provided on the bottom of the lower mounting plate. An upper mounting plate is provided on the upper part of the supporting seat 3, and the upper mounting plate is upright and has an upright mounting surface on the side.

[0068] 6.1.2 Second-stage loading mechanism

[0069] It is used to lift the oil pipe on the ground upwards, thus completing the first step of preparation for loading the workover rig.

[0070] It comprises two supporting columns 4 arranged side by side on the left and right. The two supporting columns 4 are respectively arranged corresponding to the two groups of bearing seats 3 and are respectively used for being installed on the bearing seats 3 on the same side in a liftable manner.

[0071] A first-stage guide rail 5 is fixed on the side vertical surface of the supporting column 4 close to the bearing seat 3. Two first-stage guide rails 5 are set on each supporting column 4 and extend vertically in parallel. A first-stage slider is slidably fitted on the first-stage guide rail 5. The first-stage slider is fixed on the mounting surface of the upper mounting plate. The first-stage sliders are 2 groups or 4 groups, and the left and right columns are fixed on the mounting surface to improve the lifting stability.

[0072] A first-order motor is installed on the supporting seat 3, and a first-order gear driven by the first-order motor is also rotatably installed on the supporting seat 3. A first-order rack fixed on the supporting column 4 is provided in parallel on one side of the first-order guide rail 5. The first-order gear and the first-order rack are engaged to realize the drive control of the overall lifting and lowering of the supporting column 4 relative to the supporting seat 3.

[0073] Two second-order guide rails 6 arranged vertically and in parallel are fixedly installed on the side of the support column 4 away from the bearing seat 3 and the first-order guide rail 5. A second-order slider 7 is provided between the two second-order guide rails 6 on the same support column 4. Second-order slide grooves that slide with the two second-order guide rails 6 are respectively provided on both sides of the second-order slider 7, so that it can slide up and down with the two guide rails at the same time, thereby increasing stability during the load-bearing lifting of small components.

[0074] A support rod 8 is provided at the top of the second-stage slider 7. One end of the support rod 8 is fixed to the center of the top side of the second-stage slider 7, and the other end of the support rod 8 extends upward and away from the support column 4, forming an inclined support structure. For the convenience of subsequent description, the top surface of the support rod 8 is defined as the loading surface 9, which is an inclined surface with an upwardly inclined outer end.

[0075] When the second-stage slider 7 moves upward, an angle is formed between the support rod 8 and the second-stage guide rail 6, which can well constrain the oil pipe within the angle space.

[0076] 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 that drives the second-order gear is also fixed on the second-order slider 7. A vertically extending second-order rack is installed on the supporting column 4, and the second-order rack is engaged with the second-order gear.

[0077] 6.1.3 Transfer Agency

[0078] The transfer mechanism is used to temporarily support the oil pipe from the ground to the top of the wellhead, and to connect the action of lifting the oil pipe from the ground to the trough frame 10 and the lifting action of lifting the oil pipe from the horizontal to the vertical state.

[0079] The transfer mechanism includes: a support base 13, a slot frame 10, a guide rod 12, and a reinforcement frame 15;

[0080] The trough frame 10 is a component that specifically realizes the horizontal support of the oil pipe. A V-shaped groove structure is provided on the top of the trough frame 10. The V-shaped groove includes a first V-shaped groove surface (the side away from the vehicle body) and a second groove surface. The inner ends of the first groove surface and the second groove surface are connected to form a V shape. The outer side of the first groove surface and the outer side of the second groove surface form a 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 generally high, and the side close to the support rod 8 is lower, which cooperates with the support rod 8 to prevent the oil pipe from rolling down during transfer.

[0081] When the second-stage 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 on the support rod 8 can naturally roll into the V-shaped groove due to gravity.

[0082] There are at least two guide rods 12, or multiple guide rods of other numbers. The bottom ends of the guide rods 12 are hinged to the side of the channel frame 10 close to the support rod 8. The guide rods 12 have a swing stroke based on their hinged structure.

[0083] 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.

[0084] Based on the swing stroke of the guide rod 12, the guide rod 12 can change its state between upright and laid down. When the guide rod 12 is in the upright state, the guide rod 12 is close to the support rod 8 (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. During this process, the oil pipe gradually moves and is supported on the guide rod 12 due to gravity, thereby achieving slow descent. Therefore, based on the control and guidance of the guide rod 12, controlled unloading can be achieved, and the oil pipe is kept waiting above the V-shaped groove, and then unloaded 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 its gravitational potential energy and the risk of falling out of the V-shaped groove.

[0085] The support seat 13 is an installation member for supporting the slot frame 10 and guiding 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 installed with a guide pulley 14. The axial direction of the guide pulley 14 is horizontal and perpendicular to the slot frame 10.

[0086] The bottom of the trough frame 10 is provided with a plurality of strip openings 11 extending in the same direction as the longitudinal direction. The strip openings 11 are provided for each support seat 13. The guide pulley 14 passes through the corresponding strip opening 11 and cooperates with the slot of the strip opening 11. The outer end or both ends of the guide pulley 14 are provided with circular blocking pieces, so that the guide pulley 14 has an I-shaped structure. The diameter of the guide pulley 14 is adapted to the width of the strip opening. The blocking pieces are larger than the width of the strip opening 11. Therefore, based on the position limitation of the blocking pieces at both ends of the guide pulley 14, the trough frame 10 is constrained to the top of the support and has a forward and backward follow-up stroke relative to the support corresponding to the longitudinal direction of the trough frame 10. This 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 conveying the oil pipe toward the derrick, and stabilize the lifting process.

[0087] Because the oil pipe must move laterally toward the wellhead on the trough frame 10, its weight is primarily transferred to the support columns 4 near the wellhead. To enhance support strength, a reinforcement frame 15 is attached to the support columns 4 near the wellhead. The reinforcement frame 15 comprises a pair of bilaterally symmetrical triangular trusses. These trusses are right triangles, with their upright, right-angled sides secured to either side of the support columns 4 near the parking space. Support bases 13 are also attached to the outer ends of the triangular trusses, further adding a guide assembly to stabilize the movement of the trough frame 10.

[0088] 6.1.4 Pushing mechanism

[0089] It is installed at the end of the trough frame 10 close to the front of the vehicle, and includes a telescopic pushing cylinder 16 and a pushing cylinder rod. A tail frame is fixed at the end of the trough frame 10 away from the reinforcement frame 15. The pushing cylinder 16 is fixed on the tail frame, and the pushing cylinder 16 is supported by the tail frame. The pushing cylinder 16 can adopt a multi-stage telescopic cylinder. The pushing cylinder 16 is horizontally telescopically matched with a pushing cylinder rod at the end close to the trough frame 10. A pushing block 17 is provided at the end of the pushing cylinder rod. The pushing block 17 is located in the V-shaped groove. Based on the telescopic effect, the oil pipe in the V-shaped trough is pushed in the lifting direction, so that the pipe head section hoist is exposed from the V-shaped trough, which is convenient for the grabbing and lifting of the hanging mechanism, and the material is delivered in place, which is convenient for picking up the lifting action.

[0090] 6.2 Lifting Module

[0091] This module is used to lift the oil pipe from a horizontal state to a vertical state, providing posture preparation for subsequent wellhead positioning.

[0092] The structure includes: car collecting mechanism, lifting mechanism and hanging mechanism.

[0093] 6.2.1 Vehicle collection mechanism

[0094] It includes a mast column 18 that remains vertical to the ground during operation. The mast column 18 is arranged on one side of the derrick. An upper hinge shaft is provided at the top of the mast column 18, and a lower hinge shaft is provided at the bottom of the mast column 18. The upper hinge shaft and the lower hinge shaft are both provided on the side of the mast column 18 close to the derrick.

[0095] The derrick further comprises an articulated seat 21 and a fixed sleeve 19 fixedly mounted on the derrick, the articulated seat 21 and the fixed sleeve 19 being arranged up and down, a swing seat 22 being rotatably mounted on the articulated seat 21, the swing seat 22 being a hollow sleeve-type structure, a swing rod 23 being slidably connected therewith is passed through the swing seat 22, a stopper 24 is provided at one end of the swing rod 23 close to the derrick, the swing seat 22 cannot be prevented from slipping by the stopper 24, and a stopper 24 is fixed at one end of the swing rod 23 away from the derrick to the vertical connection therewith. The follower sleeve 25 is directly fixedly connected, and 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 without obviously protruding from the derrick range, which is conducive to it being closer to the derrick after the vehicle is retracted. The 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 matched with the follower sleeve 25, and the end of the upper telescopic rod 26 away from the follower sleeve 25 is rotatably connected to the upper hinge shaft.

[0096] 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, so the follower sleeve 25 is arranged parallel to the fixed sleeve 19 above and below. The 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 matched with the mast column 18, and the end of the lower telescopic rod 20 is rotatably connected to the lower hinge shaft.

[0097] Based on the above structure, the mast column 18 can be extended toward the side of the vehicle body relative to the derrick (the upper telescopic rod 26 and the lower telescopic rod 20 extend and retract), and its angle relative to the derrick can be adjusted. When not in operation, the derrick is laid flat on top of the workover vehicle, its bottom end hinged to the vehicle, and the associated power structure enables both laying down and erecting. Upon reaching the wellhead and commencing workover operations, the derrick gradually rises from its horizontal position. To facilitate wellhead operations, its final operational position tilts from the vehicle body toward the wellhead. The oil pipe must be perpendicular to the wellhead, so the oil pipe must also be in a vertical position after being hoisted. Based on the above structure, as the derrick is erected, the mast column 18, due to its own gravity, extends its swing arm 23 away from the derrick. The maximum extension range is constrained by a stopper 24. When the derrick reaches its operating angle, the stopper 24 contacts the swing seat 22, and in conjunction with the lower hinge shaft, the mast column 18 is positioned perpendicular to the wellhead. Furthermore, by extending the upper telescopic rod 26 and the lower telescopic rod 20 to the side away from the workover vehicle, the mast column 18 is moved away from the derrick, which facilitates the cooperation with the oil pipe below and provides space for the manipulator to grab.

[0098] In terms of power, to improve positioning during operation, an oil cylinder or electric cylinder can be added to assist in pushing and positioning. For example, a hole can be drilled in the side wall of the follower sleeve 25, and a connecting block can be fixed to the inner end of the lower telescopic rod 20. An auxiliary cylinder body can be installed above or below the fixed sleeve 19 in parallel with it. The end of the auxiliary cylinder body near the mast column 18 is telescopically engaged with an auxiliary lever, and the end of the auxiliary lever is fixed relative to the connecting block, thereby assisting in pushing or restraining the telescopic travel of the lower telescopic rod 20. This example is not limited to this example, and an auxiliary cylinder body can also be added to the upper telescopic rod 26 as a power source, or other linear travel power can be used.

[0099] 6.2.2 Lifting mechanism

[0100] 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 channel running through it from top to bottom. The top and bottom ends of the mast column 18 are symmetrically installed with guide wheel frames 27. Two parallel guide wheels are rotatably installed on the guide wheel frames 27. A circular steel wire rope 28 is wound between the four guide wheels. Half of the steel wire rope 28 passes through the channel 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.

[0101] 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.

[0102] 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 has a notch on the side away from the working surface to facilitate the clearance of the upper hinge shaft during lifting.

[0103] 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.

[0104] 6.2.3 Elevator mechanism

[0105] A rotating seat 32 is fixed to one side of the lifting seat 30, and a swing shaft 33 is rotatably passed through the rotating seat 32. One end of the swing shaft 33 protrudes from the working surface and is fixedly connected to a matching plate 34. A limiting plate 35 is vertically fixed to one side of the matching plate 34. A door-shaped groove 36 is provided on the bottom side of the limiting plate 35. The notch of the door-shaped groove 36 is on the bottom side, and the top of the door-shaped groove 36 is provided with a semicircular groove bottom. The width of the door-shaped groove 36 and the diameter of the groove bottom are adapted to the diameter of the oil pipe. When the lifting seat 30 falls, the door-shaped groove 36 can be inserted into the circumference of the oil pipe on the trough frame 10, and the circumference of the oil pipe adapts to the bottom of the door-shaped groove 36 to achieve preliminary positioning.

[0106] One side of the limit plate 35 is provided with two clamping blocks 37 parallel thereto, and the adjacent sides of the clamping blocks 37 are provided with arc-shaped slots, which are symmetrically arranged with respect to the bottom of the gate-shaped slot 36.

[0107] A vertical rod is fixed above the clamping block 37. A mounting seat 38 is provided on the top side of the limit plate 35 or the top side of the mating plate 34. A double-headed cylinder 39 is fixed to the mounting seat 38. The two ends of the double-headed cylinder 39 are respectively equipped with double-headed cylinder rods, and the outer ends of the double-headed cylinder rods are relatively fixedly connected to the top of the vertical rod. The double-headed cylinder 39 drives the clamping action of the two clamping blocks 37, allowing the clamping blocks 37 on both sides to move closer to or away from each other relative to the gate-shaped groove 36. When the clamping blocks 37 are closed together, the arc-shaped groove and the bottom of the gate-shaped groove 36 are cocircular, achieving an embracing of the oil pipe. When the lifting seat 30 is raised, the oil pipe is lifted due to the protrusion of the joint hoop at the front end of the oil pipe.

[0108] The operating principle of this module is as follows: When the oil pipe is positioned and transported below the lifting base 30, and the pipe joint is located to the right of the lifting base 30 (facing the work surface), the lifting base 30 drops, allowing the oil pipe to be inserted into the gate-shaped groove 36 and reach the bottom of the groove. The clamping blocks 37 on both sides close together to clamp the oil pipe. When the wire rope 28 is activated to lift the lifting base 30 upward, the pipe joint and the clamping blocks block the oil pipe, causing it to be lifted. During the lifting process, the oil pipe gradually changes from a lying position to an upright position. The swing shaft 33 allows the mating plate 34 to adapt to the oil pipe's posture and always remain perpendicular to the oil pipe's axis. This adapts to the changes in the oil pipe's posture during the lifting process, maintaining a good clamping effect and preventing damage to the oil pipe.

[0109] At the same time, during the lifting of the oil pipe, in addition to the change in posture, 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 frame 10 toward the derrick, combined with the dynamic change of the support position of the bottom end of the oil pipe during the lifting action, the effect of follow-up feeding is achieved.

[0110] 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 casing 25 is close to the side of the derrick close to the vehicle body. After the device is retracted, the module is set against the derrick, and the overall structure is compact relative to the derrick, which is easy to move.

[0111] 6.3 Wellhead Positioning Module

[0112] Used to move the oil pipe above the wellhead and achieve precise positioning in conjunction with downhole operations.

[0113] The strip frame 47 is arranged on the side of the derrick close to the mast column 18, and during operation, the strip frame 47 and the mast column 18 are arranged side by side relative to each other to form the best working state.

[0114] 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 installed and fixed horizontally and are arranged on the side of the derrick close to the mast column 18.

[0115] The upper slide rail 40 is slidably connected to an upper slider 41, and a rotating shaft 42 is fixed to the upper slider 41.

[0116] A lower slider 44 is slidably connected to the lower rail 43 , and a pin 45 is fixed to the lower slider 44 ;

[0117] The top of the strip frame 47 is provided with an axial hole rotatably connected to the rotating shaft 42, and the bottom of the strip frame 47 is provided with a strip hole 46 penetrated by the pin 45 and matched with the notch of the pin 45. Because the upper slider 41 and the lower slider 44 slide independently, and the vertical coordination of the strip frame 47, the strip frame 47 can maintain a certain angle with the derrick when the derrick is tilted, so that the strip frame 47 can work perpendicular to the ground. The up and down movement is used to facilitate the unloading of oil pipes during well repair operations.

[0118] In terms of power, this example provides an implementation method:

[0119] Specifically, an upper gear is rotatably mounted on the upper slider 41. An upper rack, parallel to the upper rail 40, is fixed above the slider 41. An upper motor, which drives the upper gear, is also fixed to the slider 41, with the upper gear meshing with the upper rack. A lower gear is rotatably mounted on the lower slider 44. A lower rack, parallel to the lower rail 43, is fixed above the slider 44. A lower motor, which drives the lower gear, is also fixed to the slider 44, with the lower gear meshing with the lower rack. Driven by these motors, the respective positions are moved and positioned, ultimately maintaining the upright position of the derrick during tilting operations.

[0120] Not limited to this example, power drive can also be achieved by an oil cylinder or an air cylinder. For example, an oil cylinder or an electric cylinder is independently set 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 slider 41 and the lower slider 44.

[0121] The bar frame 47 is equipped with a boom truss 50 that slides and rotates along its length. Specifically, a lifting rail 48 extending in the same direction as the bar frame 47 is fixed to the bar frame 47. Two or more lifting sliders are slidably connected to the lifting rail 48. An adapter 49 is fixed to the lifting sliders. This adapter 49 adopts an angle iron structure, which facilitates the connection and load-bearing between two vertical surfaces. A travel gear driven by a stepper motor is rotatably mounted on one side of the adapter 49. A travel rack is mounted in the same direction on the bar frame 47, meshing with the travel gear, to drive the boom truss 50 up and down.

[0122] 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 rotating arm 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.

[0123] An outer shaft 54 is rotatably installed on the upper and lower ends of the machine plate 51 away from the lifting slide rail 48, and a small sprocket 55 is fixed to the opposite ends 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.

[0124] 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 provided at the upper and lower ends of the small arm truss 57 respectively. 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 manipulator structure in the prior art, and has a mechanical claw that grasps and opens. The mechanical claw is used to grab the suspended oil pipe.

[0125] The side of the boom truss 50 near the boom truss 50 is fixed relative to the outer shaft 54 of the boom truss 50, and is thereby driven to swing based on the rotation of the outer shaft 54. Because the transmission ratio between the large sprocket 53 and the small sprocket 55 is 1:2, when the boom truss 50 swings 90 degrees, the jib truss 57 swings 180 degrees relative to the boom truss. Based on the coordinated swing 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:

[0126] Grasping stroke position: the boom truss 50 is vertically located on one side of the derrick on which the strip frame 47 is installed and is perpendicular to the side, and the jib truss 57 is perpendicular to the boom truss 50 and extends toward the mast column 18;

[0127] Positioning stroke position: the boom truss 50 is vertically located on one side of the derrick where the strip frame 47 is installed and is parallel to this side. The small arm truss 57 is perpendicular to the boom truss 50 and opposite to the vertical direction of the grabbing stroke position. At this time, the manipulator is located above the wellhead.

[0128] When the boom truss 50 swings from the grabbing stroke position to the positioning stroke position, it rotates 90 degrees from vertical to the side of the derrick and simultaneously the jib truss 57 rotates 180 degrees relative to the boom truss to achieve reverse verticality with the boom truss 50.

[0129] Furthermore, when the operation is complete, the upper and lower sliders 41 and 44 slide to the same side, and the boom truss 50 swings to abut the side of the derrick, while the jib truss 57 swings to abut the front side of the derrick, thus completing the vehicle retraction state. When the derrick is retracted and laid horizontally above the workover vehicle, the device adheres to the derrick and moves with it, allowing for convenient vehicle retraction and transfer. This eliminates the need for additional installation and removal equipment during the preparation phases for operation and vehicle retraction, making it extremely convenient.

[0130] The above-mentioned linkage swing mechanism realizes the one-step process from self-grasping to wellhead positioning. Through the precisely set transmission ratio, mechanical positioning is completed. Each position can match the wellhead, which is efficient and practical.

[0131] Based on this system, the loading and positioning actions for the oil pipe are as follows:

[0132] Exhibition car:

[0133] After the workover vehicle arrives at the wellhead, the vehicle body is first fixed, the derrick is erected, and the following modules are deployed in sequence:

[0134] (1) The supporting base 3 of the second-stage loading module protrudes outward from the vehicle body, so that the trough frame 10 is suspended outside the vehicle body;

[0135] (2) As the derrick stands upright, the hoisting module naturally unfolds due to gravity so that the mast column 18 extends vertically relative to the ground;

[0136] (3) The upper slider 41 and the lower slider 44 of the wellhead positioning module are independently started and moved, so that the strip frame 47 is located vertically and parallel to the mast column 18 on the side of the derrick.

[0137] Operation:

[0138] The oil pipe is sent to the ground below the trough frame 10, and the supporting column 4 and the second-stage slider 7 both start the descending stroke to realize the second-stage descent. The oil pipe located below is lifted by the supporting rod 8, and the oil pipe is lifted to one side of the trough frame 10 by the rising of the second-stage slider 7. At this time, the guide rod 12 remains upright to block the oil pipe located above one side of the V-shaped groove. The guide rod 12 is started to fall slowly, and the supporting oil pipe gradually falls into the V-shaped groove on the trough frame 10, completing the second-stage feeding action;

[0139] The push block 17 at the rear end of the trough frame 10 pushes toward the wellhead, pushing the pipe head collar of the oil pipe forward to be exposed outside the V-shaped groove and located below the door-shaped groove 36 of the limit plate 35, making it convenient to cooperate with the lifting module;

[0140] The lifting seat 30 falls to the bottom of the oil pipe clamping groove 36, and the clamping block 37 moves closer to clamp the oil pipe;

[0141] The lifting seat 30 is lifted to drive the pipe head of the oil pipe upward, and the oil pipe gradually tilts from a lying position to an upright position, and is lifted by the lifting seat 30 to the corresponding height of the mechanical gripper 59;

[0142] The boom truss 50 and the jib truss 57 are in their grabbing stroke positions. The mechanical gripper 59 grabs the oil pipe. After the two clamping blocks 37 are released, the boom truss 50 swings 90 degrees to the side of the derrick and the jib truss 57 swings 180 degrees relative to the boom truss, so that the grabbed oil pipe is located above the wellhead. The loading and positioning is completed.

[0143] Based on the progress of the operation, the entire boom truss 50 is lowered, and the bottom end of the oil pipe corresponding to the wellhead is moved downward to achieve material unloading coordination.

Claims

1. An automated oil pipe loading and positioning system, characterized in that: include: The second-stage loading module is installed on one side of the workover vehicle chassis and includes a support column with a lifting stroke, a support rod with a lifting stroke installed on the support column, and a trough frame extending horizontally along the length of the workover vehicle at the top of the support column. The trough frame has a horizontal follow-up stroke along its length; The lifting module includes a mast column installed on one side of the derrick, and an elevator mechanism with a lifting stroke is installed on the mast column. The elevator mechanism is used to clamp the joint clamp of the oil pipe on the trough frame; The wellhead positioning module includes a strip frame installed on one side of the derrick, a boom truss with a rotation stroke is installed on the strip frame, and a small arm truss is installed on the side of the boom truss away from the strip frame. A mechanical gripper is installed on the small arm truss. The rotation of the boom truss and the small arm truss are linked, and when the boom truss rotates 90 degrees, the small arm truss is linked to rotate 180 degrees relative to the boom truss. A V-shaped groove is provided above the trough frame. The V-shaped groove is a through groove that penetrates along the length direction of the trough frame. When the support rod is raised to the upper end of its stroke, the bottom end of the support rod corresponds to the edge adjacent to 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. A plurality of guide rods are provided on the trough frame along its length direction, the bottom ends of the guide rods are hinged to the trough frame, and the guide rods have an axial swing stroke corresponding to the length direction of the trough frame, so that the guide rods can stand upright or lie down. When the guide rods are upright, the guide rods are close to the support rods at the top of the lifting stroke. When the guide rods are lying down, the guide rods are located below the V-shaped grooves. The bottom ends of the guide rods are hinged to the side of the trough frame close to the support rods. A small oil cylinder is hinged to the position of the guide rods on the trough frame. The top end of the small oil cylinder is telescopically matched 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 A tailstock is fixed at one end of the trough frame, and a pushing oil cylinder arranged in the same direction as the trough frame is fixed on the tailstock. The end of the pushing oil cylinder close to the trough frame is telescopically matched with a pushing cylinder rod, and a pushing block is provided at the end of the pushing cylinder rod, and the pushing block is located in the V-shaped groove; A guide pulley is rotatably installed on the top of the supporting column, and the axial direction of the guide pulley is horizontal and perpendicular to the length direction of the slot frame. A plurality of strip openings extending in the same direction are provided at the bottom of the slot frame, and the strip openings are arranged corresponding to each guide pulley, and the guide pulley passes through the corresponding strip opening and cooperates with the strip opening notch to guide the follow-up stroke of the slot frame. A follow-up gear driven by a motor is rotatably installed on the top of the supporting column, and a follow-up rack meshing with the gear is installed at the bottom of the slot frame, and the length direction of the follow-up rack is in the same direction as the slot frame.

2. The automatic oil pipe loading and positioning system according to claim 1, characterized in that: Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The swing arm ends up being rotated by the hook portion. The swing arm ends up being rotated by the hook portion. Two second-order guide rails arranged vertically in parallel 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 fitted on the second-order guide rail. The support rod is fixed on the second-order slider. Second-order slide grooves that slide with the two second-order guide rails are respectively provided on both sides of the second-order slider. A second-order gear is rotatably installed on the second-order slider. A second-order motor that drives the second-order gear is also fixed on the second-order slider. A vertically extending second-order rack is installed on the support column, and the second-order rack is meshed with the second-order gear.

3. The automatic oil pipe loading and positioning system according to claim 1, characterized in that: The lifting module also includes an articulated seat and a fixed sleeve fixedly mounted on the derrick, the fixed sleeve being horizontally fixed on a side of the derrick close to the vehicle body, the articulated seat being located above the fixed sleeve and arranged close to one end of the fixed sleeve, a swing seat being rotatably mounted on the articulated seat, a swing rod being passed through the swing seat and being slidably connected to it, a follower sleeve being fixed at one end of the swing rod close to the fixed sleeve and being perpendicular to it, the follower sleeve being arranged parallel to the fixed sleeve up and down, one end of the follower sleeve being provided with an upper telescopic rod that cooperates with it for telescopic cooperation, and one end of the fixed sleeve being provided with a lower telescopic rod that cooperates with it for telescopic cooperation, and the ends of the upper telescopic rod and the lower telescopic rod are respectively hinged to the mast column.

4. The automatic oil pipe loading and positioning system according to claim 1, characterized in that: Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

5. The automatic oil pipe loading and positioning system according to claim 1, characterized in that: The top end of the strip frame is provided with an axial hole rotatably connected to the rotating shaft, and the bottom end of the strip frame is provided with a strip hole penetrated by the pin shaft and matched with the pin shaft slot. A lifting slide rail extending in the same direction as the strip frame is fixed on the strip frame, and two or more lifting slide blocks are slidably connected to the lifting slide rail, and an adapter is fixed on the lifting slide block, and the boom truss is rotatably mounted on the adapter.

6. The automatic oil pipe loading and positioning system according to claim 1, characterized in that: Horizontally extending machine plates are symmetrically fixed to the top and bottom ends of the boom truss, and an inner shaft is fixedly installed through the upper and lower ends of the machine plate close to the strip frame. The inner end of the inner shaft is rotatably installed on the adapter. A rotating arm motor for driving the inner shaft is provided on the machine plate, and large sprockets are installed on 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 small sprockets are fixed to 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.

7. An integrated workover rig, comprising a chassis, a derrick mounted at the rear of the chassis, characterized in that: An automated oil pipe loading and positioning system as described in any one of claims 1 to 6 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.

Images