Intelligent conveying and controlling machine for under-pressure operation tubular column

Abstract

The invention discloses an intelligent conveying and controlling machine for an under-pressure operation tubular column, and belongs to the technical field of petroleum and natural gas well repair equipment. The intelligent conveying and controlling machine for the under-pressure operation tubular column is mainly composed of an intelligent pipe bin, the tubular column, a smoothbore pipe conveying machine, a laser control and controlling machine and an under-pressure operation platform. The device is characterized in that the under-pressure operation platform is installed on the ground according to the position of a wellhead, and the smoothbore pipe conveying machine is installed on the side edge of the under-pressure operation platform through a positioning rail on the under-pressure operation platform; the working distance between the intelligent pipe bin and the smoothbore pipe conveying machine and between the intelligent pipe bin and the under-pressure working platform is kept through the working stroke of a mechanical arm of the smoothbore pipe conveying machine by using a range finder, the laser control machine is connected to the under-pressure working platform through a sliding rail, and a laser emitter on the sliding rail emits laser. And the laser receiver on the track receives the laser to control the laser control machine to move. The problems that the risk is high and the efficiency is low in the process of grabbing, conveying, screwing on and screwing off the pipe column in the operation under pressure are solved, and the whole pipe column conveying and controlling process is intelligent.

Description

Technical Field

[0001] The present invention provides an intelligent transmission and control machine for pressure - operated work string, belonging to the technical field of oil and gas workover equipment. Background Technique

[0002] The pressure - operated (non - kill well) operation of oil and gas wells refers to the cooperation between tubing plugs and special blowout preventer groups, and through the control of pressure - applying devices, operations such as tubing running and pulling, fishing, sand washing, and plug drilling are carried out under the conditions of not killing the well and not discharging the well. With its characteristics of safety, environmental protection, low consumption, and high efficiency, the pressure - operated work technology has become an indispensable key technical means in the development of unconventional oil and gas resources. According to the operation form, the pressure - operated workover machines for gas wells are divided into three categories: mechanical pressure - operated workover machines for gas wells, rack - and - pinion pressure - operated workover machines for gas wells, and hydraulic pressure - operated workover machines for gas wells. In terms of intelligence, unmanned operation, and automation, among the three pressure - operated workover machines, the mechanical and rack - and - pinion pressure - operated workover machines for gas wells have relatively low levels of intelligence, unmanned operation, and automation, mainly relying on manual operation. The hydraulic pressure - operated workover machine for gas wells has a relatively higher level of intelligence, unmanned operation, and automation, but in actual applications, it still needs to overcome challenges such as technical complexity, high cost, and environmental adaptability, so it cannot achieve complete unmanned operation. The realization of unmanned operation (i.e., fully automated operation) of the pressure - operated workover machine has many advantages. Especially in the high - risk and high - cost oil drilling and production industry, the advantages of unmanned operation of the pressure - operated workover machine are mainly reflected in aspects such as improved safety, increased efficiency, reduced cost, adaptability to complex working conditions, data - driven intelligence, and environmental protection and sustainability. These advantages can not only help enterprises reduce operation risks, but also improve operation efficiency and market competitiveness, promoting the oil and gas industry to develop towards a more intelligent, safer, and more efficient direction.

[0003] Intelligence, unmanned operation, and automation are the main research directions of the current pressure - operated workover machine. On the premise of ensuring safety, improving the efficiency of tubing running and pulling can bring significant economic benefits. The intelligent transmission and control machine for pressure - operated work string of the present invention constructs a safety - oriented operation system through fully unmanned operation, significantly eliminating potential risks and hazards in high - risk environments. Its various parts are highly intelligent and coordinated. While subverting the traditional manual operation mode, it greatly reduces the reliance on manpower and operation costs, featuring cost savings in labor and high work efficiency, and promoting the energy industry to leapfrog and upgrade towards intelligence and intensification. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent transmission and control machine for pressure - operated work string to solve the problems that the processes of tubing grasping, conveying, making - up and breaking - out of the tubing during pressure - operated work are not fully automated, require manual participation, pose safety hazards to workers, and have low work efficiency in tubing grasping, conveying, making - up, and breaking - out of the tubing.

[0005] To achieve the purpose of solving the above problems, the technical solution adopted by the present invention is to provide an intelligent pipe string control machine for pressure work, which includes an intelligent pipe bin, a smooth-bore pipe conveyor, a laser pipe controller, and a pressure work platform; the pressure work platform is installed on the ground according to the wellhead position, and the smooth-bore pipe conveyor is installed beside the pressure work platform through the positioning track on the pressure work platform and works in coordination with the pressure work platform to convey the pipe string; the intelligent pipe bin maintains a working distance from the smooth-bore pipe conveyor and the pressure work platform through a rangefinder. The intelligent pipe bin is in an open-air form and uses two bosses to place the pipe string. The bosses of the intelligent pipe bin are provided with tracks and pipe pushers. The pipe pushers move along the tracks and can play a role in conveying the pipe string; the laser pipe controller is connected to the pressure work platform through a sliding track. The laser emitter on the sliding track emits laser, and the laser receiver on the track receives the laser to control the movement of the laser pipe controller, and cooperates with the pressure work platform to complete the conveying, coupling, and uncoupling of the pipe string.

[0006] The above-mentioned intelligent pipe string control machine for pressure work, the pressure work platform is composed of a pressure work platform base, a safety fence, a positioning guide rail, a laser pipe controller guide rail, an infrared laser receiver, an iron roughneck guide rail, a distribution box, an iron roughneck, and a rotating manipulator, and is responsible for completing the coupling and uncoupling of the pipe string; the pressure work platform is installed on the ground according to the wellhead position; the safety fence is welded to the pressure work platform base; the laser pipe controller guide rail is fixed to the pressure work platform base by welding to ensure sliding fit with the laser pipe controller sliding track; the iron roughneck guide rail is installed between the upper and lower layers of the pressure work platform base by welding; the distribution box is bolted to both sides of the upper platform of the pressure work platform base; the iron roughneck is slidably connected to the iron roughneck guide rail, and the up and down movement of the iron roughneck can be realized. Two pairs of rotating manipulators are connected to the iron roughneck through a sliding track, which are responsible for the conveying, coupling, and uncoupling of the pipe string.

[0007] The above-mentioned intelligent pipe transfer and control machine for pressure operation string. The laser pipe control machine consists of a laser pipe control machine frame, a laser pipe control machine slide rail, a distribution box, a vertical track, a vertical slider, a rotating manipulator, a fixed manipulator, and an infrared ranging laser, and is responsible for completing the handover of the pipe string with the smooth-bore pipe transfer machine and the transfer of the pipe string on the platform; the laser pipe control machine slide rail is slidably connected to the guide rail on the pressure operation platform; the distribution box is installed in the laser pipe control machine frame of the laser pipe control machine by bolts to provide power for the laser pipe control machine. The vertical track is fixedly connected to the laser pipe control machine frame of the laser pipe control machine by welding, and a rotating manipulator that can loosen and clamp the pipe string is installed at its upper and lower ends through slide rails; the vertical slider is connected to the vertical track through a track, and the vertical slider can move up and down along the track. A fixed manipulator that can loosen and clamp the pipe string is installed on the vertical slider; the infrared ranging laser is arranged on the laser pipe control machine slide rail and works in cooperation with the infrared laser receiver arranged on the laser pipe control machine guide rail on the pressure operation platform to ensure that the laser pipe control machine can move to a predetermined position.

[0008] The above-mentioned intelligent pipe transfer and control machine for pressure operation string. The smooth-bore pipe transfer machine consists of a smooth-bore pipe transfer machine base, a hydraulic rod, a smooth-bore pipe transfer machine frame, a sliding inner bin and an electromagnetic chuck, a robotic arm, a pipe picking manipulator, and a hydraulic rod, and they cooperate together to complete the pipe transfer function; the distribution box is fixed inside the smooth-bore pipe transfer machine base with bolts, and the smooth-bore pipe transfer machine frame is installed beside the distribution box and is connected to the smooth-bore pipe transfer machine base through a smooth round rod and can perform rotational movement; the sliding inner bin is connected to the upper and lower sides of the smooth-bore pipe transfer machine frame through tracks and can slide through electric drive; the robotic arm is connected to the sliding inner bin through the sliding groove of the sliding inner bin, and the extension and contraction of the robotic arm can be realized through sliding movement. The electromagnetic chuck is fixed at the end of the robotic arm with bolts; the pipe picking manipulator is connected to the electromagnetic chuck through a track and can slide up and down to pick up and place the pipe string and adjust the position of the pipe string; one end of the hydraulic rod is rotatably connected to the smooth-bore pipe transfer machine base, and the other end is slidably connected to the track arranged on the smooth-bore pipe transfer machine frame. The hydraulic rod is powered by the distribution box to drive the smooth-bore pipe transfer machine frame to complete the upright and horizontal lying movements between 0° and 90°.

[0009] The above-mentioned intelligent pipe transfer and control machine for pressure operation string. The intelligent pipe bin consists of an intelligent pipe bin base, a pipe pusher, a pipe pusher track, and a pressure induction switch, and they cooperate together to complete the automatic propulsion and collection functions of the pipe string; the pipe pusher is installed on the pipe pusher track and can move along the track. The pressure induction switch is located at the end of the track; when loading the pipe string, the last pipe string is located on the pressure switch. When the pipe string leaves the pressure induction switch, the pipe pusher moves to push the pipe string forward until the pressure induction switch is completely pressed by the pipe string again; when unloading the pipe string, since the right side of the convex platform of the intelligent pipe bin sinks 40 mm, the pipe string will roll to the pipe pusher on the right under the action of gravity when placed on the convex platform.

[0010] A working method of an intelligent pipe string transmission and control machine for work under pressure of the present invention includes a pipe lowering process and a pipe lifting process.

[0011] The processes of pipe string grasping, conveying, making-up and breaking-out during pipe lowering include the following steps:

[0012] (1) After the manipulator of the sliding barrel pipe conveyor extends to a predetermined position, the pipe grasping manipulator moves upward, lifts the pipe string to the limit position, then the electromagnetic chuck turns on the suction force to adsorb the pipe string, and then the manipulator arm contracts into the sliding inner bin. At the same time, when the pipe string completely leaves the pressure induction switch, the pipe pushing machine starts to work, pushes the pipe string in the intelligent pipe bin forward until the pipe string completely presses the pressure induction switch again; (2) Under the action of the hydraulic rod, the frame of the sliding barrel pipe conveyor starts to move from the horizontal position of 0° to the vertical position of 90°. At the same time, the sliding inner bin starts to slide outward along the track under the drive of electricity until the frame of the sliding barrel pipe conveyor is completely erected and the sliding inner bin slides to the limit position; (3) The manipulator arm on the sliding barrel pipe conveyor starts to extend, stops when the pipe string reaches the clamping position of the three pairs of manipulators of the laser pipe control machine, then the three pairs of manipulators on the laser pipe control machine clamp the pipe string, the electromagnetic chuck disconnects the suction force, the pipe grasping manipulator releases the pipe string and returns to the initial position, and at the same time the manipulator arm retracts, and the sliding barrel pipe conveyor returns to the initial horizontal position of 0° and waits for the next grasping; (4) The laser pipe control machine moves inward, and after reaching the predetermined position by infrared laser ranging, the rotating manipulator on the iron roughneck clamps the pipe string, and the manipulator on the vertical guide rail of the laser pipe control machine releases the pipe string; (5) The iron roughneck moves downward along the iron roughneck guide rail, stops at the predetermined position, at this time the pipe string is butted with the previous pipe string, and the rotating manipulator on the iron roughneck starts to work to screw the pipe string tightly; (6) After the pipe string is screwed tightly, the fixed manipulator on the vertical guide rail of the laser pipe control machine clamps the pipe string, the iron roughneck releases the pipe string, the vertical slider moves downward along the vertical guide rail, and at the same time, the iron roughneck moves upward along the guide rail. When the vertical slider reaches the limit position, the iron roughneck clamps the pipe string, the fixed manipulator releases the pipe string, the iron roughneck moves downward with the pipe string again, releases the pipe string after reaching the limit position, and then the laser pipe control machine and the iron roughneck return to the initial position and wait for the next conveying and making-up of the pipe string;

[0013] The processes of pipe string grasping, conveying, making-up and breaking-out during pipe lifting include the following steps:

[0014] (1) The iron roughneck unclamps the pipe string through the rotating manipulator, then clamps the pipe string and moves upward. When it reaches the limit position, the fixed manipulator on the vertical guide rail of the laser pipe controller clamps the pipe string. The iron roughneck releases the pipe string, and the vertical slider moves upward along the vertical guide rail. When the vertical slider reaches the limit position, the iron roughneck clamps the pipe string, the fixed manipulator releases the pipe string, and the iron roughneck moves upward with the pipe string again. After reaching the limit position, the pipe string is released, and the three pairs of manipulators on the laser pipe controller clamp the pipe string. The iron roughneck returns to the initial position to prepare for the next pipe string unclamping; (2) The laser pipe controller reaches the predetermined position through infrared laser ranging. The sliding barrel pipe conveyor extends its robotic arm. When the electromagnetic chuck touches the pipe string, the magnetic force is turned on to adsorb the pipe string. Then the robotic arm retracts while the pipe-gripping manipulator holds the pipe string, and the laser pipe controller returns to the initial position to prepare for the next pipe string conveyance; (3) The frame of the sliding barrel pipe conveyor starts to lie down from 90° to 0° under the action of the hydraulic rod, and at the same time, the sliding inner bin slides inward. When the frame of the sliding barrel pipe conveyor finishes lying down, the sliding inner bin slides completely and contracts; (4) The robotic arm of the sliding barrel pipe conveyor extends. When the pipe string reaches the designated position above the convex platform of the intelligent pipe bin, the electromagnetic chuck disconnects the suction force, and the pipe-gripping manipulator moves downward to place the pipe string on the convex platform of the intelligent pipe bin. The pipe string slides to the right under the action of gravity, the robotic arm retracts, and the sliding barrel pipe conveyor returns to the 90° upright state to prepare for the next pipe string conveyance;

[0015] As can be seen from the above technical solutions, compared with the prior art, the present invention has the following advantages: 1) The entire process of the pressure - operated machine for intelligent grasping, conveying, screwing - on and unscrewing of the pipe string realizes intelligent operation; 2) The intelligent pipe bin, sliding barrel pipe conveyor, laser pipe controller and pressure - operated platform are highly coordinated, greatly reducing the time for grasping, conveying, screwing - on and unscrewing of the pipe string, significantly improving the work efficiency and having high economic value; 3) The intelligent pipe string transmission and control machine for pressure - operated operations of the present invention constructs a safety - oriented operation system through fully automated operation, significantly eliminating potential risks and hazards in high - risk environments. Its various parts are highly intelligent and coordinated. While subverting the traditional manual operation mode, it greatly reduces the reliance on manpower and operating costs, promoting the energy industry to leapfrog and upgrade towards intelligence and intensification. Brief Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of an intelligent pipe string transmission and control machine for pressure - operated operations of the present invention;

[0017] Figure 2 is a schematic structural diagram of the intelligent pipe bin;

[0018] Figure 3 is a schematic structural diagram of the sliding barrel pipe conveyor;

[0019] Figure 4 is a schematic structural diagram of the laser pipe controller;

[0020] Figure 5It is a schematic structural diagram of a work platform under pressure;

[0021] Figure 6 It is a working schematic diagram of a smooth-bore pipe conveyor grabbing a pipe string in an intelligent pipe bin. (a) is the initial position of grabbing the pipe string; (b) is the position where the robotic arm extends forward to the designated position; (c) is the process where the pipe-grabbing manipulator lifts the pipe string upward; (d) is the process where the robotic arm contracts after the electromagnetic chuck adsorbs the pipe string, and at the same time the pressure switch releases, and the pipe pusher pushes the pipe string forward; (e) is the position where the robotic arm contracts back to the sliding inner bin;

[0022] Figure 7 It is a working schematic diagram of a smooth-bore pipe conveyor placing a pipe string in an intelligent pipe bin. (a) is the initial position of placing the pipe string; (b) is the position where the robotic arm extends forward to the designated position; (c) is the process where the pipe-grabbing manipulator places the pipe string downward; (d) is the process where the robotic arm retracts, and at the same time the pipe string rolls to the right under the action of gravity; (e) is the robotic arm retracting into the sliding inner bin to complete the work of placing the pipe string;

[0023] Figure 8 It is a working schematic diagram of a smooth-bore pipe conveyor during pipe lowering operation. (a) is the initial erected position; (b) is the erection process, where the frame of the smooth-bore pipe conveyor moves upward and the sliding inner bin slides outward; (c) is the process where the smooth-bore pipe conveyor completes the erection process and transports the pipe string to the target position;

[0024] Figure 9 It is a working schematic diagram of a smooth-bore pipe conveyor and a laser pipe control machine handing over a pipe string during pipe lowering operation. (a) is the process where the robotic arm of the smooth-bore pipe conveyor sends out the pipe string; (b) is the process where the smooth-bore pipe conveyor and the laser pipe control machine hand over the pipe string; (c) is the process where the robotic arm retracts after the handover is completed, and the laser pipe control machine returns to the initial position;

[0025] Figure 10 It is a working schematic diagram of pipe lowering operation. (a) is the initial pipe lowering position; (b) is the process where the iron roughneck clamps the pipe string and conveys it downward and tightens the pipe string; (c) is the process where the vertical manipulator on the laser pipe control machine lowers the pipe string while the iron roughneck returns upward to the initial position; (d) is the process where the iron roughneck conveys the pipe string downward again.

[0026] In the figure: intelligent pipe storage bin 1, pipe column 2, smooth-bore pipe conveyor 3, laser pipe controller 4, pressure operation platform 5, intelligent pipe storage bin base 101, pipe pusher 102, pipe pusher track 103, pressure induction switch 104, smooth-bore pipe conveyor base 301, hydraulic rod 302, smooth-bore pipe conveyor frame 303, sliding inner bin 304, electromagnetic chuck 305, pipe-taking manipulator 306, robotic arm 307, hydraulic rod 308, laser pipe controller frame 401, laser pipe controller slide rail 402, distribution box 403, vertical track 404, vertical slider 405, rotary manipulator 406, fixed manipulator 407, infrared ranging laser 408, platform base 501, safety fence 502, positioning guide rail 503, laser pipe controller guide rail 504, infrared laser receiver 505, iron roughneck guide rail 506, distribution box 507, iron roughneck 508, rotary manipulator 509. Detailed implementation

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the invention will be described in detail below and explained in conjunction with the accompanying drawings:

[0028] As Figure 1 shown, it includes an intelligent pipe storage bin (1), a pipe column (2), a smooth-bore pipe conveyor (3), a laser pipe controller (4), and a pressure operation platform (5); the intelligent pipe storage bin (1), the smooth-bore pipe conveyor (3), and the pressure operation platform (5) need to be installed according to requirements to ensure that they can cooperate with each other to complete the work; the laser pipe controller (4) is connected to the pressure operation platform (5) through a track.

[0029] As Figure 2 shown, the intelligent pipe storage bin (1) includes an intelligent pipe storage bin base (101), a pipe pusher (102), a pipe pusher track (103), and a pressure induction switch (104); the intelligent pipe storage bin base (101) is provided with an inclined boss, on which there are a pipe pusher track (103) and a pressure induction switch (104), and the pipe pusher (102) is connected to the pipe pusher track (103) through a track and can move along the track to push the pipe column. The pressure induction switch (104) is arranged at the end of the track. When the pipe column completely leaves the pressure induction switch (104), the pipe pusher (102) pushes the pipe column forward until the pipe column completely presses the pressure induction switch (104).

[0030] As Figure 3The smoothbore pipe conveyor (2) shown in the figure is composed of a smoothbore pipe conveyor base (301), a distribution box (302), a smoothbore pipe conveyor frame (303), a sliding inner bin (304), an electromagnetic suction cup (305), a pipe-taking manipulator (306), a mechanical arm (307), and a hydraulic rod (308); the distribution box (302) is bolted to the right side of the smoothbore pipe conveyor base (301) to provide power for the operation of the smoothbore pipe conveyor; the bottom of the smoothbore pipe conveyor frame (303) is provided with a through hole, which forms a rotational fit with the cylindrical rod on the left side of the distribution box (302) on the right side of the catwalk base (301); the two sides of the sliding inner bin (304) and the two sides of the smoothbore pipe conveyor frame (303) form a sliding fit through rails, and the two sides inside the sliding inner bin (304) are A notch is arranged on the side, and the mechanical arm (307) is extended and retracted by electric drive through cooperation with the bottom cylindrical rod of the mechanical arm (307). There is a gap between the rear of the sliding inner bin (304) and the smoothbore pipe conveying machine frame (303) for installing and storing relevant pipelines; the electromagnetic suction cup (305) is fixed to the mechanical arm (307) by screws, and the pipe taking manipulator (306) is connected to the electromagnetic suction cup (305) through a slide rail, and can slide up and down to take and place the pipe column; one end of the hydraulic rod (308) is rotated with a boss arranged on the smoothbore pipe conveying machine base (301) through a gear, and the other end is slidably cooperated with the smoothbore pipe conveying machine frame (303) through a track, so that the smoothbore pipe conveying machine frame (303) can complete the standing and lying movement between 0° and 90°.

[0031] As Figure 4 The laser control machine (4) shown in the figure is composed of a laser control machine frame (401), a laser control machine slide rail (402), a distribution box (403), a vertical track (404), a vertical slider (405), a rotating manipulator (406), a fixed manipulator (407), and an infrared ranging laser (408); the distribution box (403) is bolted inside the laser control machine frame (401); the laser control machine slide rail (402) is slidably matched with the laser control machine guide rail (504) of the pressure working platform (5); the vertical slider (405) is slidably matched with the vertical track (404) of the transport machine through the track; the rotating manipulator (406) is connected by bolts The manipulator is connected to the vertical track (404) of the pipe transport machine. The manipulator can loosen and clamp the pipe column. The interior is composed of 4 horizontally rotatable rubber rollers, which can clamp the pipe column when the pipe column rotates; the fixed manipulator (407) is slidably matched with the vertical slider (405). The manipulator can loosen and clamp the pipe column. The manipulator is mainly responsible for clamping the pipe column, and then the vertical slider (405) transports the pipe column up and down; the infrared ranging laser (408) and the infrared laser receiver (505) on the pressure working platform (5) use infrared laser to accurately position the laser pipe control machine, so that the laser pipe control machine can be highly matched with the smoothbore pipe transport machine (2) and the pressure working platform (5).

[0032] like Figure 5The pressure - operated work platform (5) shown is composed of a pressure - operated work platform base (501), a safety fence (502), a positioning guide rail (503), a laser control machine guide rail (504), an infrared laser receiver (505), an iron roughneck guide rail (506), a distribution box (507), an iron roughneck (508), and a rotating manipulator (509); the distribution box (507) is arranged on the pressure - operated work platform base (501), and the safety fence (502) is welded to the pressure - operated work platform base (501) to ensure the safety of the staff during equipment installation, debugging, and maintenance; the positioning guide rail (503) is precisely positioned with the slick - bore pipe conveyor (3) to ensure the movement of the pipe string inside the track; the laser control machine guide rail (504) is slidably mated with the laser control machine slide rail (402) of the laser control machine (4) through the track, and the infrared laser receiver (505) and the infrared ranging laser (408) of the laser control machine (4) are used to position the laser control machine through infrared laser, enabling the laser control machine (5) to accurately reach the predetermined position and complete height coordination with other machinery; the iron roughneck guide rail (506) is slidably mated with the iron roughneck (508), and the rotating manipulator (509) is installed on the iron roughneck (508) through bolts. This manipulator can loosen and clamp the pipe string and is composed of 4 horizontally rotatable rubber rollers inside, and the pipe string is made to engage and disengage the thread by the 4 rubber rollers.

[0033] As Figure 6 , Figure 7 shown is the working process of automatically grasping and placing the pipe string of an intelligent pipe string transmission and control machine for a pressure - operated operation of the present invention, including the following detailed steps:

[0034] 1) When grasping the pipe string (2), the front - most pipe string (2) stops on the pressure - sensing switch (104), the robotic arm (307) extends so that the pipe - grasping manipulator (306) reaches directly below the pipe string (2), and at this time the electromagnetic chuck (305) touches the pipe string (2); 2) The pipe - grasping manipulator (306) moves upward along the track under electric drive until it completely lifts the pipe string (2), and then the electromagnetic chuck (305) turns on the suction force to fix the pipe string (2); 3) The robotic arm (307) retracts back into the sliding inner chamber (304). After the pipe string (2) completely leaves the pressure - sensing switch (104), the pipe - pushing machine (102) starts to work and pushes the pipe string (2) forward until the pressure - sensing switch (104) is completely pressed again; 4) When placing the pipe string (2), the robotic arm (307) extends so that the pipe - grasping manipulator (306) reaches the convex platform of the intelligent pipe bin base (101); 5) The electromagnetic chuck (305) disconnects the suction force, and the pipe - grasping manipulator (306) holds the pipe string (2) and moves downward. When the pipe string (2) reaches the convex platform, it will slide to the right under the action of gravity; 6) The robotic arm (307) retracts back into the sliding inner chamber (304) and waits for the next grasping.

[0035] AsFigure 8 , Figure 9 The following shows the working process of the pipe lowering operation of the sliding barrel pipe conveyor (3) of the intelligent pipe transmission and control machine for the pressure - operation pipe string of the present invention, including the following detailed steps:

[0036] 1) When lifting the pipe string (2) upward, the sliding barrel pipe conveyor frame (303) lies horizontally on the sliding barrel pipe conveyor base (301), and the pipe string (2) is fixed in the sliding inner bin (304) by the electromagnetic chuck (305) and the pipe - taking manipulator (306); 2) The sliding barrel pipe conveyor frame (303) starts to stand up under the action of the hydraulic rod (308). At the same time, the sliding inner bin (304) slides outward along the track of the sliding barrel pipe conveyor frame (303); 3) Under the action of the hydraulic rod (308), the sliding barrel pipe conveyor frame (303) stands up completely to 90°, and at the same time, the sliding inner bin (304) extends completely, so that the pipe string (2) reaches the predetermined position; 4) When lowering the pipe string (2) downward, the sliding barrel pipe conveyor frame (303) stands on the sliding barrel pipe conveyor base (301), and the pipe string (2) is fixed in the sliding inner bin (304) by the electromagnetic chuck (305) and the pipe - taking manipulator (306); 5) The sliding barrel pipe conveyor frame (303) starts to lie down under the action of the hydraulic rod (308). At the same time, the sliding inner bin (304) slides inward along the track of the sliding barrel pipe conveyor frame (303); 6) Under the action of the hydraulic rod (308), the sliding barrel pipe conveyor frame (303) lies down completely to 0°, and at the same time, the sliding inner bin (304) contracts completely, so that the pipe string (2) reaches the predetermined position;

[0037] Figure 9 The following shows the working process of the pipe handover between the sliding barrel pipe conveyor (3) and the laser pipe control machine (4) of the intelligent pipe transmission and control machine for the pressure - operation pipe string of the present invention, including the following detailed steps:

[0038] 1) The laser pipe control machine (4) comes to the predetermined position through the infrared ranging laser (408), and the robotic arm (307) on the sliding barrel pipe conveyor (3) extends; 2) The robotic arm (307) extends to the designated position, sends the pipe string (2) into the rotating manipulator (406) and clamps the pipe string (2). Then, the electromagnetic chuck (305) disconnects the suction force and the pipe - taking manipulator (306) releases the pipe string (2), and the robotic arm (307) is ready to retract;

[0039] Figure 10 The following shows the working process of the pipe lowering operation of the pressure - operation platform (5) of the intelligent pipe transmission and control machine for the pressure - operation pipe string of the present invention, including the following detailed steps:

[0040] 1) The laser pipe controller (4) is at a specified position, at which the pipe string (2) can be clamped by the manipulator on the laser pipe controller (4) and the manipulator on the iron driller (508) at the same time, and the iron driller (508) is at the top of the iron driller guide rail (506), waiting to receive and transport the pipe string; 2) The rotating manipulator (509) on the iron driller (508) clamps the pipe string (2), and the rotating manipulator (406) on the laser pipe controller (4) loosens the pipe string (2), and the iron driller (508) comes to the bottom along the iron driller guide rail (506) and docks with the previous pipe string (2), and the rotating manipulator (509) tightens the pipe string (2) with the previous pipe string (2); 3) The fixed manipulator (407) on the laser pipe controller (4) clamps the pipe string (2), and the rotating manipulator (509) on the iron driller (508) 9) Release the pipe string (2), then the vertical slider (405) moves downward along the vertical track (404) to the bottom, and transports the pipe string downward. At the same time, the iron driller (508) moves to the top along the iron driller guide rail (506); 4) The fixed manipulator (407) on the laser pipe control machine (4) releases the pipe string, and the rotating manipulator (509) on the iron driller (508) clamps the pipe string (2). The iron driller (508) moves to the bottom along the iron driller guide rail (506). The laser pipe control machine (4) returns to the place where it hands over the pipe string (2) to the smoothbore pipe conveying machine (3), waiting for the next delivery of the pipe string (2). At the same time, the iron driller (508) transports the pipe string (2) downward to a suitable position, and then returns to the top of the iron driller guide rail (506), waiting for the next delivery and buckling of the pipe string (2).

[0041] It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present invention, and these improvements and supplements should also be regarded as the protection scope of the present invention. Any technician familiar with this profession can make some changes, modifications and equivalent changes made by using the technical content disclosed above without departing from the spirit and scope of the present invention, which are all equivalent embodiments of the present invention; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above embodiments based on the essential technology of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An intelligent pipe string transmission and control machine for pressure operation mainly consists of an intelligent pipe bin (1), a pipe string (2), a smooth-bore pipe conveyor (3), a laser pipe controller (4), and a pressure operation platform (5). The pressure operation platform (5) is installed at the wellhead position and is slidably connected to the laser pipe controller (4) through a laser pipe controller guide rail (504), and cooperates with the iron roughneck (508) to complete the transmission of the pipe string. The laser pipe controller (4) uses an infrared ranging laser (408) to position the laser pipe controller through infrared laser with an infrared laser receiver (505) on the pressure operation platform (5). The sliding inner bin (304) of the smooth-bore pipe conveyor (3) is installed in the smooth-bore pipe conveyor frame (303) through a track and can slide outward and inward when standing up and lying down. The smooth-bore pipe conveyor (3) cooperates with the laser pipe controller (4) to complete the transmission of the pipe string from the ground to the platform. The intelligent pipe bin (1) uses a rangefinder to maintain a working distance from the smooth-bore pipe conveyor (3) and the pressure operation platform (5) through the working stroke of the robotic arm (307) of the smooth-bore pipe conveyor (3), and cooperates with the smooth-bore pipe conveyor (3) to achieve the full-automatic grasping and placement of the pipe string.

2. The intelligent pipe string transmission and control machine for pressure operation according to claim 1, wherein the intelligent pipe bin (1) consists of an intelligent pipe bin base (101), a pipe pusher (102), a pipe pusher track (103), and a pressure induction switch (104). The pipe pusher (102) is slidably matched with the pipe pusher track (103) on the intelligent pipe bin base (101). The pipe pusher track (103) is on the convex platform of the intelligent pipe bin base (101), the convex platform is higher on the left and lower on the right, and the right side sinks 40 mm. The pressure induction switch (104) is at the end of the track.

3. The intelligent pipe string transmission and control machine for pressure operation according to claim 1, wherein the smooth-bore pipe conveyor (3) consists of a smooth-bore pipe conveyor base (301), a distribution box (302), a smooth-bore pipe conveyor frame (303), a sliding inner bin (304), an electromagnetic chuck (305), a pipe picking robotic arm (306), a robotic arm (307), and a hydraulic rod (308). The distribution box (302) is fixed on the smooth-bore pipe conveyor base (301) with bolts. The through hole at the bottom of the smooth-bore pipe conveyor frame (303) is rotationally matched with the round rod of the smooth-bore pipe conveyor base (301). The sliding inner bin (304) is slidably matched with the tracks on both sides of the smooth-bore pipe conveyor frame (303). The robotic arm (307) is slidably matched with the notch of the sliding inner bin (304). The electromagnetic chuck (305) is fixed on the robotic arm (307), and the surface can adsorb the pipe string (2) by electromagnetic force. The pipe picking robotic arm (306) is connected to the electromagnetic chuck (305) through a slide rail. One end of the hydraulic rod (308) is rotationally matched with the smooth-bore pipe conveyor base (301), and the other end is slidably matched with the smooth-bore pipe conveyor frame (303) through a track.

4. An intelligent pipe string control machine for pressure operation according to claim 1, wherein the laser pipe control machine (4) is composed of a laser pipe control machine frame (401), a laser pipe control machine slide rail (402), a distribution box (403), a vertical track (404), a vertical slider (405), a rotating manipulator (406), a fixed manipulator (407), and an infrared ranging laser (408); the laser pipe control machine slide rail (402) is slidably matched with the laser pipe control machine guide rail (504) of the pressure operation platform (5), the vertical slider (405) is slidably matched with the vertical track (404) through the track, the rotating manipulator (406) is connected to the upper and lower ends of the vertical track (404) of the pipe conveyor and can rotate the pipe string while clamping the pipe string, the fixed manipulator (407) is fixed on the vertical slider (405) by bolts, and both the rotating manipulator (406) and the fixed manipulator (407) can move to loosen and clamp the pipe string (2), and the infrared ranging laser (408) and the infrared laser receiver (505) on the pressure operation platform (5) perform positioning on the laser pipe control machine through infrared laser.

5. An intelligent pipe string control machine for pressure operation according to claim 1, wherein the pressure operation platform (5) is composed of a pressure operation platform base (501), a safety fence (502), a positioning guide rail (503), a laser pipe control machine guide rail (504), an infrared laser receiver (505), an iron roughneck guide rail (506), a distribution box (507), an iron roughneck (508), and a rotating manipulator (509); the safety fence (502) is welded on the pressure operation platform base (501), the positioning guide rail (503) is precisely positioned with the smooth-bore pipe conveyor (3), the laser pipe control machine guide rail (504) is slidably matched with the laser pipe control machine slide rail (402) of the laser pipe control machine (4), the infrared laser receiver (505) is fixed on the end of the laser pipe control machine guide rail (504) by bolts, and the infrared ranging laser (408) of the laser pipe control machine (4) performs positioning on the laser pipe control machine through infrared laser, the iron roughneck guide rail (506) is slidably matched with the iron roughneck (508), the rotating manipulator (509) is fixed on the iron roughneck (508) by bolts, this manipulator can loosen and clamp the pipe string (2), and can rotate the pipe string (2) while clamping the pipe string (2), and the distribution box (507) is fixed on the pressure operation platform base (501) by bolts.

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