A coiled tubing apparatus self-balancing guide device and method

Abstract

The application discloses a self-balancing guiding device and method for a coiled tubing operation equipment. The self-balancing guiding device comprises rotating arms connected with a tower and located on opposite sides of the tower, a guiding mechanism and a balancing mechanism are respectively arranged on the rotating arms, the guiding mechanism and the balancing mechanism can synchronously move towards or away from each other along the length direction of the rotating arms, and the moment of the guiding mechanism and the balancing mechanism to the rotating center of the tower is real-time equal. Through the symmetrical structure design, the rotating arms are symmetrically distributed on the two sides of the tower, and the moments of the guiding mechanism and the balancing mechanism are equal, so that the problem that the overturning moment of the guiding mechanism in the rotating process leads to the overturning of the drilling tower is solved from the root, and the full-range accurate guiding of the oval runway type pipe storage track is realized.

Description

Technical Field

[0001] This invention relates to a self-balancing guide device and method for coiled tubing operations, belonging to the field of oil drilling technology. Background Technology

[0002] As coiled tubing systems are increasingly used in drilling, fracturing, logging perforation, flushing, and gas lift operations, some inherent drawbacks of traditional coiled tubing systems are becoming increasingly apparent. For example, during operation, the drum in traditional coiled tubing systems needs to maintain a certain coil tension to prevent tubing tangling. The lower coiled tubing is subjected not only to the weight of the upper coiled tubing but also to the compressive force generated by the tension, making it prone to deformation, jamming, and locking, thus reducing its service life. Furthermore, there is a high-pressure fluid dynamic-to-static transition between the rotating drum and the fixed manifold. If the coiled tubing contains cables, a simultaneous dynamic-to-static transition of both the cable and the high-pressure fluid is required, placing high demands on the high-pressure seals used for this transition. Additionally, conventional coiled tubing systems require a large footprint; for deep wells with large diameter tubing, the injection head requires high power and load capacity; and the large drum size makes transportation inconvenient.

[0003] Based on traditional continuous tube operation equipment, a biomimetic continuous tube storage device has been developed, which can solve the aforementioned problems to some extent. However, the storage device of this biomimetic continuous tube storage device is circular and large in size, requiring disassembly for transportation and on-site installation. On-site installation takes a long time and has low assembly accuracy, making it difficult to meet the high requirements of on-site operation and installation.

[0004] To address the aforementioned issues, the applicant developed a novel biomimetic continuous tube storage device. Because the storage tube device employs a flat structure with a lateral width greater than its longitudinal width, it effectively solves the problems of large size and the need for disassembly and transportation of traditional circular storage tube devices. To achieve neat arrangement of the continuous tubes along different tracks within this flat storage tube device, a guiding mechanism is required to precisely guide the direction of the continuous tubes. However, the cantilever frame has a single-sided extension structure. When the guiding mechanism moves along the cantilever length, its own mass causes a significant overturning moment. Simultaneously, during the rotation of the cantilever frame around the central tower, the dynamic change in the spatial position of the guiding mechanism further leads to an overall shift in the device's center of gravity, exacerbating the fluctuations in the overturning moment. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems by providing a self-balancing guide device and method for continuous pipe operation equipment. This device can reduce the overturning moment generated by the movement of the guide mechanism on the cantilever, and can rotate in a specified direction to adapt to the inclination angle of the continuous pipe at different positions, preventing the hose from being damaged by excessive bending and torsion.

[0006] The technical solution adopted in this invention is as follows:

[0007] A self-balancing guide device for continuous pipe operation equipment includes rotating arms connected to a tower and located on opposite sides of the tower. The rotating arms are respectively provided with a guiding mechanism and a balancing mechanism. The guiding mechanism and the balancing mechanism can move synchronously towards each other or away from each other along the length of the rotating arms, and the torques of the guiding mechanism and the balancing mechanism to the rotation center of the tower are equal in real time.

[0008] Alternatively, the rotating arm may comprise two symmetrically arranged sections along the rotation center of the tower, with the two sections of the rotating arm respectively fixed to opposite sides of the tower; or, the rotating arm may be a symmetrical, integral, elongated structure that extends through the tower, with the midpoint of the rotating arm's length direction located at the rotation center of the tower.

[0009] Alternatively, the mass of the balancing mechanism is equal to the mass of the guiding mechanism, and the positions of the balancing mechanism and the guiding mechanism on the rotating arm are symmetrical about the axis of the tower.

[0010] Optionally, the guiding mechanism and / or balancing mechanism further includes a drive assembly connected to the rotating arm. The drive assembly includes a first drive motor, which is fixedly mounted on the guiding mechanism and / or balancing mechanism. The output shaft of the first drive motor is connected to a gear, and the rotating arm is provided with a rack arranged along the length direction, with the gear meshing with the rack.

[0011] When the guiding mechanism or balancing mechanism includes a driving component, the guiding mechanism and the balancing mechanism are connected by a synchronous motion connection component, which enables the guiding mechanism and the balancing mechanism to drive each other to achieve synchronous opposite or backward motion.

[0012] Optionally, the synchronous motion connection assembly includes pulleys, with two pulleys respectively provided on the outermost side of each of the rotating arms; the synchronous motion connection assembly also includes steel wire ropes, which include two sets, each set including two wire ropes, one end of which is fixed to the guiding mechanism, and the other end passes outward around the pulley at the end of the guiding mechanism, passes through the tower and is fixed to the balancing mechanism; one end of which is fixed to the balancing mechanism, and the other end passes outward around the pulley near the end of the balancing mechanism, passes through the tower and is fixed to the guiding mechanism.

[0013] Alternatively, one end of the wire rope is fixed to the side of the guiding mechanism or the balancing mechanism away from the tower, and the other end is wrapped around the pulley and fixed to the side of the balancing mechanism or the guiding mechanism close to the tower.

[0014] Alternatively, the guiding mechanism includes a fixed bracket slidably connected to the rotating arm, a movable bracket rotatably connected to the fixed bracket, and a roller frame for positioning the continuous tube rotatably connected to the movable bracket, wherein the rotation axis of the movable bracket is perpendicular to the rotation axis of the roller frame.

[0015] Optionally, at least two sets of rollers are rotatably connected to the roller frame, each set of rollers being located on both sides of a uniform axial position of the continuous tube to clamp the continuous tube, and the two sets of rollers are spaced apart along the axial direction of the continuous tube; the guiding mechanism also includes a second drive motor, the output shaft of the second drive motor being connected to the rotating shaft of one of the rollers through a transmission component.

[0016] Alternatively, one side of the movable bracket is rotatably mounted on the fixed bracket; the fixed bracket is provided with a limiting ear seat, the limiting ear seat is located at the bottom of the other side of the movable bracket, and the fixed bracket is also provided with a limiting block, the limiting block and the limiting ear seat forming an abutting engagement.

[0017] A self-balancing guidance method for coiled tube operation equipment, using the apparatus described above, includes the following steps:

[0018] S1. Place the continuous tube in the storage device. After starting the equipment, the tower drives the rotating arm mounted on it to rotate synchronously, so that the guiding mechanism and the balancing mechanism slidably connected at both ends of the rotating arm rotate together with the rotating arm around the tower axis.

[0019] S2. The driving force is provided by the drive assembly between the rotating arm and the guiding mechanism, which drives the guiding mechanism to slide along the length of the rotating arm to adapt to the elliptical track of the storage device and guide the continuous tube into and out of the storage device.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The self-balancing guide device and method for continuous pipe operation equipment provided by the present invention, through symmetrical structural design, has rotating arms symmetrically distributed on both sides of the tower, and the torques of the guiding mechanism and the balancing mechanism are equal, which fundamentally solves the problem of the overturning torque generated by the guiding mechanism during rotation, causing the drilling tower to overturn, and at the same time achieves full-range precise guidance of the elliptical raceway-shaped storage pipe track.

[0022] 2. The self-balancing guide device and method for continuous pipe operation equipment provided by this invention, in conjunction with the bidirectional traction transmission of the steel wire rope around the pulley, enables the balancing mechanism to move synchronously in the same direction in real time when the guiding mechanism slides along the rotating arm. The torques on both sides relative to the tower are always equal in magnitude and opposite in direction, completely eliminating the swaying of the tower caused by torque imbalance. Moreover, the combined motion of the rotating arm rotating around the tower and the guiding mechanism sliding along the arm, combined with the backlash-free and precise transmission of the gear and rack, can completely cover all radial and circumferential areas of the elliptical track, ensuring that the continuous pipe is always accurately aligned with the target track, and greatly reducing the problems of pipe discharge disorder and extrusion deformation. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the working operation of the self-balancing guide device of the continuous tube operation equipment.

[0024] Figure 2 This is a structural diagram of the self-balancing guide device for continuous tube operation equipment.

[0025] Figure 3 yes Figure 2 Enlarged view of point I.

[0026] Figure 4 yes Figure 2 Enlarged view of section II.

[0027] Figure 5 This is a schematic diagram of the guiding mechanism.

[0028] The markings in the diagram are: 1-Tower, 2-Continuous pipe, 3-Self-balancing guide device, 301-Pulley, 302-First wire rope, 303-Guiding mechanism, 3031-Limiting block, 3032-First rotating pin, 3033-Second drive motor, 3034-Roller, 3035-Roller frame, 3036-Second rotating pin, 3037-Fixed bracket, 3038-Limiting lug, 3039-Modible bracket, 304-Rack, 305-Balancing mechanism, 306-Second wire rope, 307-Third wire rope, 308-Fourth wire rope, 309-First drive motor, 310-Gear, 4-Rotating arm, 5-Storage device. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings.

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] A self-balancing guide device 3 for continuous tube operation equipment, such as Figure 1-5As shown, it includes a rotating arm 4 connected to the tower 1 and located on opposite sides of the tower 1. The rotating arm 4 is provided with a guiding mechanism 303 and a balancing mechanism 305. The guiding mechanism 303 and the balancing mechanism 305 can move synchronously towards each other or away from each other along the length direction of the rotating arm 4, and the torque of the guiding mechanism 303 and the balancing mechanism 305 to the rotation center of the tower 1 is equal in real time.

[0032] The guiding mechanism 303 plays a crucial role in guiding the continuous tube 2 precisely into the track of the storage device 5. The mass and lever arm changes generated as it moves along the rotating arm 4 create an overturning moment. The balancing mechanism 305, acting as a counterweight, is symmetrically distributed with the guiding mechanism 303 on both sides of the tower 1, creating the possibility of torque cancellation from the initial layout. The symmetrical arrangement of the rotating arm 4 ensures that the lever arm lengths of the guiding mechanism 303 and the balancing mechanism 305 relative to the center of the tower 1 always correspond. When the guiding mechanism 303 moves outward along the rotating arm 4, the balancing mechanism 305 moves synchronously in the same direction, and their lever arms increase synchronously. When the guiding mechanism 303 moves inward, the balancing mechanism 305 follows synchronously, causing the lever arms to decrease synchronously. Through this synchronous linkage, the torques generated on both sides are always equal in magnitude and opposite in direction, with the resultant torque remaining zero, thus completely canceling out the overturning moment caused by the movement of the guiding mechanism 303 and maintaining the stability of the tower 1. The existing fixed counterweight scheme can only balance a single position and cannot adapt to the movement process of the guide mechanism 303 in the non-circular storage tube device 5. However, the synchronous movement of this device achieves dynamic balance throughout the entire stroke, avoids the swaying of the tower 1 when the guide mechanism 303 moves, and significantly improves the neatness and guidance accuracy of the continuous tube 2 discharge.

[0033] In another specific implementation, the rotating arm 4 comprises two symmetrically arranged sections along the rotation center of the tower 1, with the two sections of the rotating arm 4 fixed to opposite sides of the tower 1 respectively; alternatively, the rotating arm 4 is a symmetrical, integral elongated structure, extending through the tower 1, with the midpoint of the rotating arm 4's length located at the rotation center of the tower 1. This structure, with two symmetrical sections fixed to both sides of the tower 1, can be flexibly assembled according to the existing structure of the tower 1 without requiring a complete through-type modification of the tower 1, reducing reliance on the original design of the tower 1. During installation, the positions of the two rotating arm sections 4 can be adjusted separately to ensure that the initial lengths of the lever arms on both sides are completely consistent, avoiding balance failure due to assembly deviations. During maintenance, if a section of the rotating arm 4 shows wear or malfunction, it can be disassembled and replaced individually without disassembling the entire rotating arm 4 assembly, significantly improving maintenance efficiency and reducing downtime. The integrated long strip structure runs through the tower 1 and its midpoint is aligned with the rotation center of the tower 1. Its overall rigidity is stronger, which can avoid the gaps that may be generated by the two-section splicing or the displacement error caused by long-term vibration. From the structural source, it ensures that the lever arm lengths on both sides of the rotating arm 4 are always symmetrical and will not be offset by external force impact during operation.

[0034] In another specific implementation, the mass of the balancing mechanism 305 is equal to the mass of the guiding mechanism 303, and the positions of the balancing mechanism 305 and the guiding mechanism 303 on the rotating arm 4 are symmetrical about the axis of the tower 1. Equal mass ensures that the magnitude of the gravity generated by the two mechanisms is exactly the same, avoiding initial torque imbalance due to mass differences and laying the foundation for balance. Symmetrical positions ensure that the lever arm lengths of both mechanisms relative to the axis of the tower 1 are always the same. No matter where the guiding mechanism 303 moves along the rotating arm 4, the balancing mechanism 305 can respond synchronously with an equal lever arm, making the torques formed on both sides equal in magnitude and opposite in direction, with the resultant torque always being zero, fundamentally eliminating the risk of overturning caused by the movement of the guiding mechanism 303.

[0035] As another specific implementation, the guiding mechanism 303 and / or the balancing mechanism 305 further includes a drive assembly. The drive assembly is connected to the rotating arm 4. The drive assembly includes a first drive motor 309, which is fixedly mounted on the guiding mechanism 303 and / or the balancing mechanism 305. The output shaft of the first drive motor 309 is connected to a gear 310. The rotating arm 4 is provided with a rack 304 arranged along the length direction, and the gear 310 meshes with the rack 304.

[0036] The first drive motor 309 is fixed to the mechanism rather than the rotating arm 4, which avoids increasing the static load on the rotating arm 4 due to the motor's mass and reduces the risk of deformation caused by the additional load. The gear 310 on the motor output shaft meshes with the rack 304 on the rotating arm 4, enabling backlash-free and high-precision position control. This ensures uniform speed and accurate positioning during mechanism movement, preventing movement deviations due to transmission slippage or delays. Furthermore, the high synchronicity of the gear 310 and rack 304 meshing transmission allows the guiding mechanism 303 and the balancing mechanism 305 to maintain consistent speed and symmetrical position during movement. As long as the control signals of the two drive motors are synchronized, the balancing mechanism 305 can accurately follow the movement trajectory of the guiding mechanism 303, ensuring that both remain symmetrical about the axis of the tower 1 and completely avoiding torque imbalance caused by asynchronous movement. Meanwhile, this drive structure has lower maintenance costs. The mechanical wear of the gear 310 and rack 304 is easy to monitor and replace, and there is no need to frequently check the pipeline seals or pressure status like in a hydraulic system. Moreover, it has high transmission efficiency and can adapt to the movement speed requirements of the guide mechanism 303 at different operating stages. Whether it is quickly covering the long strip track of the storage device 5 or accurately aligning a specific track at low speed, it can output power stably.

[0037] When the guiding mechanism 303 or the balancing mechanism 305 includes a drive component, the guiding mechanism 303 and the balancing mechanism 305 are connected by a synchronous motion connection component. The synchronous motion connection component enables the guiding mechanism 303 and the balancing mechanism 305 to drive each other to achieve synchronous opposite or backward motion. The synchronous connection component ensures that the motion of the balancing mechanism 305 and the guiding mechanism 303 is completely consistent. Through the mechanical traction of the connection component, the guiding mechanism 303 can directly drive the balancing mechanism 305 when it moves, or the balancing mechanism 305 can adjust synchronously with the guiding mechanism 303, ensuring that the two are always symmetrical about the tower 1, and that the lever arm and mass distribution remain balanced, thus maintaining the stable posture of the tower 1 and the rotating arm 4.

[0038] As another specific implementation, the synchronous motion connection assembly includes pulleys 301, with two pulleys 301 respectively provided on the outermost side of each rotating arm 4; the synchronous motion connection assembly also includes steel wire ropes, which include two sets of steel wire ropes, each set of steel wire ropes including two strands, one end of each set of steel wire ropes being fixed to the guide mechanism 303, and the other end passing outwards around the pulley 301 at the end of the guide mechanism 303, passing through the tower 1 and being fixed to the balancing mechanism 305; one end of each set of steel wire ropes being fixed to the balancing mechanism 305, and the other end passing outwards around the pulley 301 near the end of the balancing mechanism 305, passing through the tower 1 and being fixed to the guide mechanism 303. One set of steel wire ropes runs from the guiding mechanism 303, around the guiding end pulley 301, through the tower 1, and connects to the balancing mechanism 305. Another set of steel wire ropes runs from the balancing mechanism 305, around the balancing end pulley 301, through the tower 1, and connects to the guiding mechanism 303, forming a mutually restraining linkage. When the guiding mechanism 303 moves outward or inward along the rotating arm 4, the tension of the steel wire ropes directly drives the balancing mechanism 305 to move in the same direction. Conversely, the movement of the balancing mechanism 305 will also cause the guiding mechanism 303 to move synchronously through the other set of steel wire ropes, mechanically forcing the two to maintain consistent displacement. The pulley 301 can change the traction direction of the steel wire ropes, avoiding direct friction between the steel wire ropes and the edge of the rotating arm 4, thus extending the service life of the steel wire ropes. It also allows the tension direction of the steel wire ropes to better match the movement trajectory of the mechanism, reducing traction resistance and making the movement smoother.

[0039] In another specific implementation, one end of the wire rope is fixed to the side of the guiding mechanism 303 or the balancing mechanism 305 away from the tower 1, and the other end passes outward over the pulley 301 and is fixed to the side of the balancing mechanism 305 or the guiding mechanism 303 close to the tower 1. By optimizing the traction path and tension distribution through the positional difference of the fixing points, more precise synchronous response and more stable tension are ensured when the mechanism moves. When the guiding mechanism 303 moves outward along the rotating arm 4, its fixed point on the side away from the tower 1 will move outward synchronously with the mechanism. Through the traction of the steel wire rope, it directly pulls the balancing mechanism 305 on the side close to the tower 1, so that the balancing mechanism 305 obtains the driving force to move outward. Among them, one end of the first steel wire rope 302 and the fourth steel wire rope 308 are fixed on the crossbeam on the side of the guiding mechanism 303 away from the tower 1, and pass around the two pulleys 301 on the side of the guiding mechanism 303 and pass through the tower 1 to be fixed on the crossbeam on the side of the balancing mechanism 305 close to the tower 1; one end of the second steel wire rope 306 and the third steel wire rope 307 are fixed on the crossbeam on the side of the balancing mechanism 305 away from the tower 1, and pass around the two pulleys 301 on the side of the balancing mechanism 305 and pass through the tower 1 to be fixed on the crossbeam on the side of the guiding mechanism 303 close to the tower 1. When the drive motor rotates forward, it drives the alignment mechanism 303 to move away from the tower 1. The second wire rope 306 and the third wire rope 307 then pull the balancing mechanism 305 away from the tower 1, maintaining their relative distance from the tower 1. When the drive motor rotates in reverse, it drives the alignment mechanism 303 to move closer to the tower 1. The first wire rope 302 and the fourth wire rope 308 then pull the balancing mechanism 305 closer to the tower 1, maintaining their distance from the center of rotation at appropriate times.

[0040] In another specific implementation, the guiding mechanism 303 includes a fixed bracket 3037, which is slidably connected to the rotating arm 4. A movable bracket 3039 is rotatably connected to the fixed bracket 3037, and a roller frame 3035 for positioning the continuous tube 2 is rotatably connected to the movable bracket 3039. The rotation axis of the movable bracket 3039 is perpendicular to the rotation axis of the roller frame 3035. The slidable connection between the fixed bracket 3037 and the rotating arm 4 forms the basis for the synchronous movement of the guiding mechanism 303 along the rotating arm 4. This allows the entire guiding assembly to dynamically adjust its position following the balancing mechanism 305, maintaining alignment accuracy with the track of the storage device 5 and preventing deviations in the discharge of the continuous tube 2 due to positional shifts. The movable support 3039 is rotatably connected to the fixed support 3037 via the first rotating pin 3032, and the roller frame 3035 is rotatably connected to the movable support 3039 via the second rotating pin 3036. The rotation axes of the two are perpendicular, allowing the roller frame 3035 to adjust its angle in both horizontal and vertical dimensions. Regardless of the direction from which the continuous tube 2 is transported to the storage device 5, or the change in the transport path of the continuous tube 2 when the rotating arm 4 rotates around the tower 1, the roller frame 3035 can flexibly adapt, always ensuring that the continuous tube 2 enters the storage track in the preset direction, thus preventing the tube body from being rigidly bent or from generating severe friction with the mechanism.

[0041] In another specific implementation, at least two sets of rollers 3034 are rotatably connected to the roller frame 3035. Each set of rollers 3034 is located on both sides of the continuous tube 2 at a uniform axial position to clamp the continuous tube 2. The two sets of rollers 3034 are spaced apart along the axial direction of the continuous tube 2. The guiding mechanism 303 also includes a second drive motor 3033. The output shaft of the second drive motor 3033 is connected to the rotating shaft of one of the rollers 3034 through a transmission component. The clamping of each set of rollers 3034 on both sides of the continuous tube 2 at the same axial position can limit the left and right sway of the tube from the radial direction, accurately lock the conveying path, and prevent the tube from deviating from the preset track due to its flexibility. The spaced-apart distribution of the two sets of rollers 3034 along the axial direction further provides axial support, avoiding bending or twisting of the tube during long-distance conveying, ensuring that the tube always enters the storage device 5 in a straight line, and reducing friction and collision with the edge of the storage tank track. The second drive motor 3033 is connected to the rotating shaft of the roller 3034 through a transmission component. Its core function is to provide active and controllable power for the continuous tube 2 to convey, so as to achieve precise matching between the conveying speed and the movement of the guide mechanism 303 and the winding rhythm of the storage device 5.

[0042] In another specific implementation, one side of the movable support 3039 is rotatably mounted on the fixed support 3037. The fixed support 3037 is provided with a limiting ear 3038, which is located at the bottom of the other side of the movable support 3039. The fixed support 3037 is also provided with a limiting block 3031, and the limiting block 3031 and the limiting ear 3038 form an abutting fit. The limiting ear 3038 is fixed to the bottom of the other side of the movable support 3039 and moves synchronously with the rotation of the movable support 3039. When the movable support 3039 rotates to the preset maximum safe angle, the limiting ear 3038 and the limiting block 3031 on the fixed support 3037 rigidly abut against each other, directly restricting the movable support 3039 from continuing to rotate, preventing excessive rotation from causing the guiding mechanism 303 to deviate from the tube conveying path, or causing the movable support 3039 to collide with surrounding components and cause structural damage.

[0043] A self-balancing guidance method for a continuous pipe 2 operating device, using any of the self-balancing guidance devices 3 as described above, includes the following steps:

[0044] S1. Place the continuous tube 2 into the storage device 5. After starting the equipment, the tower 1 drives the rotating arm 4 mounted on it to rotate synchronously, so that the guide mechanism 303 and the balance mechanism 305, which are slidably connected at both ends of the rotating arm 4, rotate together with the rotating arm 4 around the axis of the tower 1.

[0045] S2. The driving force is provided by the drive assembly between the rotating arm 4 and the guide mechanism 303, which drives the guide mechanism 303 to slide along the length of the rotating arm 4 to adapt to the elliptical track of the storage device 5 and guide the continuous tube 2 into and out of the storage device 5.

[0046] In step S1, the tower 1 drives the rotating arm 4 and the guiding mechanisms 303 and balancing mechanisms 305 at both ends to rotate synchronously. The rotational motion expands the coverage of the guiding mechanism 303, ensuring that the guiding mechanism 303 is always aligned with different circumferential positions of the track when the pipe enters or exits the storage device 5. In step S2, the drive assembly drives the guiding mechanism 303 to slide along the length of the rotating arm 4, precisely adapting to the radial dimension differences of the non-circular track. The guiding mechanism 303 can adjust its radial distance from the tower 1 by sliding along the rotating arm 4, so that the pipe conveying path always matches the radial position of the track, avoiding the inability of the pipe to enter or exit smoothly or the disorder of discharge due to positional deviation. The overall rotation of the rotating arm 4 and the sliding of the guide mechanism 303 along the arm form a compound motion. Its trajectory is exactly in line with the spatial shape of the elliptical track of the storage device 5, ensuring that the guide mechanism 303 can follow the track path to guide the tube body throughout the entire process. At the same time, the guide mechanism 303 and the balancing mechanism 305 are symmetrically distributed at both ends of the rotating arm 4. No matter what angle the rotating arm 4 rotates to or what position the guide mechanism 303 slides to, the balancing mechanism 305 can always form a counter-torque in a symmetrical posture to counteract the overturning torque generated by the movement of the guide mechanism 303, maintain the stability of the tower 1 and the rotating arm 4, and no additional balancing components are required.

[0047] In another specific implementation, in S2, the first drive motor 309 in the drive assembly is activated. The first drive motor 309 drives the gear 310 fixed on the output shaft to rotate. The gear 310 meshes with the rack 304 fixed along the length of the rotating arm 4, thereby driving the guide mechanism 303 fixedly connected to the first drive motor 309 to slide along the rotating arm 4. This allows for real-time adjustment of the distance to the tower 1 based on the radial dimension changes of the elliptical track, achieving precise matching between the pipe conveying path and the track position. Different areas of the elliptical track have different radial distances from the tower 1. The torque output by the first drive motor 309 is transmitted to the gear 310 through the output shaft. The gear 310 and the rack 304 fixed on the rotating arm 4 form a meshing pair. The rotational force of the gear 310 is converted into a thrust or pull force along the length of the rack 304, thereby driving the guide mechanism 303 fixedly connected to the motor to slide along the rotating arm 4. The sliding displacement corresponds precisely to the number of rotations of the motor. By controlling the speed and number of rotations of the motor, the guide mechanism 303 can be moved at a fixed speed.

[0048] As another specific implementation, it also includes S3: During the sliding process of the guide mechanism 303, the steel wire rope wound around the pulley 301 on the rotating arm 4 is used to drive the balancing mechanism 305, which is symmetrical to the guide mechanism 303 about the axis of the tower 1, to move synchronously with the guide mechanism 303 in opposite or opposite directions, balancing the overturning torque generated by the sliding of the guide mechanism 303. When the guide mechanism 303 slides along the rotating arm 4, whether it is in the direction closer to the tower 1 or away from the tower 1, the balancing mechanism 305 will be directly driven to move in the same direction by the traction of the steel wire rope. The steel wire rope changes the direction of force by winding around the pulley 301, and its two ends are fixed at specific positions of the two mechanisms respectively, forming a gapless transmission link to avoid synchronization lag caused by minor errors in the drive components.

[0049] In another specific implementation, in S3, when the first drive motor 309 rotates forward, driving the guiding mechanism 303 to slide away from the tower 1, the steel wire ropes fixed to the side of the balancing mechanism 305 away from the tower 1 pass around the pulleys 301 near the end of the rotating arm 4 close to the balancing mechanism 305 and through the tower 1, pulling the balancing mechanism 305 to slide away from the tower 1. When the first drive motor 309 rotates in reverse, driving the guiding mechanism 303 to slide closer to the tower 1, the steel wire ropes fixed to the side of the guiding mechanism 303 away from the tower 1 pass around the pulleys 301 near the end of the rotating arm 4 close to the guiding mechanism 303 and through the tower 1, pulling the balancing mechanism 305 to slide closer to the tower 1. The bidirectional traction design covers the entire sliding trajectory of the guiding mechanism 303, avoiding synchronization failure due to changes in the sliding direction, and ensuring the stability of the tower 1 and the rotating arm 4 throughout the pipe transport process. In traditional dynamic balancing schemes, if an independent motor drives the balancing mechanism 305, precise matching of forward and reverse signals is required through the electronic control system. This can easily lead to synchronization deviations due to signal delays or differences in motor speed. If hydraulic transmission is used, pressure fluctuations during forward and reverse switching also affect the synchronization effect. However, this step utilizes the mechanical forced traction of a steel wire rope, eliminating the need for additional control signals. The sliding direction of the guiding mechanism 303 directly determines the sliding direction of the balancing mechanism 305, resulting in a zero-delay response and near-zero synchronization error. This avoids brief swaying of the tower 1 caused by synchronization deviations, ensuring the positioning accuracy of the guiding mechanism 303 on the continuous pipe 2 and reducing pipe discharge disorder. Furthermore, this bidirectional traction structure eliminates the need for complex reversing components; direction switching is achieved simply through the connection between the steel wire rope's fixing point and the pulley 301. The structure is simple, maintenance costs are low, and it can withstand long-term, high-frequency forward and reverse operations, making it less prone to failure.

[0050] As another specific implementation, it also includes S4, starting the second drive motor 3033 fixed on the movable bracket 3039. The second drive motor 3033 drives at least one roller 3034 on the inner wall of the roller frame 3035 to rotate through the transmission component on the output shaft. The roller 3034 applies tension or pressure to the continuous tube 2, assisting in guiding the continuous tube 2 into and out of the storage device 5. By actively outputting power, the problem of uneven conveying resistance and tension fluctuation caused by the flexibility of the continuous tube 2 is solved, ensuring that the rhythm of the tube entering and leaving the storage device 5 is precisely matched with the movement of the guiding mechanism 303 and the winding rhythm of the storage device 5. The continuous tube 2 itself has a certain degree of flexibility. When it enters and exits the storage device 5 by relying solely on external traction or gravity, it is prone to conveying jams or sudden speed changes due to track friction and tube stacking resistance, resulting in local compression deformation of the tube or disordered discharge. The friction force generated by the rotation of the roller 3034 under the drive of the motor can be converted into active pulling or pressing force on the continuous tube 2. This can not only offset the conveying resistance, but also accurately adjust the conveying speed of the tube, avoid tension imbalance caused by speed mismatch, and ensure that the tube always moves stably along the path defined by the guide mechanism 303.

[0051] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. The present invention extends to any new features or combinations disclosed in this specification, and any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that detailed technical features not disclosed in this embodiment, such as specific structures, are all prior art and can be obtained by those skilled in the art from the prior art; the connection method can be a fixed connection, a detachable connection, or an integral part; it can be a fixed connection, a movable connection, or a hinged connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific manner of the above terms in the embodiments of the present invention according to the specific circumstances, and the present disclosure does not specifically limit this aspect.

Claims

1. A self-balancing guide device for continuous tube operation equipment, characterized in that: It includes rotating arms (4) connected to the tower (1) and located on opposite sides of the tower (1). The rotating arms (4) are respectively provided with a guiding mechanism (303) and a balancing mechanism (305). The guiding mechanism (303) and the balancing mechanism (305) can move synchronously towards each other or away from each other along the length of the rotating arm (4). The torques of the guiding mechanism (303) and the balancing mechanism (305) to the rotation center of the tower (1) are equal in real time. The guiding mechanism (303) and / or balancing mechanism (305) include a drive assembly connected to the rotating arm (4). The drive assembly includes a first drive motor (309), which is fixedly mounted on the guiding mechanism (303) and / or balancing mechanism (305). The output shaft of the first drive motor (309) is connected to a gear (310). The rotating arm (4) is provided with a rack (304) arranged along the length direction, and the gear (310) meshes with the rack (304). When the guiding mechanism (303) or the balancing mechanism (305) includes a driving component, the guiding mechanism (303) and the balancing mechanism (305) are connected by a synchronous motion connection component, which enables the guiding mechanism (303) and the balancing mechanism (305) to drive each other to achieve synchronous opposite or opposite motion. The synchronous motion connection assembly includes pulleys (301), and two pulleys (301) are respectively provided on the outermost side of each of the rotating arms (4); the synchronous motion connection assembly also includes steel wire ropes, which include two sets of steel wire ropes, each set of steel wire ropes including two strands, one end of each set of steel wire ropes is fixed to the guide mechanism (303), and the other end passes outward around the pulley (301) at the end of the guide mechanism (303) and passes through the tower (1) and is fixed to the balancing mechanism (305); one end of each set of steel wire ropes is fixed to the balancing mechanism (305), and the other end passes outward around the pulley (301) near the end of the balancing mechanism (305) and passes through the tower (1) and is fixed to the guide mechanism (303). The guiding mechanism (303) includes a fixed bracket (3037), which is slidably connected to the rotating arm (4). The fixed bracket (3037) is rotatably connected to a movable bracket (3039), and a roller frame (3035) for positioning the continuous tube (2) is rotatably connected to the movable bracket (3039). The rotation axis of the movable bracket (3039) is perpendicular to the rotation axis of the roller frame (3035). At least two sets of rollers (3034) are rotatably connected to the roller frame (3035). Each set of rollers (3034) is located on both sides of the continuous tube (2) at the same axial position to clamp the continuous tube (2). The two sets of rollers (3034) are distributed at intervals along the axial direction of the continuous tube (2). The guiding mechanism (303) also includes a second drive motor (3033). The output shaft of the second drive motor (3033) is connected to the rotating shaft of one of the rollers (3034) through a transmission component.

2. The self-balancing guide device for continuous tube operation equipment as described in claim 1, characterized in that: The rotating arm (4) includes two sections symmetrically arranged along the rotation center of the tower (1), and the two sections of the rotating arm (4) are respectively fixed on opposite sides of the tower (1); or, the rotating arm (4) is a symmetrical one-piece long strip structure, the rotating arm (4) is arranged through the tower (1), and the midpoint of the length direction of the rotating arm (4) is located at the rotation center of the tower (1).

3. The self-balancing guide device for continuous tube operation equipment as described in claim 1, characterized in that: The mass of the balancing mechanism (305) is equal to the mass of the guiding mechanism (303), and the positions of the balancing mechanism (305) and the guiding mechanism (303) on the rotating arm (4) are symmetrical about the axis of the tower (1).

4. The self-balancing guide device for continuous tube operation equipment as described in claim 1, characterized in that: One end of the wire rope is fixed to the side of the guide mechanism (303) or the balancing mechanism (305) away from the tower (1), and the other end passes outward around the pulley (301) and is fixed to the side of the balancing mechanism (305) or the guide mechanism (303) close to the tower (1).

5. The self-balancing guide device for continuous tube operation equipment as described in claim 1, characterized in that: One side of the movable bracket (3039) is rotatably mounted on the fixed bracket (3037); the fixed bracket (3037) is provided with a limiting ear seat (3038), the limiting ear seat (3038) is located at the bottom of the other side of the movable bracket (3039), the fixed bracket (3037) is also provided with a limiting block (3031), and the limiting block (3031) and the limiting ear seat (3038) form an abutting fit.

6. A self-balancing guidance method for a continuous tube operation equipment, characterized in that, Using the apparatus as described in any one of claims 1-5 includes the following steps: S1. Place the continuous tube (2) in the storage device (5). After starting the equipment, the tower (1) drives the rotating arm (4) mounted on it to rotate synchronously, so that the guide mechanism (303) and the balance mechanism (305) slidably connected at both ends of the rotating arm (4) rotate together with the rotating arm (4) around the axis of the tower (1). S2. Drive force is provided by the drive assembly between the rotating arm (4) and the guide mechanism (303) to drive the guide mechanism (303) to slide along the length direction of the rotating arm (4) to adapt to the elliptical track of the storage device (5) and guide the continuous tube (2) into and out of the storage device (5).

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