Full-automatic oil pipe warehouse

Abstract

The invention belongs to the technical field of oil field workover rigs, and particularly relates to a full-automatic oil pipe warehouse which is characterized by comprising a pipe warehouse rack, an oil pipe lifting mechanism, an oil pipe swing arm, a pipe pulling mechanism, two stop lever mechanisms, two cross arms, a cross arm grabbing and placing mechanism, a cross arm lifting mechanism, a scanning arm, a scanning head, a visual sensor and a pipe arrangement alignment length scanning mechanism. And a length scanning sensor, a single tube positioning mechanism and an automatic control system. Automatic operation is achieved in a three-dimensional storage mode, the construction area is saved, and the storage efficiency is improved due to the fact that multiple pipe rods roll down and are placed at the same time; each row of tube rods are aligned, so that the whole tube bundle is more tidy, the length of the whole row is measured and stored to form a tube rod database, and the whole efficiency is improved; a plurality of pipes and rods in each layer can be continuously discharged at the same time during underground pipe and rod operation, so that the pipe and rod discharging efficiency is greatly improved; compared with a traditional manual or semi-automatic device, the device has the advantages of being high in efficiency, neat in placement, small in occupied area, capable of achieving full automation and the like.

Description

Technical Field

[0001] This invention belongs to the field of oilfield workover rig technology, and in particular relates to a fully automatic tubing storage system. Background Technology

[0002] Current well workover operations utilize traditional manual or semi-automatic pipe storage and placement methods. Traditional manual pipe storage and placement involves placing pipes on two parallel crossbeams and manually positioning them. The length of each pipe is measured and recorded manually, resulting in low overall efficiency, a large footprint, and safety hazards due to the slippery conditions beneath the equipment (as oil and water may be carried out of the tubing during the operation). Other semi-automatic methods involve bulky equipment, require a large work area, and are difficult to transport. Single-pipe placement or retrieval methods are inefficient and inaccurate, making them unsuitable for high-efficiency well workover rigs. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automated tubing storage system that uses a three-dimensional storage method to achieve automated operation. Multiple tubing rods are simultaneously rolled down and continuously discharged, improving storage efficiency and tubing rod discharge efficiency. It has the advantages of high efficiency, neat arrangement, small footprint, and full automation.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The fully automatic tubing storage system of the present invention is characterized by comprising a tubing storage frame, a tubing lifting mechanism slidably connected to the tubing end slide rails along the tubing storage frame, a tubing swing arm with one end hinged to the upper end of the tubing lifting mechanism and the middle hinged to a hydraulic rod, a tubing pulling mechanism hinged to the middle of the tubing swing arm, two stop bar mechanisms respectively disposed at the tubing end sides of the tubing storage frame, two crossbeam storage and arranging mechanisms respectively disposed on both sides of the back end of the tubing storage frame, a crossbeam gripping and placing mechanism disposed at the upper end of each crossbeam storage and arranging mechanism and hinged to the tubing storage frame, a crossbeam lifting mechanism disposed on the slide rails on both sides of the tubing storage frame, a scanning arm hinged to the upper end of the tubing storage frame, a scanning head disposed on the scanning arm and moved by a slider module, a vision sensor disposed on the scanning head, a tubing alignment length scanning mechanism hinged to the long side ends of the tubing storage frame, a length scanning sensor disposed on the tubing alignment length scanning mechanism, a single tube positioning mechanism disposed at the upper end of the tubing end sides of the tubing storage frame, and an automated control system.

[0006] The oil pipe lifting mechanism is slidably connected along the slide rail via a hydraulic cylinder I or a pneumatic cylinder I.

[0007] The aforementioned tube-pulling mechanism is controlled by a hydraulic cylinder II or a pneumatic cylinder II to swing.

[0008] The stop mechanism is controlled by a hydraulic cylinder III or a pneumatic cylinder III to raise and lower the stop height.

[0009] The crossbeam gripping and placement mechanism is controlled to rotate by a hydraulic cylinder IV or a pneumatic cylinder IV, and the crossbeam gripping and placement mechanism is equipped with gripper mechanisms at both ends to grip and place the crossbeam.

[0010] The crossarm lifting mechanism consists of four parts, which are driven by screw jacks, hydraulic cylinders V or pneumatic cylinders V to move the crossarm up and down within the crossarm track of the pipe warehouse frame.

[0011] The scanning arm is folded by a hydraulic cylinder VI or a pneumatic cylinder VI.

[0012] The tube alignment length scanning mechanism is controlled by a hydraulic cylinder VII or a pneumatic cylinder VII to extend or rotate.

[0013] The single-tube positioning mechanism is controlled by a hydraulic cylinder VIII or a pneumatic cylinder VIII to position the oil tube.

[0014] Advantages of this invention:

[0015] The fully automated tubing storage system of this invention adopts a three-dimensional storage method to achieve automated operation, saving construction area. Multiple tubing rods can be rolled down and placed simultaneously to improve storage efficiency. Each row of tubing rods is aligned to make the overall tubing bundle more neat. The length of the entire row is measured and stored to form a tubing rod database, improving overall efficiency. During tubing rod operations in oil wells, multiple tubing rods from each layer can be discharged continuously at the same time, greatly improving the tubing rod discharge efficiency. Compared with traditional manual or semi-automatic devices, it has the advantages of high efficiency, neat placement, small footprint, and full automation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the stop mechanism of the present invention.

[0018] Figure 3 For the present invention Figure 1 Side view.

[0019] Figure 4 For the present invention Figure 3 Top view.

[0020] Figure 5 This is a schematic diagram of the storage tube process of the present invention.

[0021] Figure 6 This is a schematic diagram of the discharge tube process of the present invention. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1-6 As shown, the fully automatic tubing storage unit of the present invention is characterized by comprising a tubing storage frame 5, a tubing lifting mechanism 1 slidably connected to the tubing end slide rails along the tubing storage frame 5, a tubing swing arm 3 with one end hinged to the upper end of the tubing lifting mechanism 1 and the middle part hinged to a hydraulic rod, a tubing pulling mechanism 4 hinged to the middle part of the tubing swing arm 3, two stop mechanisms 9 respectively disposed at the two ends of the tubing storage frame 5 on the tubing end side, two crossbeam storage and grading mechanisms 10 respectively disposed on both sides of the back end of the tubing storage frame 5, and a storage and grading mechanism 10 disposed on the upper end of each crossbeam storage and grading mechanism 10 and connected to the tubing storage frame 5. The system includes: a hinged crossarm gripping and placing mechanism 11; a crossarm lifting mechanism 12 mounted on slide rails on both sides of the pipe storage frame 5; a scanning arm 8 hinged to the upper end of the pipe storage frame 5; a scanning head mounted on the scanning arm 8 and moved by a slider module; a vision sensor mounted on the scanning head; a pipe alignment length scanning mechanism 7 hinged to both ends of the long side of the pipe storage frame 5; a length scanning sensor mounted on the pipe alignment length scanning mechanism 7; a single pipe positioning mechanism 13 mounted on the upper end of the pipe inlet / outlet side of the pipe storage frame 5; and an automated control system.

[0024] The oil pipe lifting mechanism 1 is slidably connected along the slide rail via a hydraulic cylinder I or a pneumatic cylinder I.

[0025] The aforementioned pipe-pulling mechanism 4 is controlled to swing by a hydraulic cylinder II or a pneumatic cylinder II.

[0026] The stop mechanism 9 is controlled by a hydraulic cylinder III or a pneumatic cylinder III to raise and lower the stop height.

[0027] The crossbeam gripping and placement mechanism 11 is controlled to rotate by a hydraulic cylinder IV or a pneumatic cylinder IV, and the crossbeam gripping and placement mechanism 11 is provided with gripper mechanisms at both ends to grip and place the crossbeam 6.

[0028] The crossarm lifting mechanism 12 has four components, which drive the crossarm 6 to move up and down in the slide rail of the pipe warehouse frame 5 via a screw jack, hydraulic cylinder V or pneumatic cylinder V.

[0029] The scanning arm 8 is folded by a hydraulic cylinder VI or a pneumatic cylinder VI.

[0030] The tube alignment length scanning mechanism 7 is controlled by a hydraulic cylinder VII or a pneumatic cylinder VII to extend, retract, or rotate.

[0031] The single-tube positioning mechanism 13 is controlled by a hydraulic cylinder VIII or a pneumatic cylinder VIII to position the oil pipe 2.

[0032] The technical solution of the present invention: This fully automatic oil pipe storage unit consists of a pipe storage frame 5, an oil pipe lifting mechanism 1, an oil pipe swing arm 3, a pipe pulling mechanism 4, a stop bar mechanism 9, a crossbeam storage and arranging mechanism 10, a crossbeam gripping and placing mechanism 11, a crossbeam lifting mechanism 12, a scanning arm 8, a pipe alignment length scanning mechanism 7, a single pipe positioning mechanism 13, a pneumatic-hydraulic system, and an automated control system. The tubing lifting mechanism 1 is connected to the inlet and outlet slide rails of the tubing storage frame 5 and can move up and down via a hydraulic cylinder; one end of the tubing swing arm 3 is hinged to the upper end of the tubing lifting mechanism 1 and can rotate via a hydraulic cylinder; a pipe-pulling mechanism 4 is hinged in the middle of the tubing swing arm 3 and can swing via a hydraulic cylinder or a pneumatic cylinder; one stop lever mechanism 9 is provided at each end of the tubing storage frame 5 on the inlet and outlet sides, and the upper end of the stop lever can be raised above the crossarm 6 via a hydraulic cylinder or a pneumatic cylinder to restrict the tubing 2 from rolling on the crossarm 6; one crossarm storage and discharge mechanism 10 is respectively installed on each side of the back end of the tubing storage frame 5, and the crossarm 6 is moved up and down via a screw jack or a pneumatic or hydraulic cylinder to store and discharge the crossarm 6; two crossarm grabbing and placing mechanisms 11 are respectively installed on the upper end of the crossarm storage and discharge mechanism 10 and hinged to the tubing storage frame 5, and can rotate 90° via a hydraulic cylinder or a pneumatic cylinder, and grabbing mechanisms are provided at both ends of the crossarm grabbing and placing mechanism 11 for grabbing and placing. Crossarm 6; Crossarm lifting mechanism 12 is installed on the slide rails on both sides of the pipe storage frame 5, with four in total. The crossarm 6 is driven to move up and down within the crossarm rail of the pipe storage frame by a screw jack; Scanning arm 8 is hinged to the upper end of the pipe storage frame 5 and can be folded by a pneumatic or hydraulic cylinder. A slider module is installed on it to drive the scanning head to move on the scanning arm 8. A vision sensor is installed on the scanning head to identify whether each row of pipe rods in the pipe storage is full or empty; Pipe alignment length scanning mechanism 7 is hinged to both ends of the long side of the pipe storage frame 5 and can be extended or rotated by a hydraulic cylinder. A length scanning sensor is installed on it to align each row of oil pipes and scan their length; Single pipe positioning mechanism 13 is installed on the upper end of the pipe inlet and outlet side of the pipe storage frame 5. When each oil pipe 2 passes through, the oil pipe 2 can be positioned by the pneumatic cylinder VIII of the single pipe positioning mechanism 13; The automatic control system controls the pneumatic and hydraulic system and each motor to complete the mechanical actions of each mechanism through a program.

[0033] The fully automated tubing storage process: When the workover rig lifts tubing, it pulls out tubing 2 (one or more pieces) and places it at the front end of the tubing swing arm 3. The tubing swing arm 3 is tilted at a certain angle by a cylinder and a hydraulic rod, causing tubing 2 to roll down and rest against the lever mechanism 4. The lever mechanism 4 swings (each swing discharges one piece of tubing 2), discharging tubing 2 and placing it against one end of the tubing storage frame 5. The tubing lifting mechanism 1 moves upward to the single-tube positioning mechanism 13. The single-tube positioning mechanism 13 works to position one end of the tubing 2. The tubing lifting mechanism 1 continues to move upward, and the tubing 2 rolls down along the tubing swing arm 3. At this time, the stop mechanism 9 is in the reset state, and the tubing 2 rolls down onto the crossarm 6. The two crossarms 6 are placed on four crossarm lifting mechanisms 12. Each crossarm 6 is controlled at both ends by the crossarm lifting mechanism 12, forming a certain tilt angle so that the tubing 2 rolls down to one end of the tubing storage. The tubing 2 continues to roll down, and when the scanning head... When the upper vision sensor detects that the tubing 2 is fully positioned on the crossarm 6, the tubing lifting mechanism 1 stops lifting the tubing 2, and the tubing swing arm 3 continues to work so that the tubing 2 discharged by the workover rig falls to its front end. At the same time, the crossarm lifting mechanism 12 at the lower end moves upward to make the two crossarms 6 horizontal, and the tubing alignment length scanning mechanism 7 works to align the two ends of the entire row of tubing 2. The tubing alignment length scanning mechanism 7 works to scan and record the length of each tubing 2. After the scanning is completed, the four crossarm lifting mechanisms 12 descend simultaneously, placing the entire row of tubing 2 and crossarm 6 at the lower end of the tubing storage. The four crossarm lifting mechanisms 12 return to the designated height, and the crossarm storage and distribution mechanism 10 moves upward by one crossarm distance to push the crossarm 6. The crossarm gripping and placement mechanism 11 grips the crossarm 6, rotates it to the upper end of the crossarm lifting mechanism 12, and lowers the crossarm 6. The crossarm lifting mechanism 12 descends to the designated position and makes the two crossarms 6 form a certain angle. The crossarm gripping and placing mechanism 11 returns to the crossarm storage and discharge mechanism 10. After completion, the tubing lifting mechanism 1 continues to work, repeating the cycle until the well workover and tubing rod lifting operation is completed.

[0034] The fully automatic tubing storage tube discharge process: The tubing lifting mechanism 1 moves upward to the top position, the tubing swing arm 3 swings, the crossarm lifting mechanism 12 moves upward to the designated position, the inlet and outlet side is flush with the tubing lifting mechanism 1, and the other end of the crossarm lifting mechanism 12 moves upward a distance so that the crossarm 6 and the tubing swing arm 3 form a "V" shape. At this time, the tubing 2 rolls down along the crossarm 6 onto a part of the tubing swing arm 3. The stop mechanism 9 moves upward to separate and prevent the tubing 2 from rolling down on the crossarm 6. The tubing swing arm 3 is tilted at a certain angle by the oil cylinder, and the tubing 2 rolls down and rests against the lever mechanism 4. The tubing lifting mechanism 1 moves downward to the designated position, and the lever mechanism 4 swings (each swing can discharge one tubing 2) to discharge the tubing 2 for use by the workover rig. When the visual sensor on the scanning head detects that the tubing 2 is being emptied from the crossarm 6, the high-positioned crossarm lifting mechanism 12 descends to make the two crossarms 6 horizontal. The crossarm grabbing and placing mechanism 11 rotates to the upper end of the crossarm lifting mechanism 12 to grab the crossarm 6. Then it returns and places the crossarm 6 on the crossarm storage and discharge mechanism 10. The crossarm storage and discharge mechanism 10 descends one crossarm distance. The crossarm lifting mechanism 12 descends to the next row of crossarms 6 and lifts the crossarm 6 to the designated position. The next row of tubing 2 is discharged, and the process is repeated until the well workover and tubing installation is completed.

[0035] All mechanical actions performed during the operation of the machine are controlled by relevant programs.

[0036] The fully automated tubing storage system of this invention adopts a three-dimensional storage method to achieve automated operation, saving construction area. Multiple tubing rods can be rolled down and placed simultaneously to improve storage efficiency. Each row of tubing rods is aligned to make the overall tubing bundle more neat. The length of the entire row is measured and stored to form a tubing rod database, improving overall efficiency. During tubing rod operations in oil wells, multiple tubing rods from each layer can be discharged continuously at the same time, greatly improving the tubing rod discharge efficiency. Compared with traditional manual or semi-automatic devices, it has the advantages of high efficiency, neat placement, small footprint, and full automation.

Claims

1. A fully automated oil pipe storage system, characterized in that, The system includes a pipe storage rack, a pipe lifting mechanism slidably connected to the pipe inlet and outlet slide rails of the pipe storage rack, a pipe swing arm with one end hinged to the upper end of the pipe lifting mechanism and the middle hinged to a hydraulic rod, a pipe-pulling mechanism hinged to the middle of the pipe swing arm, two stop bar mechanisms respectively located at the pipe inlet and outlet ends of the pipe storage rack, two crossbeam storage and arranging mechanisms respectively located on both sides of the back end of the pipe storage rack, a crossbeam gripping and placing mechanism located at the upper end of each crossbeam storage and arranging mechanism and hinged to the pipe storage rack, a crossbeam lifting mechanism located on the slide rails on both sides of the pipe storage rack, a scanning arm hinged to the upper end of the pipe storage rack, a scanning head located on the scanning arm and moved by a slider module, a vision sensor located on the scanning head, a pipe alignment length scanning mechanism hinged to both ends of the long side of the pipe storage rack, a length scanning sensor located on the pipe alignment length scanning mechanism, a single pipe positioning mechanism located at the upper end of the pipe inlet and outlet ends of the pipe storage rack, and an automated control system.

2. The fully automated oil pipe storage facility according to claim 1, characterized in that, The oil pipe lifting mechanism is slidably connected along the slide rail via a hydraulic cylinder I or a pneumatic cylinder I.

3. The fully automated oil pipe storage facility according to claim 1, characterized in that, The aforementioned tube-pulling mechanism is controlled by a hydraulic cylinder II or a pneumatic cylinder II to swing.

4. The fully automated oil pipe storage facility according to claim 1, characterized in that, The stop mechanism is controlled by a hydraulic cylinder III or a pneumatic cylinder III to raise and lower the stop height.

5. The fully automated oil pipe storage facility according to claim 1, characterized in that, The crossbeam gripping and placement mechanism is controlled to rotate by a hydraulic cylinder IV or a pneumatic cylinder IV, and the crossbeam gripping and placement mechanism is equipped with gripper mechanisms at both ends to grip and place the crossbeam.

6. The fully automated oil pipe storage facility according to claim 5, characterized in that, The crossarm lifting mechanism consists of four parts, which are driven by screw jacks, hydraulic cylinders V or pneumatic cylinders V to move the crossarm up and down within the crossarm track of the pipe warehouse frame.

7. The fully automated oil pipe storage facility according to claim 1, characterized in that, The scanning arm is folded by a hydraulic cylinder VI or a pneumatic cylinder VI.

8. The fully automated oil pipe storage facility according to claim 1, characterized in that, The tube alignment length scanning mechanism is controlled by a hydraulic cylinder VII or a pneumatic cylinder VII to extend or rotate.

9. The fully automated oil pipe storage facility according to claim 1, characterized in that, The single-tube positioning mechanism is controlled by a hydraulic cylinder VIII or a pneumatic cylinder VIII to position the oil tube.

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