Pipe discharging and conveying device and pipe discharging and conveying method

Abstract

The invention discloses a pipe arranging and conveying device and a pipe arranging and conveying method. The pipe discharging and conveying device comprises a translation mechanism, a power catwalk used for conveying oil pipes, a lifting mechanism fixedly arranged on a movable component of the translation mechanism, a cantilever mechanism fixedly arranged on a movable component of the lifting mechanism and used for grabbing the oil pipes, a controller used for controlling the translation mechanism, the lifting mechanism and the cantilever mechanism, and a sensor fixedly arranged on the cantilever mechanism. The lifting mechanism comprises a lifting seat fixedly arranged on the moving part of the translation mechanism, a linear driving assembly fixedly arranged on the lifting seat and a lifting block clamped on the lifting seat and fixedly arranged at the power output end of the linear driving assembly. The pipe discharging and conveying method comprises the steps that S1, the angle of the cantilever is adjusted; s2, setting position limiting data; and S3, pipe discharging and conveying actions are executed. The device can automatically adjust the distance between the cantilever and the oil pipe, is suitable for workover treatment in oil field production, and is used for a pipe discharging and conveying procedure in the workover treatment.

Description

Technical Field

[0001] This invention relates to a pipe discharge device and a pipe discharge method, specifically a pipe discharge device and a pipe discharge method capable of automatically adjusting the distance between the cantilever and the oil pipe. Background Technology

[0002] Petroleum, as an important energy source, plays a vital role in social development. Well workover is a crucial step in oilfield production, typically involving the movement and removal of oil tubing.

[0003] Because the workover site is uneven, the distance between each tubing and the cantilever of the tubing assembly varies. If the distance is too close, it will cause the cantilever to collide and squeeze with the tubing. If the distance is too far, the cantilever will not be able to grab the tubing.

[0004] Currently, gantry-type pipe laying devices are commonly used in the process of oil pipeline transportation. However, this type of pipe laying device requires manual adjustment of the cantilever position, which not only increases the labor intensity of employees but also reduces work efficiency. Summary of the Invention

[0005] To address the aforementioned shortcomings in the existing technology, this invention aims to provide a pipe discharge device and method to achieve automatic adjustment of the distance between the cantilever and the oil pipe.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pipe delivery device includes a translation mechanism, a power catwalk for conveying oil pipes, a lifting mechanism fixed on a movable part of the translation mechanism, a cantilever mechanism fixed on a movable part of the lifting mechanism for gripping oil pipes, a controller for controlling the translation mechanism, the lifting mechanism and the cantilever mechanism, and a sensor fixed on the cantilever mechanism for transmitting signals to the controller. The lifting mechanism includes a lifting seat fixed on the moving part of the translation mechanism, a linear drive assembly fixed on the lifting seat, and a lifting block that is locked on the lifting seat and fixed at the power output end of the linear drive assembly, wherein the lifting block is the moving part of the lifting mechanism.

[0007] As a limitation of the present invention, the lifting base is provided with a slide rail, and the lifting block is placed in the slide rail.

[0008] As a further limitation of the present invention, the cantilever mechanism includes a connecting block rotatably connected to the lifting block, a cantilever rotatably connected to the connecting block, a first tie rod assembly with both ends rotatably connected to the top of the cantilever and the connecting block respectively for adjusting the vertical angle of the cantilever, a second tie rod assembly with both ends rotatably connected to the side wall of the cantilever and the connecting block respectively for adjusting the horizontal angle of the cantilever, at least one pair of clamping plate driving assemblies fixed on the cantilever, and at least one pair of clamping plates rotatably connected to the cantilever for gripping the oil pipe, wherein the rotation axis between the lifting block and the connecting block is vertically arranged, the rotation axis between the connecting block and the cantilever is horizontally arranged, one end of the clamping plate is also rotatably connected to the power output end of the clamping plate driving assembly, and the other end of the clamping plate is a free end.

[0009] As a further limitation of the present invention, the first tie rod assembly includes a first connecting plate rotatably connected to the connecting block, a first screw fixed on the first connecting plate, a second connecting plate rotatably connected to the cantilever, a second screw fixed on the second connecting plate, and a tie rod whose two ends are threadedly connected to the first screw and the second screw respectively by nuts. The structure of the second tie rod assembly is the same as that of the first tie rod assembly.

[0010] As another limitation of the present invention, the translation mechanism includes a moving track, a translation slider slidably connected to the moving track, and a translation drive assembly fixed on the translation slider for driving the slider to move on the moving track, wherein the translation slider is the moving part of the translation mechanism.

[0011] As a further limitation of the present invention, the controller is a PLC controller and the sensor is a laser rangefinder sensor.

[0012] As a further limitation of the invention, the device also includes an oil collection box laid at the bottom of the device for collecting oil droplets dripping from the oil pipe.

[0013] The present invention also discloses a method for discharging and conveying pipes, which specifically includes the following steps: S1. Adjust the cantilever angle: Adjust the cantilever angle according to the placement of the oil pipe; S2. Set position limit data: Input the data set that limits the cantilever position into the PLC controller; S3. Perform pipe feeding / discharging action: The pipe feeding / discharging device begins to perform pipe feeding or discharging operations.

[0014] As a limitation of the present invention, the data set for limiting the cantilever position in step S2 is the range of distances in the vertical direction between the cantilever and the oil pipe. The upper limit of this range is the difference between the length of the clamping plate and the radius of the oil pipe, and the lower limit is the difference between the length of the clamping plate and the diameter of the oil pipe.

[0015] By adopting the above-described technical solution, the beneficial effects achieved by this invention compared to the prior art are as follows: (1) The present invention designs a pipe discharge device and pipe discharge method that can automatically adjust the distance between the cantilever and the oil pipe. By setting up a PLC controller, a laser range sensor and a lifting mechanism, the laser range sensor transmits the measured distance data between the cantilever and the oil pipe to the PLC controller. After analysis by the PLC controller, the lifting mechanism is controlled to rise or fall, so that the distance between the cantilever and the oil pipe is always within the set value, ensuring the smooth operation of the device.

[0016] (2) The present invention is provided with a first tie rod assembly and a second tie rod assembly. By adjusting the length of the first tie rod assembly and the second tie rod assembly, the horizontal and vertical angles of the cantilever can be adjusted so that the cantilever and the oil pipe are on the same vertical plane and the cantilever is kept horizontal, so that the cantilever mechanism can better grip the oil pipe.

[0017] (3) The present invention is provided with a translation mechanism, which can drive the cantilever mechanism to move in the horizontal direction, so that the cantilever mechanism can perform pipe laying and pipe delivery work over a large range.

[0018] (4) The present invention is equipped with an oil collection box, which can collect oil droplets falling from the oil pipe, thus avoiding environmental pollution and collecting the oil droplets for recycling.

[0019] In summary, this invention can automatically adjust the distance between the cantilever and the tubing, and is suitable for well workover operations in oilfield production, for use in the tubing discharge process during well workover operations. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a schematic diagram of the working state of an embodiment of the present invention; Figure 2 This is an enlarged view of part A; Figure 3 This is a schematic diagram of the lifting mechanism and cantilever mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first pull rod assembly in an embodiment of the present invention; In the diagram: 1. Translation mechanism; 2. Lifting mechanism; 3. Cantilever mechanism; 4. Power catwalk; 5. Controller; 6. Sensor; 7. Oil receiving box; 8. Oil pipe; 11. Moving track; 12. Translation slider; 13. Moving teeth; 14. Translation drive assembly; 21. Lifting seat; 22. Lifting block; 31. Connecting block; 32. First pull rod assembly; 33. Second pull rod assembly; 34. Clamping plate drive assembly; 35. Clamping plate; 321. First connecting plate; 322. First screw; 323. Pull rod; 324. Second screw; 325. Second connecting plate. Detailed Implementation

[0022] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and understanding purposes only and are not intended to limit the scope of the invention.

[0023] This embodiment discloses a discharge pipe device, such as... Figure 1 As shown, it includes a translation mechanism 1, a power cat walkway 4 vertically placed at the end of the translation mechanism 1, a lifting mechanism 2, a cantilever mechanism 3, an oil collection box 7 laid below in this embodiment, a controller 5, and a sensor 6. The power cat walkway 4 is an existing power cat walkway 4, the controller 5 is a PLC controller 5 used to control the translation mechanism 1, the lifting mechanism 2, and the cantilever mechanism 3, and the sensor 6 is an existing laser rangefinder sensor 6.

[0024] like Figure 2 As shown, the translation mechanism 1 includes a moving track 11, moving teeth 13 formed on the moving track 11, a translation slider 12 slidably connected to the moving track 11, and a translation drive assembly 14 fixed on the translation slider 12. The translation drive assembly 14 is a gear motor. The power output end of the gear motor is meshed with the moving teeth 13 on the moving track 11. When the gear motor starts, its power output end begins to rotate. Through the meshing connection between the power output end of the gear motor and the moving teeth 13 on the moving track 11, the translation slider 12 can be driven to move on the moving track 11. Furthermore, by changing the rotation direction of the power output end of the gear motor, the direction of movement of the translation slider 12 can be changed.

[0025] like Figure 3 As shown, the lifting mechanism 2 includes a lifting seat 21 fixed on the translation slider 12, a slide rail formed on the lifting seat 21, a linear drive assembly fixed on the lifting seat 21, and a lifting block 22 mounted on the slide rail and fixed at the power output end of the linear drive assembly. The linear drive assembly is a hydraulic cylinder, which controls the lifting block 22 to move up and down along the slide rail.

[0026] like Figure 3 As shown, the cantilever mechanism 3 includes a connecting block 31 rotatably connected to the lifting block 22, a cantilever rotatably connected to the connecting block 31, a first tie rod assembly 32 and a second tie rod assembly 33 rotatably connected to the cantilever and the connecting block 31 at both ends respectively, two pairs of clamping plate drive assemblies 34 fixed on the cantilever, and two pairs of clamping plates 35 rotatably connected to the cantilever.

[0027] It should be added here that sensor 6 is fixed on the side of the cantilever facing the oil pipe 8 and is used to measure the distance between the cantilever and the oil pipe 8.

[0028] The connecting block 31 is located at the end of the lifting block 22 away from the lifting seat 21, and the rotating shaft for connecting the connecting block 31 and the lifting block 22 is vertically set. The cantilever is located at the end of the connecting block 31 away from the lifting block 22, and the rotating shaft for connecting the cantilever and the connecting block 31 is horizontally set, so that the connecting block 31 can drive the cantilever to swing horizontally, and the cantilever can swing vertically independently.

[0029] like Figure 4 As shown, the first tie rod assembly 32 is located at the top of the cantilever, and the second tie rod assembly 33 is located on the side wall of the cantilever. The first tie rod assembly 32 includes a first connecting plate 321 rotatably connected to the connecting block 31, a first screw 322 fixed to the first connecting plate 321, a second connecting plate 325 rotatably connected to the cantilever, a second screw 324 fixed to the second connecting plate 325, and a tie rod 323 whose two ends are threadedly connected to the first screw 322 and the second screw 324 respectively by nuts. The structure of the second tie rod assembly 33 is the same as that of the first tie rod assembly. The same applies to component 32; by manually adjusting the length of the first screw 322 and the second screw 324 screwed into the pull rod 323, the length of the first pull rod assembly 32 can be changed. When the length of the first pull rod assembly 32 is shortened, the first pull rod assembly 32 will pull the free end of the cantilever upward. When the length of the first pull rod assembly 32 is increased, the cantilever will lower the free end of the cantilever downward. Therefore, the rotation of the cantilever in the vertical direction can be controlled by the first pull rod assembly 32. Similarly, the rotation of the cantilever in the horizontal direction can be controlled by the second pull rod assembly 33.

[0030] Each pair of clamp drive assemblies 34 and clamp 35 are respectively arranged on the two side walls of the cantilever. Each clamp 35 is rotatably connected to the cantilever via a rotating shaft. One end of the clamp 35 is also rotatably connected to the power output end of the clamp drive assembly 34, and the other end is the free end of the clamp 35. When the power output end of the clamp drive assembly 34 extends under the control of the PLC controller, it can drive the clamp 35 to rotate and make the free end of the clamp 35 rotate downward in a direction parallel to the side wall of the cantilever. The clamp 35 changes from the initial horizontal state to the vertical state. In actual use, the free end of the clamp 35 rotates downward. Since the distance between each pair of clamps 35 is slightly smaller than the diameter of the oil pipe 8, the two pairs of clamps 35 can clamp the oil pipe 8 between each pair of clamps 35, thereby achieving the purpose of gripping the oil pipe 8.

[0031] The usage method of this embodiment is described in the second embodiment.

[0032] A second embodiment of the present invention discloses a pipe discharge method, including S1, adjusting the cantilever angle, S2, setting position limiting data, and S3, performing the pipe discharge action.

[0033] S1. Adjust the cantilever angle First, based on the angle of the placement position in this embodiment, the angle of the cantilever is adjusted by the first tie rod assembly 32 and the second tie rod assembly 33 so that the cantilever and the oil pipe 8 are on the same vertical plane and the cantilever is kept horizontal.

[0034] S2, Set location constraint data In the PLC controller 5, the range of vertical distance between the cantilever and the oil pipe 8 is set. In this embodiment, the lower limit of this range is set to 15mm and the upper limit is set to 45mm. When the laser range sensor 6 measures that the distance between the cantilever and the oil pipe 8 is less than 15mm, the PLC controller 5 will control the lifting mechanism 2 to move the cantilever upward until the distance between the cantilever and the oil pipe 8 is equal to 30mm. When the laser range sensor 6 measures that the distance between the cantilever and the oil pipe 8 is greater than 45mm, the PLC controller 5 will control the lifting mechanism 2 to move the cantilever downward until the distance between the cantilever and the oil pipe 8 is equal to 30mm.

[0035] S3, Execute the discharge pipe action ①Automatic pipe laying: The translation mechanism 1 moves the cantilever mechanism 3 to the pipe gripping position of the power catwalk 4. Then, the laser range sensor 6 identifies the distance between the cantilever and the oil pipe 8. After the lifting mechanism 2 adjusts the position of the cantilever, the clamping plate 35 rotates downward to clamp the oil pipe 8. Then, the translation mechanism 1 drives the cantilever mechanism 3 to move away from the power catwalk 4. After moving to the designated position input in the PLC controller, the clamping plate 35 rotates upward to release the oil pipe 8, thus completing the pipe laying. After the pipe laying is completed, the cantilever mechanism 3 moves to the pipe gripping position of the power catwalk 4 to wait, ready to lay the next oil pipe 8.

[0036] ② Automatic pipe feeding: The translation mechanism 1 controls the movement of the cantilever mechanism 3. When the laser rangefinder 6 detects the oil pipe 8, the cantilever mechanism 3 stops moving. Then, the lifting mechanism 2 adjusts the position of the cantilever according to the distance between the cantilever and the oil pipe 8 detected by the laser rangefinder and grabs the oil pipe 8. After grabbing, the cantilever mechanism 3 moves to the pipe grabbing position of the power cat walkway 4, places the oil pipe 8 in the pipe grabbing position, and continues to grab the next oil pipe 8.

[0037] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A discharge pipe device, characterized in that: It includes a translation mechanism, a power catwalk for conveying the oil pipe, a lifting mechanism fixed on the moving parts of the translation mechanism, a cantilever mechanism fixed on the moving parts of the lifting mechanism for gripping the oil pipe, a controller for controlling the translation mechanism, the lifting mechanism and the cantilever mechanism, and a sensor fixed on the cantilever mechanism for transmitting signals to the controller. The lifting mechanism includes a lifting seat fixed on the moving part of the translation mechanism, a linear drive assembly fixed on the lifting seat, and a lifting block that is locked on the lifting seat and fixed at the power output end of the linear drive assembly, wherein the lifting block is the moving part of the lifting mechanism.

2. The discharge pipe device according to claim 1, characterized in that: The lifting platform has a slide rail, and the lifting block is placed in the slide rail.

3. The discharge pipe device according to claim 2, characterized in that: The cantilever mechanism includes a connecting block rotatably connected to a lifting block, a cantilever rotatably connected to the connecting block, a first tie rod assembly with both ends rotatably connected to the top of the cantilever and the connecting block respectively for adjusting the vertical angle of the cantilever, a second tie rod assembly with both ends rotatably connected to the side wall of the cantilever and the connecting block respectively for adjusting the horizontal angle of the cantilever, at least one pair of clamping plate drive assemblies fixed on the cantilever, and at least one pair of clamping plates rotatably connected to the cantilever for gripping oil pipes. The rotation axis between the lifting block and the connecting block is vertically set, the rotation axis between the connecting block and the cantilever is horizontally set, one end of the clamping plate is also rotatably connected to the power output end of the clamping plate drive assembly, and the other end of the clamping plate is a free end.

4. The discharge pipe device according to claim 3, characterized in that: The first tie rod assembly includes a first connecting plate rotatably connected to the connecting block, a first screw fixed on the first connecting plate, a second connecting plate rotatably connected to the cantilever, a second screw fixed on the second connecting plate, and a tie rod whose two ends are threadedly connected to the first screw and the second screw respectively by nuts. The structure of the second tie rod assembly is the same as that of the first tie rod assembly.

5. A discharge pipe device according to any one of claims 1-4, characterized in that: The translation mechanism includes a moving track, a translation slider slidably connected to the moving track, and a translation drive assembly fixed on the translation slider for driving the slider to move on the moving track, wherein the translation slider is the moving part of the translation mechanism.

6. The discharge pipe device according to claim 5, characterized in that: The controller is a PLC controller, and the sensor is a laser rangefinder sensor.

7. The discharge pipe device according to claim 6, characterized in that: The device also includes an oil collection box laid at the bottom of the device to collect oil droplets dripping from the oil pipe.

8. A method for discharging and delivering pipes, characterized in that: This method, based on the discharge pipe device of claim 1, specifically includes the following steps: S1. Adjust the cantilever angle: Adjust the cantilever angle according to the placement of the oil pipe; S2. Set position limit data: Input the data set that limits the cantilever position into the PLC controller; S3. Perform pipe feeding / discharging action: The pipe feeding / discharging device begins to perform pipe feeding or discharging operations.

9. A method for discharging and conveying pipes according to claim 8, characterized in that: The data set for defining the cantilever position mentioned in step S2 is the vertical distance range between the cantilever and the tubing. The upper limit of this range is the difference between the length of the clamping plate and the radius of the tubing, and the lower limit is the difference between the length of the clamping plate and the diameter of the tubing.

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