A kind of auxiliary device for hoisting sucker rod

Abstract

The application discloses an auxiliary device for hoisting sucker rods, and belongs to the technical field of oil exploitation equipment. The auxiliary device comprises a wellhead fixing base, a centering guide mechanism and a hanging clamp main body. The centering guide mechanism comprises two centering arms which can be synchronously opened and closed, and the end of each centering arm is provided with a V-shaped guide wheel, so that a variable-diameter horn mouth guide channel is formed. The centering arms are driven by a driving motor through a screw mechanism, and the bottom of each centering arm is provided with a buffer element. The auxiliary device further comprises a control system which is connected with the driving motor, pressure sensors on the centering arms and position sensors on the hanging clamp main body, and is used for controlling the centering and lowering process according to contact signals. A modular clamping core is arranged in the accommodating cavity of the hanging clamp main body, and the modular clamping core comprises clamping arms which are driven by shape memory alloy wires. The inner side of each clamping arm is provided with a plurality of clamping blocks which are provided with piezoelectric sensors, so that the clamping force can be sensed and adaptively adjusted, and uniform clamping is realized. The auxiliary device can automatically complete the centering, guiding and reliable clamping of the sucker rods, and greatly improves the operation efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of oil extraction equipment, specifically relating to an auxiliary device for lifting sucker rods. Background Technology

[0002] Currently, in oilfield well workover operations, hundreds of sucker rods need to be lifted or lowered one by one from the well. Traditional operations mainly rely on manual operation of the lifting clamps, which suffers from high labor intensity, low efficiency, and numerous safety hazards. Although some automated lifting clamps have emerged, the following drawbacks remain: 1. Sucker rods are difficult to center quickly and accurately at the wellhead due to wind or wire rope swaying, requiring repeated manual straightening, which affects automation efficiency; 2. Clamping mechanisms are mostly rigid structures, with poor adaptability to different specifications or slightly deformed sucker rod wrench necks, easily leading to insecure clamping or damage to the rod; 3. Existing guide devices have limited buffering effect, and during the lowering process, the sucker rod collides hard with the guide device, easily generating noise, wear, and even causing accidents. Therefore, there is an urgent need for a sucker rod lifting auxiliary device that can automatically center, adaptively use flexible clamps, and has a high-efficiency buffering function. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an auxiliary device for lifting sucker rods, thereby solving the technical problems mentioned in the background art.

[0004] The objective of this invention is achieved as follows: an auxiliary device for lifting sucker rods includes a wellhead fixing base fixedly installed above the wellhead, a centering guide mechanism, and a lifting clamp body. The centering guide mechanism is disposed above the wellhead fixing base and includes at least two centering arms capable of synchronously moving towards or away from each other. Each centering arm has a V-shaped guide wheel at its end, and the two V-shaped guide wheels together form a variable-diameter funnel-shaped guide channel. The lifting clamp body is connected to a flipping mechanism for connecting the lifting clamp body to a lifting device. A receiving cavity for accommodating the upper end of the sucker rod is provided below the lifting clamp body. In use, the wellhead fixing base is installed above the wellhead; the centering guide mechanism is installed on it; and the lifting clamp body is connected to the lifting system of a crane or workover rig via the flipping mechanism. During operation, the centering arms move synchronously according to instructions, adjusting the size of the channel formed by the V-shaped guide wheels to actively align with and accommodate the lowered sucker rod. It changes the traditional passive waiting mode of hanging clamps for alignment, and improves the alignment success rate and work efficiency through active, variable-path guide channels.

[0005] Furthermore, the centering guide mechanism is connected to a drive component, which is a lead screw mechanism connected to a drive motor. The two centering arms are respectively connected to their corresponding lead screws. Pressure sensors are connected to the centering arms, and position sensors are connected to the main body of the lifting clamp. The surface of the V-shaped guide wheel is covered with an elastic material, and a buffer element is provided between the centering arm and the wellhead fixing base. In use, the drive motor receives a command and drives the bidirectional lead screw to rotate, causing the two centering arms to move towards or away from each other. When the sucker rod contacts the V-shaped wheel, the pressure sensor is triggered, and the impact force is initially absorbed by the elastic layer of the wheel surface. The remaining impact force is transmitted to the centering arm and further dissipated by the buffer element at the bottom. Through automated driving and force sensing in the centering process, combined with a dual buffer mechanism, not only is the surface of the sucker rod protected from scratches, but the impact load on the mechanism is also greatly reduced, improving the reliability and lifespan of the equipment.

[0006] Furthermore, it also includes a control system electrically connected to the drive motor, the pressure sensor, and the position sensor. The control system is configured to determine whether the sucker rod is in contact with the V-shaped guide wheel based on the signal from the pressure sensor, and control the start, stop, and lowering of the hoist body based on the contact signal. In use, after the operator or host computer issues a command, the control system autonomously coordinates the work process. For example, it controls the centering arm to pre-open to a larger diameter; during the hoist lowering process, once the pressure sensor detects a signal, the control system immediately issues a command to decelerate, and can fine-tune the centering arm position for precise centering as needed. By integrating the various dispersed mechanical actions into a continuous and automated work process, manual intervention is reduced, improving operational safety.

[0007] Furthermore, the receiving cavity of the hanger body is provided with a modular clamping core, which includes: a core base connected to the receiving cavity by a snap-fit ​​structure; a pair of clamping arms symmetrically hinged to the core base; and an adaptive drive module disposed within the core base for driving the opening and closing of the pair of clamping arms, and the adaptive drive module is electrically connected to the control system. Its working principle is to adapt to different specifications of sucker rods through a quickly replaceable modular clamping core. The adaptive drive module inside the core provides clamping force, while the snap-fit ​​structure enables convenient connection and separation between the core and the hanger body. In use, when it is necessary to replace the hanger to accommodate sucker rods of different diameters, simply release the snap-fit, remove the entire old core module, replace it with the new module, and lock the snap-fit. There is no need to disassemble the hanger body or use tools to adjust multiple parts, improving on-site work efficiency.

[0008] Furthermore, the inner working surface of the clamping arm is provided with multiple independently movable clamping blocks. Each clamping block has a piezoelectric sensor on its back, and these sensors are electrically connected to the control system. The control system is configured to receive signals from each piezoelectric sensor to determine the contact between the clamping surface of the sucker rod wrench's neck and the clamping blocks. When uneven pressure distribution is detected, the adaptive drive module is controlled to adjust the clamping force of the two clamping arms to make the pressure distribution more uniform. Its working principle is to decompose the traditional integral clamping surface into multiple clamping blocks with independent piezoelectric sensors. The control system reads the pressure data from all sensors in real time. When uneven pressure distribution is detected (e.g., one side in contact, the other side suspended), the output of the adaptive drive module is fine-tuned to dynamically adjust the posture or clamping force of the clamping arms until the pressure of each clamping block is balanced. During clamping, piezoelectric sensors on the back of each clamping block continuously provide pressure values. If the system algorithm determines that the pressure is abnormal at a certain point, it sends a fine-tuning command to the drive module, such as closing the clamping arm on the side with lower pressure by a few tenths of a millimeter more, achieving "surface contact" rather than "line contact or point contact." This effectively addresses manufacturing tolerances, wear, or oil contamination on the sucker rod wrench's square neck, preventing localized damage, bite marks, or slippage caused by concentrated clamping force.

[0009] Furthermore, the adaptive drive module internally incorporates a shape memory alloy wire. The two ends of the wire are fixed, and the middle portion passes over a pulley and connects to a clamping arm. The pulley is connected to the core base via a return spring. When the shape memory alloy wire is energized and heated, it contracts, pulling the pulley and thus driving the clamping arm to close and clamp. Its working principle is based on the characteristic that the shape memory alloy wire macroscopically contracts after being energized and heated; the contraction force is converted into a torque pulling the clamping arm closed via the pulley mechanism. After power is cut off and cooling occurs, the clamping arm opens under the action of the return spring, and the alloy wire returns to its original length. When clamping is required, the control system energizes the shape memory alloy wire, causing it to rapidly heat up and contract, pulling the pulley and overcoming the tension of the return spring, thus closing the clamping arm. The clamping force can be precisely adjusted by controlling the current (and temperature). When releasing is required, the current is cut off, the alloy wire cools and softens, and the force of the return spring causes the clamping arm to open.

[0010] Furthermore, the flipping mechanism includes a connecting frame rotatably connected to the upper end of the lifting clamp body. A drive shaft is connected to the connecting frame, and an intermediate gear is fixedly mounted on the outer periphery of the drive shaft. The intermediate gear meshes with a sector gear, which is connected to a servo motor. The servo motor is electrically connected to the control system. In use, the servo motor receives angle and speed commands from the control system, driving the sector gear and its fixed drive shaft and connecting frame to rotate, ultimately achieving a precise and smooth flipping of the lifting clamp body from vertical (lifting state) to horizontal (discharge state). The gear transmission ensures accurate transmission and good rigidity, preventing deformation under heavy loads. Combined with the servo motor, programmable control of the flipping angle and speed is possible, making the flipping process smooth and controllable, and avoiding impact.

[0011] Furthermore, a visual positioning system is also installed on the wellhead fixing base. This system includes a camera and an image processing unit, used to identify the position of the sucker rod head and send the position information to the control system to assist the centering guide mechanism in initial positioning. Utilizing the visual positioning system, industrial camera, and image processing algorithm, the position coordinates of the swinging sucker rod head in the air are identified and calculated before the hoist is lowered, and this information is sent to the control system. At the start of operation, the camera continuously captures images of the wellhead area, and the image processing unit calculates its spatial position in real time by identifying features such as the sucker rod coupling or the wrench neck. Based on this, the control system drives the centering guide mechanism to pre-align the center of the V-shaped guide wheel channel with the predicted position of the sucker rod. This is particularly suitable for conditions where the sucker rod swings violently, greatly improving the system's response speed and the initial centering success rate.

[0012] Furthermore, the buffer element is a rubber pad. An installation groove is provided on the upper surface of the wellhead fixing base. The rubber pad is fixed in the installation groove by adhesive or snap-fit. A pressing part is provided on the lower side of the centering arm, corresponding to the upper end of the rubber pad. When subjected to radial impact, the rubber pad absorbs and dissipates impact energy through its own shear deformation and compression deformation to achieve buffering. Optionally, the buffer element is a helical spring. The lower end of the helical spring is connected to the upper surface of the base, and the upper end of the helical spring is connected to the lower side of the centering arm. When the sucker rod impacts the V-shaped guide wheel, generating radial impact force, the centering arm pushes the helical spring to undergo compression deformation, converting the impact kinetic energy into the elastic potential energy of the spring to achieve buffering. This method has a simple structure and low cost.

[0013] The beneficial effects of this invention are as follows: Driven by a screw mechanism, a funnel-shaped channel formed by V-shaped guide wheels, combined with visual positioning and pressure sensing, automatically guides, grasps, and straightens the swinging sucker rod, significantly reducing manual intervention and improving operational efficiency and safety. The modular clamping core uses multiple independently sensing clamping blocks and shape memory alloy wires for drive, adapting to the shape of the sucker rod wrench's square neck to achieve uniform distribution and precise control of clamping force, preventing slippage or damage to the rod, and allowing for quick core replacement. The elastic coating on the surface of the V-shaped guide wheels, combined with rubber pads or helical spring buffer elements at the bottom of the centering arm, effectively absorbs and dissipates the impact energy during sucker rod centering, reducing noise, wear, and equipment vibration, and extending the device's service life. The integrated pressure, position, and vision sensors and control system enable intelligent linkage of centering, buffering, lowering, clamping, and flipping actions, achieving automated and intelligent operation throughout the entire sucker rod hoisting process. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure in use of the present invention; Figure 2 This is the invention Figure 1 Enlarged view of A in the middle; Figure 3 This is a schematic diagram of the main structure of the present invention; Figure 4 This is the invention Figure 3 Enlarged view of B in the middle; Figure 5 This is a schematic diagram of the left-side structure of the present invention; Figure 6 This is the invention Figure 5 Enlarged view of C; Figure 7 This is a top view of the structure of the present invention; Figure 8 This is a right-view stereoscopic structural diagram of the present invention; Figure 9 This is the invention Figure 8 Enlarged view of D; Figure 10 This is a schematic diagram of the main structure of the hanging clamp of the present invention; Figure 11 This is the invention Figure 10 Enlarged view of the image in Chinese E.

[0015] In the diagram: 1. Wellhead fixing base; 2. Centering guide mechanism; 3. Lifting clamp body; 4. Sucker rod; 5. Centering arm; 6. V-shaped guide wheel; 7. Tilting mechanism; 8. Receiving cavity; 9. Drive component; 10. Pressure sensor; 11. Position sensor; 12. Elastic material covering; 13. Control system; 14. Core-filling base; 15. Clamping arm; 16. Adaptive drive module; 17. Clamping block; 18. Connecting frame; 19. Drive shaft; 20. Intermediate gear; 21. Sector gear; 22. Servo motor; 23. Vision positioning system; 24. Rubber pad; 25. Mounting groove; 26. Pressing part. Detailed Implementation

[0016] The invention will now be described in further detail with reference to the accompanying drawings. It should be noted that all directional terms such as up, down, front, back, left, and right appearing in this invention are... Figure 1 The diagram is for reference only, and all directional terms are not intended to limit the invention, but are merely for clearer explanation and interpretation. Example 1

[0017] like Figure 1-11 As shown, this embodiment discloses an auxiliary device for lifting sucker rods, including a wellhead fixing base 1 fixedly installed above the wellhead, a centering guide mechanism 2, and a lifting clamp body 3. The centering guide mechanism 2 is disposed above the wellhead fixing base 1 and includes at least two centering arms 5 capable of moving synchronously in opposite directions or in opposite directions. Each centering arm 5 has a V-shaped guide wheel 6 at its end, and the two V-shaped guide wheels 6 together form a variable-diameter funnel-shaped guide channel. The lifting clamp body 3 is connected to a flipping mechanism 7, which is used to connect the lifting clamp body 3 to the lifting equipment. A receiving cavity 8 for accommodating the upper end of the sucker rod 4 is provided below the lifting clamp body 3. In use, the wellhead fixing base 1 is installed above the wellhead; the centering guide mechanism 2 is installed on it; and the lifting clamp body 3 is connected to the lifting system of the overhead crane or workover rig via the flipping mechanism 7. During operation, the centering arm 5 moves synchronously according to instructions, adjusting the size of the channel formed by the V-shaped guide wheels 6 to actively align with and accommodate the lowered sucker rod 4. This invention changes the traditional passive waiting mode of the lifting clamp, improving the centering success rate and work efficiency through an active, variable-diameter guide channel.

[0018] For better results, the centering guide mechanism 2 is connected to a drive component 9, which is a lead screw mechanism connected to a drive motor. The two centering arms 5 are respectively connected to their corresponding lead screws. A pressure sensor 10 is connected to each centering arm 5, and a position sensor 11 is connected to the main body 3. The surface of the V-shaped guide wheel 6 is covered with an elastic material 12, and a buffer element is provided between the centering arm 5 and the wellhead fixing base 1. In use, the drive motor receives a command and drives the bidirectional lead screw to rotate, causing the two centering arms 5 to move towards or away from each other. When the sucker rod 4 contacts the V-shaped wheel, the pressure sensor 10 is triggered, and the impact force is initially absorbed by the elastic layer of the wheel surface. The remaining impact force is transmitted to the centering arm 5 and further dissipated by the buffer element at the bottom. Through automated driving and force sensing in the centering process, combined with a dual buffer mechanism, not only is the surface of the sucker rod 4 protected from scratches, but the impact load on the mechanism is also greatly reduced, improving the reliability and lifespan of the equipment.

[0019] For better performance, a control system 13 is also included. The control system 13 is electrically connected to the drive motor, the pressure sensor 10, and the position sensor 11. The control system 13 is configured to determine whether the sucker rod 4 is in contact with the V-shaped guide wheel 6 based on the signal from the pressure sensor 10, and control the start, stop, and lowering of the hoist body 3 based on the contact signal. In use, after the operator or host computer issues a command, the control system 13 autonomously coordinates the work process. For example, it controls the centering arm 5 to pre-open to a larger diameter; during the lowering process, once the pressure sensor 10 detects a signal, the control system 13 immediately issues a command to decelerate and can fine-tune the position of the centering arm 5 for precise centering as needed. By integrating the various dispersed mechanical actions into a continuous and automated work process, manual intervention is reduced, and operational safety is improved.

[0020] For better performance, a modular clamping core is provided within the receiving cavity 8 of the main body 3 of the lifting clamp. The modular clamping core includes: a core base 14, which is connected to the receiving cavity 8 via a snap-fit ​​structure; a pair of clamping arms 15, symmetrically hinged to the core base 14; and an adaptive drive module 16, located within the core base 14, for driving the opening and closing of the pair of clamping arms 15, and electrically connected to the control system 13. Its working principle is to adapt to different specifications of sucker rods 4 using a quickly replaceable modular clamping core. The adaptive drive module 16 inside the core provides clamping force, while the snap-fit ​​structure enables convenient connection and separation between the core and the main body 3 of the lifting clamp. In use, when it is necessary to replace the lifting clamp to accommodate sucker rods 4 of different diameters, simply release the snap-fit, remove the entire old core module, replace it with the new module, and lock the snap-fit. There is no need to disassemble the main body 3 of the lifting clamp or use tools to adjust multiple parts, improving on-site work efficiency.

[0021] For better results, the inner working surface of the clamping arm 15 is provided with multiple independently movable clamping blocks 17. Each clamping block 17 has a piezoelectric sensor on its back, and these sensors are electrically connected to the control system 13. The control system 13 is configured to receive signals from each piezoelectric sensor to determine the contact between the clamping surface of the sucker rod 4 wrench neck and the clamping block 17. When uneven pressure distribution is detected, the adaptive drive module 16 adjusts the clamping force of the two clamping arms 15 to make the pressure distribution more uniform. Its working principle is to decompose the traditional integral clamping surface into multiple clamping blocks 17 with independent piezoelectric sensors. The control system 13 reads the pressure data from all sensors in real time. When uneven pressure distribution is detected (e.g., one side in contact, the other side suspended), the output of the adaptive drive module 16 is finely adjusted to dynamically adjust the posture or clamping force of the clamping arms 15 until the pressure of each clamping block 17 is balanced. During clamping, the piezoelectric sensors on the back of each clamping block 17 continuously provide pressure values. If the system algorithm determines that the pressure is abnormal at a certain point, it sends a fine-tuning command to the drive module, such as making the clamping arm 15 on the side with lower pressure close a few tenths of a millimeter further, achieving "surface contact" rather than "line contact or point contact". This effectively addresses manufacturing tolerances, wear, or oil contamination on the square neck of the sucker rod 4 wrench, preventing localized damage, bite marks, or slippage caused by concentrated clamping force.

[0022] For better performance, the adaptive drive module 16 incorporates a shape memory alloy wire. The wire is fixed at both ends, with its middle section passing over a pulley and connecting to a clamping arm 15. The pulley is connected to the core base 14 via a return spring. When the shape memory alloy wire is heated and contracts, it pulls the pulley, which in turn drives the clamping arm 15 to close and clamp. Its working principle is based on the characteristic that the shape memory alloy wire macroscopically contracts after being heated. The contraction force is converted into a torque that pulls the clamping arm 15 to close via the pulley mechanism. After cooling, the clamping arm 15 opens under the action of the return spring, and the alloy wire returns to its original length. When clamping is required, the control system 13 energizes the shape memory alloy wire, causing it to heat up and contract rapidly, pulling the pulley and overcoming the tension of the return spring, thus closing the clamping arm 15. The clamping force can be precisely adjusted by controlling the current (and temperature). When releasing, the current is cut off, the alloy wire cools and softens, and the force of the return spring causes the clamping arm 15 to open.

[0023] For better performance, the flipping mechanism 7 includes a connecting frame 18 rotatably connected to the upper end of the hanging clamp body 3. The connecting frame 18 is connected to a drive shaft 19, and an intermediate gear 20 is fixedly mounted on the outer periphery of the drive shaft 19. The intermediate gear 20 meshes with a sector gear 21, which is connected to a servo motor 22. The servo motor 22 is electrically connected to the control system 13. In use, the servo motor 22 receives angle and speed commands from the control system 13, driving the sector gear 21 and its fixed drive shaft 19 and connecting frame 18 to rotate, ultimately achieving a precise and smooth flipping of the hanging clamp body 3 from vertical (lifting state) to horizontal (discharge state). The gear transmission ensures accurate transmission and good rigidity, making it less prone to deformation under heavy loads. Combined with the servo motor 22, programmable control of the flipping angle and speed is possible, ensuring a smooth and controllable flipping process and avoiding impact.

[0024] For better results, a visual positioning system 23 is also installed on the wellhead fixing base 1. The visual positioning system 23 includes a camera and an image processing unit, used to identify the position of the sucker rod 4 head and send the position information to the control system 13 to assist the centering guide mechanism 2 in initial positioning. Using the visual positioning system 23, industrial camera, and image processing algorithm, the position coordinates of the sucker rod 4 head swinging in the air are identified and calculated before the hoist is lowered, and this information is sent to the control system 13. At the start of the operation, the camera continuously captures images of the wellhead area, and the image processing unit calculates its spatial position in real time by identifying features such as the sucker rod 4 coupling or wrench neck. Based on this, the control system 13 drives the centering guide mechanism 2 to pre-align the center of the V-shaped guide wheel 6 channel with the predicted position of the sucker rod 4. This is particularly suitable for conditions where the sucker rod 4 swings violently, greatly improving the system's response speed and the initial centering success rate.

[0025] For better performance, the buffer element is a rubber pad 24. An installation groove 25 is provided on the upper surface of the wellhead fixing base 1. The rubber pad 24 is fixedly installed in the installation groove 25 by adhesive bonding or snap-fit. A pressing part 26 is provided on the lower side of the centering arm 5, corresponding to the upper end of the rubber pad 24. When subjected to radial impact, the rubber pad 24 absorbs and dissipates impact energy through its own shear deformation and compressive deformation to achieve buffering. Utilizing the high damping characteristics of rubber material, impact energy is absorbed and dissipated through shear deformation and compressive deformation. The design of the installation groove 25 and the pressing part 26 ensures that the impact force is effectively transmitted to the rubber block, effectively suppressing high-frequency vibration and noise, and providing corrosion resistance. Example 2

[0026] The difference between Embodiment 2 and Embodiment 1 is that the buffer element uses a helical spring. The lower end of the helical spring is connected to the upper surface of the base, and the upper end of the helical spring is connected to the lower side of the centering arm 5. When the sucker rod 4 impacts the V-shaped guide wheel 6 and generates a radial impact force, the centering arm 5 pushes the helical spring to undergo compression deformation, converting the impact kinetic energy into the elastic potential energy of the spring to achieve buffering. The elastic deformation of the metal spring is used to store the impact kinetic energy (converted into elastic potential energy) and release the energy after the impact, allowing the centering arm 5 to return to its original position. It has a large load-bearing capacity, high reliability, long service life, stable performance, and can provide a certain rebound force during reset, which helps the centering arm 5 maintain stability.

[0027] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An auxiliary device for lifting sucker rods, comprising a wellhead fixing base fixedly installed above the wellhead, a centering guide mechanism, and a lifting clamp body, characterized in that: The centering guide mechanism is located above the wellhead fixed base. The centering guide mechanism includes at least two centering arms that can move synchronously towards or away from each other. Each centering arm is provided with a V-shaped guide wheel at its end. The two V-shaped guide wheels together form a variable diameter flared guide channel. The lifting clamp body is connected to a flipping mechanism, which is used to connect the lifting clamp body to the lifting equipment. The lower part of the lifting clamp body is provided with a receiving cavity for accommodating the upper end of the sucker rod.

2. The auxiliary device for lifting sucker rods according to claim 1, characterized in that, The centering guide mechanism is connected to a drive component, which is a lead screw mechanism, and the lead screw is connected to a drive motor. The two centering arms are respectively connected to their corresponding lead screws. The centering arms are connected to pressure sensors, and the hanging clamp body is connected to position sensors. The V-shaped guide wheel is covered with an elastic material, and a buffer element is provided between the centering arm and the wellhead fixing base.

3. The auxiliary device for lifting sucker rods according to claim 2, characterized in that, It also includes a control system, which is electrically connected to the drive motor, the pressure sensor, and the position sensor; and the control system is configured to: determine whether the sucker rod is in contact with the V-shaped guide wheel based on the signal from the pressure sensor, and control the start, stop, and lowering of the hoist body based on the signal indicating whether they are in contact.

4. The auxiliary device for lifting sucker rods according to claim 3, characterized in that, The main body of the hanging clamp is provided with a modular clamping core inside its receiving cavity. The modular clamping core includes: a core base, which is connected to the receiving cavity by a snap-fit ​​structure; a pair of clamping arms, which are symmetrically hinged on the core base; and an adaptive drive module, which is disposed in the core base and is used to drive the opening and closing of the pair of clamping arms. The adaptive drive module is electrically connected to the control system.

5. The auxiliary device for lifting sucker rods according to claim 4, characterized in that, The inner working surface of the clamping arm is provided with multiple independently movable clamping blocks. Each clamping block has a piezoelectric sensor on its back, and the piezoelectric sensor is electrically connected to the control system. The control system is configured to receive signals from each piezoelectric sensor to determine the contact between the clamping surface of the sucker rod wrench neck and the clamping block. When uneven pressure distribution is detected, the adaptive drive module is controlled to adjust the clamping force of the two clamping arms to make the pressure distribution more uniform.

6. The auxiliary device for lifting sucker rods according to claim 4, characterized in that, The adaptive drive module is equipped with a shape memory alloy wire. The two ends of the shape memory alloy wire are fixed, and the middle part passes around a pulley and is connected to a clamping arm. The pulley is connected to the core base through a return spring. When the shape memory alloy wire is energized and heated to shrink, it pulls the pulley to move, thereby driving the clamping arm to close and clamp.

7. The auxiliary device for lifting sucker rods according to claim 1, characterized in that, The flipping mechanism includes a connecting frame rotatably connected to the upper end of the hanging card body. The connecting frame is connected to a drive shaft. An intermediate gear is fixedly provided on the outer periphery of the drive shaft. The intermediate gear meshes with a sector gear. The sector gear is connected to a servo motor, and the servo motor is electrically connected to the control system.

8. The auxiliary device for lifting sucker rods according to claim 1, characterized in that, The wellhead fixing base is also equipped with a visual positioning system, which includes a camera and an image processing unit. The visual positioning system is used to identify the position of the sucker rod head and send the position information to the control system to assist the centering guide mechanism in initial positioning.

9. The auxiliary device for lifting sucker rods according to claim 2, characterized in that, The buffer element is a rubber pad. The upper surface of the wellhead fixing base is provided with an installation groove. The rubber pad is fixed in the installation groove by adhesive or snap-fit. The lower side of the centering arm is provided with a pressing part, which corresponds to the upper end of the rubber pad. When subjected to radial impact, the rubber pad absorbs and dissipates the impact energy through its own shear deformation and compression deformation to achieve buffering.

10. The auxiliary device for lifting sucker rods according to claim 2, characterized in that, The buffer element is a helical spring. The lower end of the helical spring is connected to the upper surface of the base, and the upper end of the helical spring is connected to the lower side of the centering arm. When the sucker rod hits the V-shaped guide wheel and generates a radial impact force, the centering arm pushes the helical spring to undergo compression deformation, converting the impact kinetic energy into the elastic potential energy of the spring to achieve buffering.

Images