A device for automatically taking and delivering oil well drilling pipes in oil well workover drilling

Abstract

This application discloses an automatic tubing and drill pipe delivery device for oil well workover drilling, relating to the field of oil well construction equipment. It includes a base on which a multi-axis robot is mounted. A drill pipe gripper mechanism is placed on the base, and the multi-axis robot can be detached and connected to the drill pipe gripper mechanism. A lifting mechanism is mounted on the base, with several groups of lifting mechanisms evenly arranged along the width of the base. The lifting mechanism includes a mounting plate, a lifting hydraulic cylinder, and a contact block. The mounting plate is slidably disposed on the base, sliding towards or away from the base. The lifting hydraulic cylinder is mounted on the mounting plate, and the contact block is mounted on the ground-facing end of the lifting hydraulic cylinder. The lifting hydraulic cylinder drives the contact block to contact or detach from the ground. This application has the effect of reducing the probability of tipping over during well workover equipment unloading.

Description

Technical Field

[0001] This application relates to the field of oil well construction equipment, and in particular to an automatic equipment for retrieving and delivering tubing and drill pipe during oil well workover drilling. Background Technology

[0002] Well workover robots are intelligent special-purpose equipment used in oil well workover operations. They can replace manual labor to complete high-risk and high-intensity well workover tasks and have been put into use in many oilfields in China. Well workover equipment is transported to the construction site by truck, and well workover is carried out by well workover robots.

[0003] The existing well workover equipment is unloaded after being transported to the designated location by truck. The truck needs to be parked at the edge of the work site to ensure that the well workover equipment can be parked at the designated work site after unloading. However, the existing well workover equipment requires the installation of guide plates on the truck for unloading. The well workover equipment is unloaded from the truck by traveling along the guide plates. However, the overall structure of the well workover equipment is long, and it is easy for the center of gravity to be unstable during unloading, which may cause the well workover equipment to tip over. Summary of the Invention

[0004] To reduce the probability of tipping over during well workover equipment unloading, this application provides an automatic oil well workover drilling and tubing delivery device.

[0005] The device for automatically delivering and retrieving tubing and drill pipe during oil well workover and drilling provided in this application adopts the following technical solution: An automatic drilling and tubing / drill pipe delivery device for oil well workover includes a base on which a multi-axis robot is mounted. A drill pipe gripper mechanism is placed on the base, enabling the multi-axis robot to grip the drill pipe gripper mechanism. A lifting mechanism is mounted on the base, with several groups of lifting mechanisms evenly arranged along the width of the base. Each lifting mechanism includes a mounting plate, a lifting hydraulic cylinder, and a contact block. The mounting plate is slidably disposed on the base, moving towards or away from the base. The lifting hydraulic cylinder is mounted on the mounting plate, and the contact block is mounted on the ground-facing end of the lifting hydraulic cylinder. The lifting hydraulic cylinder drives the contact block to contact or detach from the ground.

[0006] By adopting the above technical solution, the base is placed on a truck for transportation, and the well workover equipment is directly transported to the area where it needs to be placed by the truck. Then, the lifting mechanism is used to lift the base off the truck by contacting the ground. After the truck is driven away, the lifting mechanism is used again to place the base on the ground. This eliminates the need for the well workover equipment to be guided by a guide plate to detach from the truck for unloading, reducing the probability of tipping over during unloading. The sliding mounting plate can slide and store the lifting mechanism inside the truck during base transportation, thereby reducing the impact of the lifting mechanism on the truck's movement during transportation. When it is necessary to unload the well workover equipment, the mounting plate is extended outside the truck so that the lifting mechanism can contact the ground and lift the base off the truck.

[0007] Preferably, conveyor track wheels are provided on both sides of the base in the width direction.

[0008] By adopting the above technical solution, the setting of the conveyor track wheels can facilitate the loading of well repair equipment onto trucks and can also make straight-line position adjustments when appropriate.

[0009] Preferably, the multi-axis robot includes a mounting base, a rotating base, a large arm, a small arm, and a connector. The mounting base is mounted on a base, the rotating base is rotatably mounted on the mounting base, the large arm is rotatably connected to the rotating base, the small arm is rotatably connected to the large arm, and the connector is rotatably connected to the small arm. The connector is used to connect to the drill rod gripper mechanism.

[0010] By adopting the above technical solution, the multi-axis robot can rotate on multiple axes through the rotation of the rotating base, upper arm, lower arm and connecting parts, thus facilitating the control of the robot to work in multiple directions.

[0011] Preferably, the forearm is assembled from multiple casting sections.

[0012] By adopting the above technical solution, the forearm formed by splicing multiple castings can easily control the number of castings and thus adjust the length of the forearm. The length of the forearm can be adjusted according to actual usage requirements, thereby improving the applicability of multi-axis robots.

[0013] Preferably, a reinforcing rod is provided between the upper arm and the lower arm, with one end of the reinforcing rod hinged to the lower arm and the other end hinged to the upper arm.

[0014] By adopting the above technical solution, the reinforcement bar can improve the connection strength between the upper arm and the lower arm, and can also assist the rotation of the lower arm on the upper arm.

[0015] Preferably, the drill pipe gripper mechanism includes a base, a connecting platform, and gripper assemblies. The base is placed on a base, the connecting platform is installed in the middle of the base, and the connecting platform is used to cooperate with connecting parts. Several sets of gripper assemblies are installed along the length of the base, and the gripper assemblies are used to grip the drill pipe.

[0016] By adopting the above technical solution, the connecting platform is used to cooperate with the connecting parts, thereby facilitating the clamping of the drill pipe chuck mechanism by the connecting parts.

[0017] Preferably, the gripper assembly includes a gripper platform, a driving hydraulic cylinder, rotating grippers, and driving rods. The gripper platform is mounted on a base, the driving hydraulic cylinder is mounted on the gripper platform, there are two rotating grippers, which move closer to or further away from each other by rotation, and there are two driving rods. One end of each driving rod is hinged to the piston rod of the driving hydraulic cylinder, and the other end of each driving rod is hinged to the two rotating grippers respectively.

[0018] By adopting the above technical solution, the extension and retraction of the hydraulic cylinder drives the drive rod to rotate, thereby driving the rotating clamping block to rotate and clamp and release the drill rod.

[0019] Preferably, the rotating clamping block is equipped with an elastic clamping pad.

[0020] By adopting the above technical solution, the elastic clamping pad can fit the drill pipe more closely through deformation, thereby increasing the friction when clamping the drill pipe and thus limiting the slippage of the drill pipe on the rotating clamping block.

[0021] Preferably, a push switch is provided on the base, the push switch is electrically connected to drive the hydraulic cylinder, the push switch controls the drive hydraulic cylinder, and the push switch is triggered when the drill rod enters between the two rotating clamps.

[0022] By adopting the above technical solution, the push-button switch can rotate the clamping block to move so that the drill rod enters between the two rotating clamping blocks for positioning, and then drive the rotating clamping block to clamp the drill rod.

[0023] Preferably, an ejection mechanism is provided at both ends of the base along its length. The ejection mechanism includes an ejection hydraulic cylinder and an ejection block. The ejection hydraulic cylinder is mounted on the base, and the ejection block is mounted on the push rod of the ejection hydraulic cylinder.

[0024] By adopting the above technical solution, the ejection mechanism can, on the one hand, abut against the drill rod for positioning when the drill rod is clamped, and on the other hand, drive the drill rod away from the press switch, thereby resetting the press switch and driving the rotating clamp to disengage from the drill rod, thus facilitating the placement of the drill rod in a suitable position.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The base is placed on a truck for transport. The well workover equipment is directly transported to the area where it needs to be placed by the truck. Then, the lifting mechanism is used to lift the base off the truck and drive away. After that, the lifting mechanism is used to place the base back on the ground. This way, the well workover equipment does not need to be guided by a guide plate to be unloaded from the truck, reducing the probability of tipping over during unloading. The sliding mounting plate can slide and store the lifting mechanism inside the truck when the base is being transported, thereby reducing the impact of the lifting mechanism on the truck's movement during transport. When it is necessary to unload the well workover equipment, the mounting plate is extended outside the truck so that the lifting mechanism can be brought to the ground and the base is lifted off the truck. 2. The conveyor track rollers facilitate loading well-workover equipment onto trucks and allow for straight-line position adjustments when necessary; 3. By rotating the base, upper arm, lower arm, and connecting parts, the multi-axis robot can rotate on multiple axes, thus facilitating the control of the robot's work in multiple directions. The lower arm, formed by splicing multiple castings, allows for easy control of the number of castings to adjust the length of the lower arm. The length of the lower arm can be adjusted according to actual usage requirements, thereby improving the applicability of the multi-axis robot. 4. The connecting platform is used to cooperate with the connecting parts, so as to facilitate the clamping of the drill pipe chuck mechanism by the connecting parts. The extension and retraction of the hydraulic cylinder drives the drive rod to rotate, thereby driving the rotating chuck block to rotate to clamp and release the drill pipe. 5. The push-button switch allows the rotating clamp to move so that the drill rod enters between the two rotating clamps for positioning. Then, it drives the rotating clamp to hold the drill rod. The ejection mechanism can both abut against the drill rod for positioning when it is being held and drive the drill rod away from the push-button switch, thereby resetting the push-button switch and driving the rotating clamp to disengage from the drill rod, thus facilitating the placement of the drill rod in a suitable position. Attached Figure Description

[0026] Figure 1 This is an isometric schematic diagram of the overall structure of an embodiment of this application.

[0027] Figure 2 for Figure 1 A magnified view of section A in the middle.

[0028] Figure 3 This is a schematic diagram of the overall structure of the drill pipe clamping mechanism in an embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the overall structure of the gripper assembly in an embodiment of this application.

[0030] Figure 5 This is a schematic diagram of the overall structure of the hook and gripping mechanism in an embodiment of this application.

[0031] Reference numerals: 1. Base; 2. Multi-axis robot; 21. Mounting base; 22. Rotating base; 23. Main arm; 24. Forearm; 241. Casting; 25. Connector; 3. Power distribution box; 4. Hydraulic station; 5. Drill pipe gripper mechanism; 51. Base; 52. Connecting platform; 53. Gripper assembly; 531. Gripper table; 532. Drive hydraulic cylinder; 533. Rotating clamping block; 534. Drive rod; 6. Lifting mechanism Mechanism; 61. Mounting plate; 62. Lifting hydraulic cylinder; 63. Abutment block; 7. Conveyor track wheel; 8. Reinforcing rod; 9. Elastic clamp; 10. Press switch; 11. Ejection mechanism; 111. Ejection hydraulic cylinder; 112. Ejection block; 12. Torque sensor; 13. Photoelectric sensor; 14. Hook and grab mechanism; 141. Sliding cylinder; 142. Hook and grab platform; 143. Rotating electric cylinder; 144. Hook and grab component. Detailed Implementation

[0032] The following combination Figures 1-5 This application will be described in further detail.

[0033] This application discloses an automatic tubing and drill pipe delivery / retrieval device for oil well workover and drilling, referring to... Figure 1 and Figure 2The system includes a base 1, which in this embodiment is a cuboid 9.6 meters long and 2.25 meters wide. A multi-axis robot 2 is installed at one end of the base 1 along its length. The multi-axis robot 2 slides along the length of the base 1 via a slide rail, which improves its applicability. At the other end of the base 1, a power distribution box 3 and a hydraulic station 4 are installed. The power distribution box 3 contains a 20kWh energy storage battery pack, which can independently provide 30 minutes of operating power to the hydraulic station, supporting relocation and positioning operations in scenarios without external power. The power distribution box is used to temporarily power the electrical components of the workover equipment. It provides temporary power to the electrical components of the workover equipment before it is fixed in the designated area. After the workover equipment is properly positioned in the designated location, the power distribution box 3 is connected to an external power source. The external power source charges the battery in the power distribution box and also powers the workover equipment. The hydraulic station 4 provides power to the workover equipment. The hydraulic equipment provides pressure. A drill rod gripper mechanism 5 is placed on the base 1. The drill rod gripper mechanism 5 is mounted on the base 1 via a bracket. When the drill rod gripper mechanism 5 is placed on the bracket, it is pressed down by a pressure plate to reduce the probability of the drill rod gripper mechanism 5 falling off. A multi-axis robot 2 can be detached and connected to the drill rod gripper mechanism 5. The multi-axis robot 2 works with the drill rod gripper mechanism 5 to clamp and move the drill rod. A lifting mechanism 6 is installed on the base 1. Several sets of lifting mechanisms 6 are evenly arranged in the width direction of the base 1. In this embodiment, six sets of lifting mechanisms 6 are arranged, with three sets evenly arranged at each end of the width direction of the base 1. The lifting mechanism 6 includes a mounting plate 61, a lifting hydraulic cylinder 62, and an abutment block 63. The mounting plate 61 is slidably mounted on the base 1. The mounting plate 61 is driven by a hydraulic cylinder to slide on the base 1 in a direction closer to or away from the base 1. In this embodiment, the maximum stroke of the hydraulic cylinder driving the mounting plate 61 is 1.The 1-meter height allows for support and deployment in various locations. A lifting hydraulic cylinder 62 is mounted on the mounting plate 61, and an abutment block 63 is mounted on the ground-facing end of the lifting hydraulic cylinder 62. The lifting hydraulic cylinder 62 drives the abutment block 63 to contact or detach from the ground. The mounting plate 61 can slide the lifting hydraulic cylinder 62 and abutment block 63 closer to the base 1, reducing the impact of the lifting mechanism 6 on truck movement during transport. When unloading the well-workover equipment, the mounting plate 61 extends out of the truck, allowing the lifting equipment to contact the ground, lifting the base 1 off the truck. The base 1 is then placed on the truck for transport, directly transporting the well-workover equipment to the desired location. The lifting mechanism 6 then abuts the base 1. The ground lifts the base 1 off the truck. After the truck leaves, the lifting mechanism 6 places the base 1 back on the ground. This allows for direct transport and placement of the well-workover equipment by the truck in conjunction with the lifting mechanism 6. Compared to unloading the equipment and then relying on its self-positioning, direct positioning by the truck is more convenient. In this embodiment, a flatbed truck is used. During truck transport, the abutment block 63 abuts against the truck, reducing the probability of the base 1 falling off. The overall design of the base 1 utilizes a hydraulic cylinder-driven mounting plate 61 in conjunction with a lifting hydraulic cylinder 62 to abut against and lift the base, facilitating loading and unloading from the truck without requiring the equipment to be moved to be loaded or unloaded, and eliminating the need for a crane for assisted loading or unloading.

[0034] Reference Figure 1 The base 1 has two conveyor track wheels 7 on each side of its width direction. The two conveyor track wheels 7 are staggered with the three lifting mechanisms 6. The conveyor track wheels 7 can facilitate the loading of well repair equipment onto the truck and can also be adjusted in a straight line when appropriate. At the same time, since there are many wells in the well site, the ground pressure resistance is weak. Using track wheels to move in the well site can increase the pressure area through the track, reduce the pressure on the ground, and thus reduce the impact on the well site.

[0035] Reference Figure 1The multi-axis robot 2 includes a mounting base 21, a rotating base 22, a large arm 23, a small arm 24, and a connector 25. The mounting base 21 is mounted on the base 1. The rotating base 22 is rotatably mounted on the mounting base 21. The large arm 23 is rotatably connected to the rotating base 22. The small arm 24 is rotatably connected to the large arm 23. The connector 25 is rotatably connected to the small arm 24. The connector 25 is used to hold the drill rod gripper mechanism 5. The rotation of the rotating base 22, the large arm 23, the small arm 24, and the connector 25 are all achieved by motors. By rotating the rotating base 22, the large arm 23, the small arm 24, and the connector 25, the multi-axis robot 2 can rotate on multiple axes, thus facilitating the control of the robot's work in multiple directions. The small arm 24 is assembled from multiple castings 241, which are detachably connected by bolts. The arm 24 allows for easy control of the number of casting 241 sections, thereby adjusting the length of the forearm 24. The length of the forearm 24 can be adjusted according to actual usage requirements, thus improving the applicability of the multi-axis robot 2. In this embodiment, the upper arm 23 is set to a length of 2.9 meters, and the forearm 24 is composed of five casting 241 sections of different lengths, with a total length of 3.9 meters. A reinforcing rod 8 is provided between the upper arm 23 and the forearm 24. One end of the reinforcing rod 8 is hinged to the forearm 24, and the other end is hinged to the upper arm 23. The reinforcing rod 8 enhances the connection strength between the upper arm 23 and the forearm 24, and also assists in the rotation of the forearm 24 on the upper arm 23. A motor can also be installed at the hinge point of the reinforcing rod 8. The rotation of the reinforcing rod 8 driven by the motor achieves multi-power drive between the upper arm 23 and the forearm 24, making the rotation of the forearm 24 smoother.

[0036] Reference Figure 1 and Figure 3 The drill pipe gripper mechanism 5 includes a base 51, a connecting platform 52, and gripper assemblies 53. The base 51 is placed on the base 1. The base 51 is composed of four rods and connecting blocks evenly arranged along the length of the rods. The rods and connecting blocks can reduce the weight of the entire drill pipe gripper mechanism 5. The connecting platform 52 is installed in the middle of the base 51 and is used to cooperate with the connector 25. Several sets of gripper assemblies 53 are installed along the length of the base 51. The gripper assemblies 53 are used to grip the drill pipe, and the connecting platform 52 is used to cooperate with the connector 25, thereby facilitating the connector 25 to grip the drill pipe gripper mechanism 5. After the gripper assemblies 53 and the connecting platform 52 are installed, the weight on both sides of the connecting platform 52 needs to be equal. If necessary, counterweights can be installed to ensure that the weight at both ends of the gripping point is the same after the multi-axis robot 2 grips the drill pipe, thereby reducing the probability of tipping over due to weight imbalance.

[0037] Reference Figure 1 and Figure 3A torque sensor 12 is installed between the base 51 and the connecting platform 52. When the drill pipe to be installed moves downward and contacts the upper end of the drill pipe already installed in the oil well, the torque sensor 12 senses the contact force signal, and the multi-axis robot 2 immediately stops the lowering action and completes the alignment.

[0038] Reference Figure 1 , Figure 3 and Figure 4 The gripper assembly 53 includes a gripper platform 531, a driving hydraulic cylinder 532, rotating grippers 533, and driving rods 534. The gripper platform 531 is mounted on the base 51, and the driving hydraulic cylinder 532 is mounted on the gripper platform 531. There are two rotating grippers 533, which move closer or further apart by rotation. There are two driving rods 534, one end of which is hinged to the piston rod of the driving hydraulic cylinder 532, and the other end of which is hinged to... The drill rod is driven to rotate by the extension and retraction of the hydraulic cylinder 532, which in turn drives the rotating clamping blocks 533 to rotate and clamp and release the drill rod. An elastic clamping pad 9 is installed on the rotating clamping block 533. The elastic clamping pad 9 is a cuboid block with raised ridges on its surface to increase the friction during clamping. The elastic clamping pad 9 can fit the drill rod more closely through deformation, thereby increasing the friction during clamping and limiting the slippage of the drill rod on the rotating clamping block 533.

[0039] Reference Figure 1 , Figure 3 and Figure 5 A photoelectric sensor 13 is installed on the base 51. The photoelectric sensor 13 can be used to sense the drill rod. Hook and grab mechanisms 14 are installed at both ends of the base along its length. The hook and grab mechanism 14 includes a sliding cylinder 141, a hook and grab platform 142, a rotating electric cylinder 143, and a hook and grab member 144. The sliding cylinder 141 is installed on the base 51, and the hook and grab platform 142 is installed on the sliding cylinder 141. The sliding cylinder 141 drives the hook and grab platform 142 to slide. The rotating electric cylinder 143 is installed on the base 51. On the hook-grip platform 142, the hook-grip member 144 is mounted on the rotary electric cylinder 143. The rotary electric cylinder 143 drives the hook-grip member 144 to rotate on the hook-grip platform 142. When the photoelectric sensor 13 senses that the drill rod has entered the appropriate position, the rotary electric cylinder 143 drives the hook-grip member 144 to rotate and hook onto the drill rod. Then, the sliding cylinder 141 drives the hook-grip platform 142 to slide, causing the hook-grip member 144 and the drill rod hooked on the hook-grip member 144 to slide towards the base 51.

[0040] Reference Figure 1 and Figure 3A push switch 10 is provided on the base 51. The push switch 10 is electrically connected to the drive hydraulic cylinder 532. The push switch 10 controls the drive hydraulic cylinder 532. When the drill rod enters between the two rotating clamps 533, the push switch 10 is triggered. The push switch 10 is set so that after the rotating clamps 533 move to position the drill rod between the two rotating clamps 533, the rotating clamps 533 will clamp the drill rod. In this embodiment, several push switches 10 are evenly arranged along the length of the base 51. The drive hydraulic cylinder 532 can only be controlled when all push switches 10 are pressed and triggered.

[0041] Reference Figure 1 and Figure 3 At both ends of the base 51 along its length, there are ejection mechanisms 11. Each ejection mechanism 11 includes an ejection hydraulic cylinder 111 and a top block 112. The ejection hydraulic cylinder 111 is mounted on the base 51, and the top block 112 is mounted on the push rod of the ejection hydraulic cylinder 111. Normally, when the drill rod is clamped, it abuts against the top block 112, thus limiting its position. When it is necessary to release the drill rod, the ejection hydraulic cylinder 111 drives the top block 112 to drive the drill rod to slide away from the press switch 10, thereby releasing the press switch 10. At this time, the hydraulic rod drives the gripper to release the drill rod. The ejection mechanism 11 can both position the drill rod by abutting it when it is clamped and drive it away from the press switch 10. The push switch 10 is reset, driving the rotating clamp 533 to disengage from the drill rod, thus facilitating the placement of the drill rod in a suitable position. The top block 112 has a built-in electromagnet, which, when energized, becomes magnetic and can magnetically fix the drill rod. When the rotating clamp 533 opens to release the drill rod, the electromagnet in the top block 112 is energized to magnetically attract the drill rod. After the drill rod is ejected, the circuit of the electromagnet inside the top block 112 is disconnected, allowing the drill rod to be placed. The magnetic attraction of the top block 112 allows the gripper assembly 53 to open the rotating clamp 533 from a position away from the placement area, thus reserving space for the rotation of the rotating clamp 533 and reducing the probability of the drill rod falling and being damaged when the rotating clamp 533 releases the drill rod.

[0042] The implementation principle of this application embodiment is as follows: The base 1 is placed on a truck for transportation, and the well repair equipment is directly transported to the area where it needs to be placed by the truck. Then, the mounting plate 61 is slid by driving it, so that the lifting hydraulic cylinder 62 extends outside the side wall of the truck. The lifting hydraulic cylinder 62 drives the abutment block 63 to abut against the ground, thereby lifting the base 1 and detaching it from the truck. After the truck is driven away, the base 1 is placed on the ground to reduce the probability of the base 1 moving. After the base 1 is placed on the ground, the abutment block 63 remains abutting against the ground, and then the driving... The connector 25 of the multi-axis robot 2 moves to the mating connection platform 52, and then the connector 25 and the connection platform 52 are connected and fixed by bolts. The drill rod gripper mechanism 5 is connected, and the multi-axis robot 2 drives the drill rod gripper mechanism 5 to move towards the drill rod to be replaced after disassembly. When the drill rod gripper mechanism 5 moves close to the drill rod, the photoelectric sensor 13 detects the drill rod and drives the hook 144 to rotate and grab the drill rod. The hook 144 then moves the drill rod towards the base 51. When the drill rod moves to the point of contact with the press switch 10, it is triggered. After pressing switch 10, the rotating clamping block 533 is driven to clamp the drill rod. Then, the multi-axis robot 2 drives the drill rod holding gripper mechanism 5 to place the disassembled drill rod in the recycling area, and then clamps the new drill rod and drives it to the disassembled position for drill rod docking. Subsequently, the installation equipment completes the installation of the drill rod. The new drill rod can be clamped by first adsorbing it through the top block 112. The adsorption causes the new drill rod to slide and abut against the pressing switch 10, and then the rotating block is driven to clamp and transport the new drill rod. During the replacement and installation of the drill rod, the multi-axis robot 2 drives the drill rod. When the drill pipe reaches the installation area, the torque sensor 12 is triggered. At this time, the multi-axis robot 2 immediately stops its lowering action, completes the alignment of the drill pipe, and performs the positioning and assembly of the drill pipe. When installing or removing the tubing after the drill pipe is completed, the same installation and removal method as the drill pipe is used. After the drill pipe or tubing is replaced, the drill pipe gripper mechanism 5 is placed on the base 1 by the multi-axis robot 2. Then, the base 1 is lifted by the lifting mechanism 6, and the truck is driven under the base 1. After the base 1 is placed on the truck, the lifting mechanism 6 is stored to complete the loading of the workover equipment.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic tubing and drill pipe delivery device for oil well workover and drilling, characterized in that: The system includes a base (1), on which a multi-axis robot (2) is mounted. A drill pipe gripper mechanism (5) is placed on the base (1). The multi-axis robot (2) can be detached and connected to the drill pipe gripper mechanism (5). A lifting mechanism (6) is mounted on the base (1). Several groups of lifting mechanisms (6) are evenly arranged in the width direction of the base (1). The lifting mechanism (6) includes a mounting plate (61), a lifting hydraulic cylinder (62), and a stop block (63). The mounting plate (61) is slidably disposed on the base (1). The mounting plate (61) slides toward or away from the base (1). The lifting hydraulic cylinder (62) is mounted on the mounting plate (61). The stop block (63) is mounted on the end of the lifting hydraulic cylinder (62) facing the ground. The lifting hydraulic cylinder (62) drives the stop block (63) to abut against or detach from the ground.

2. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 1, characterized in that: The base (1) is provided with conveyor track wheels (7) on both sides in the width direction.

3. The equipment for automatic delivery and retrieval of tubing and drill pipe during well workover drilling according to claim 1, characterized in that: The multi-axis robot (2) includes a mounting base (21), a rotating base (22), a large arm (23), a small arm (24), and a connector (25). The mounting base (21) is mounted on the base (1). The rotating base (22) is rotatably mounted on the mounting base (21). The large arm (23) is rotatably connected to the rotating base (22). The small arm (24) is rotatably connected to the large arm (23). The connector (25) is rotatably connected to the small arm (24). The connector (25) is used to hold the drill rod gripper mechanism (5).

4. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 3, characterized in that: The forearm (24) is assembled from multiple castings (241).

5. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 4, characterized in that: A reinforcing rod (8) is provided between the upper arm (23) and the lower arm (24), with one end of the reinforcing rod (8) hinged to the lower arm (24) and the other end hinged to the upper arm (23).

6. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 5, characterized in that: The drill pipe gripper mechanism (5) includes a base (51), a connecting platform (52), and a gripper assembly (53). The base (51) is placed on the base (1). The connecting platform (52) is installed in the middle of the base (51) and is used to cooperate with the connector (25). Several sets of gripper assemblies (53) are installed along the length of the base (51) and are used to grip the drill pipe.

7. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 6, characterized in that: The gripper assembly (53) includes a gripper platform (531), a driving hydraulic cylinder (532), a rotating gripper block (533), and a driving rod (534). The gripper platform (531) is mounted on a base (51), and the driving hydraulic cylinder (532) is mounted on the gripper platform (531). There are two rotating grippers (533), which move closer to or further away from each other by rotation. There are two driving rods (534), one end of which is hinged to the piston rod of the driving hydraulic cylinder (532), and the other end of which is hinged to the two rotating grippers (533).

8. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 7, characterized in that: An elastic pad (9) is installed on the rotating clamp (533).

9. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 8, characterized in that: A push switch (10) is provided on the base (51). The push switch (10) is electrically connected to the drive hydraulic cylinder (532). The push switch (10) controls the drive hydraulic cylinder (532). The push switch (10) is triggered when the drill rod enters between the two rotating clamps (533).

10. The equipment for automatically delivering and retrieving tubing and drill pipe during well workover drilling according to claim 9, characterized in that: The base (51) is provided with ejection mechanisms (11) at both ends along its length. The ejection mechanism (11) includes an ejection hydraulic cylinder (111) and a top block (112). The ejection hydraulic cylinder (111) is installed on the base (51), and the top block (112) is installed on the push rod of the ejection hydraulic cylinder (111).

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