Ground manipulator and remote control under-pressure operation system

Abstract

The utility model relates to the technical field of oil and gas drilling and production equipment, in particular to a ground manipulator and a remote control under-pressure operation system. The ground manipulator comprises a fixing device and a swing arm, the swing arm is hinged to the fixing device, a supporting device is installed at the end, away from the fixing device, of the swing arm, and the swing arm can swing around the hinge point of the swing arm and the fixing device. The swing arm of the ground manipulator can guide an oil pipe to be in smooth transition from an inclined state to a vertical state, so that the oil pipe is effectively prevented from directly colliding with a main machine of an under-pressure operation machine, and the oil pipe and the main machine are prevented from being damaged. After the ground manipulator finishes working, the swing arm can swing, so that the swing arm drives the supporting device to be retracted into the vertical bracket of the under-pressure operation machine together, the field space is not occupied, and the structure is more compact.

Description

Technical Field

[0001] The utility model relates to the technical field of oil and gas drilling equipment, in particular to a ground manipulator and a remote-controlled pressure-operating system. Background Art

[0002] Well repair is an important part of the construction process of oil and gas exploration and development. The pressure operation system is an advanced downhole operation method that keeps the wellbore in a certain pressure state and disassembles and installs pipes without killing the well or releasing the pressure. Pressure operation can protect and maintain the original production capacity of the formation, reduce the number of production-increasing measures such as acid fracturing, and provide a good foundation for the long-term development and stable production of oil and gas fields.

[0003] During the oil pipe lowering operation of the existing pressure working machine, the oil pipe is generally placed on the ground catwalk. At this time, the end of the oil pipe away from the pressure working machine is located on the catwalk sliding shoe, and the end of the oil pipe close to the pressure working machine is caught by the vertical jacking device. As the vertical jacking device moves upward on the vertical track, the sliding shoe drives the end of the oil pipe away from the pressure working machine to gradually approach the pressure working machine on the transport track of the ground catwalk. In this process, the oil pipe is gradually tilted from horizontal placement, and finally the oil pipe is separated from the ground catwalk and becomes vertical. However, the moment the oil pipe is separated from the ground catwalk, the oil pipe will hit the main machine of the pressure working machine, causing damage to the oil pipe and the main machine. Utility Model Content

[0004] The utility model aims to overcome the problem that during the oil pipe lowering operation, the oil pipe is easily hit against the main body of the pressure working machine at the moment of leaving the ground catwalk, causing damage to the oil pipe and the main body of the pressure working machine, and provides a ground manipulator and a remote-controlled pressure working system.

[0005] In a first aspect, the utility model provides a ground manipulator, comprising a fixing device and a swing arm, wherein the swing arm is hinged to the fixing device, a supporting device is installed at one end of the swing arm away from the fixing device, and the swing arm can swing around the hinge point between the swing arm and the fixing device; the ground manipulator also includes a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the fixing device, and the other end of the hydraulic cylinder is hinged to the swing arm, and the hydraulic cylinder is used to drive the swing arm to swing.

[0006] The ground manipulator provided by the utility model can be installed at the intersection of the transport track and the vertical track of the ground catwalk. During the oil pipe lowering operation, when the oil pipe is about to leave the ground catwalk, the swing arm of the ground manipulator can swing around the hinge point between the swing arm and the fixing device, and then the swing arm drives the supporting device to swing out from the vertical bracket of the pressure working machine, supporting the oil pipe that is about to leave the ground catwalk, playing a supporting and guiding role, guiding the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main machine of the pressure working machine, thereby avoiding damage to the oil pipe and the main machine. The oil pipe lifting operation is generally the reverse process of the oil pipe lowering operation. When the oil pipe lifted from the underground needs to be transported to the ground catwalk, the downward end of the oil pipe is not easy to align with the sliding shoe of the ground catwalk, and manual intervention is required. At this time, the swing arm drives the supporting device to swing out from the vertical bracket of the pressure working machine, which can effectively support the oil pipe and make the oil pipe fall smoothly on the sliding shoe, thereby improving construction efficiency. When the ground manipulator finishes its work, it can swing the swing arm so that the swing arm drives the supporting device to be put into the vertical bracket of the pressure working machine, which does not take up site space and has a more compact structure. The addition of hydraulic cylinders significantly improves the control performance and automation level of the ground manipulator. By controlling the hydraulic cylinder, the operator can achieve precise control of the swing arm movement, including precise adjustment of speed, force and position, ensuring the stability of the oil pipe during the transfer process, effectively reducing sudden shaking or impact, thereby maximizing the protection of the oil pipe and equipment. At the same time, the powerful torque output capacity of the hydraulic system enables the manipulator to easily cope with oil pipes of various weights and specifications, greatly enhancing the scope of application and flexibility of the equipment. By programming and controlling the hydraulic cylinder, the swing arm can be automatically moved, reducing manual intervention, which not only improves work efficiency, but also significantly enhances the safety of operation.

[0007] Optionally, the fixing device comprises a ballast pier, the ballast pier is provided with a platform, legs are arranged between the platform and the side wall of the ballast pier, the swing arm is hinged to the platform, and the hydraulic cylinder is also hinged to the platform.

[0008] With this structural setting, the ballast pier serves as the main stabilizing element of the ground manipulator, providing the necessary weight and stability for the entire system, effectively preventing the ground manipulator from tilting or shifting during operation; the platform setting provides installation points for the swing arm and hydraulic cylinder, which is convenient for the operator to inspect and maintain; the outriggers can well support the platform, further improving the stability of the ground manipulator's operation.

[0009] Optionally, the swing arm includes two long rods parallel to each other and a swing arm connecting system, the swing arm connecting system is located between the two long rods, and both ends of the swing arm connecting system are respectively fixedly connected to the two long rods.

[0010] With this structural setting, two parallel long rods cooperate with the swing arm connection system to form a stable frame structure, which greatly improves the torsion resistance, overall rigidity and load-bearing capacity of the swing arm, enabling it to better cope with various load conditions.

[0011] Optionally, one end of the hydraulic cylinder is hinged to the platform, and the other end of the hydraulic cylinder is hinged to the swing arm connection.

[0012] With this structural setting, the two ends of the swing arm connection system are fixedly connected to the two long rods respectively, the hydraulic cylinder is hinged to the swing arm connection system, and the point of action of the hydraulic cylinder force is located on the swing arm connection system, which helps to distribute the force more evenly to the two long rods and make the stress distribution more reasonable.

[0013] Optionally, the ballast pier includes a box body and a top cover, the top cover is used to open and close the box body, and the platform is installed on the box body.

[0014] With this structural setting, the design of the box and the removable top cover allows the weight of the ballast pier to be adjusted as needed. The stability of the entire system can be adjusted by adding or removing materials (such as sand, cement or other heavy objects) in the box to adapt it to different working environments and requirements; during transportation, the box can be left empty, significantly reducing the weight and facilitating the movement and transportation of the equipment. Ballast materials are then filled after arriving at the work site, greatly improving the maneuverability of the equipment.

[0015] Optionally, the supporting device includes a seat body connected to the swing arm and a roller installed on the seat body, and the roller is a V-shaped roller that is large at both ends and narrow in the middle.

[0016] With this structural setting, the V-shaped roller design can automatically guide the oil pipe to the center of the roller. This self-guiding effect greatly improves the positioning accuracy of the oil pipe and reduces operational errors; the V-shaped design with large ends and narrow middle allows the roller to adapt to oil pipes of different diameters. This versatility enhances the scope of application of the equipment, and there is no need to replace parts for oil pipes of different specifications; the V-shaped structure provides more stable support, which can effectively prevent the oil pipe from sliding off the sides of the roller during operation, increasing the safety of the entire operation process.

[0017] Optionally, the roller includes two fixed parts and a rotating part located between the fixed parts, the fixed parts are fixedly connected to the seat body, and the rotating part can rotate around its own axis.

[0018] With this structural setting, the design of the rotating part significantly reduces the friction between the oil pipe and the roller when it moves, reducing the wear of the oil pipe. The rotating part can rotate with the movement of the oil pipe, making the entire oil pipe transfer process smoother and smoother. The fixed connection between the fixed part and the seat body ensures the stability of the overall structure.

[0019] Optionally, the support roller is rotatable about its own axis.

[0020] With this structural arrangement, the roller can rotate as a whole, which simplifies the structural design, reduces the number of parts, and reduces the manufacturing cost.

[0021] Optionally, the supporting device further comprises a guard plate, the guard plate is fixedly connected to the base body, and guard plates are arranged at both ends of the roller.

[0022] The setting of guard plates at both ends of the roller significantly improves the safety of operation. It can prevent the oil pipe from accidentally slipping off the roller during movement, reducing the risk of accidents.

[0023] In the second aspect, the utility model provides a remote-controlled pressure-operating system, comprising a power catwalk, a pipe lifting device, a tabletop manipulator, and a pressure-operating machine; the power catwalk is arranged on one side of the pressure-operating machine; the pipe lifting device is connected to the pressure-operating machine, and the pipe lifting device is used to pick up and deliver pipe strings between the power catwalk and the pressure-operating machine; the tabletop manipulator is installed on the pressure-operating machine, and the tabletop manipulator is used to switch the pipe string between a vertical state and an inclined state; the pressure-operating machine is used to disassemble or install the pipe string in the wellbore under the pressure state; it also includes the above-mentioned ground manipulator, and the ground manipulator is installed on the pressure-operating machine.

[0024] The remote-controlled pressure-operating system provided by the utility model uses the ground manipulator provided by the utility model to guide the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main body of the pressure-operating machine, thereby avoiding damage to the oil pipe and the main body.

[0025] Compared with the prior art, the utility model has the following beneficial effects:

[0026] When the oil pipe is about to leave the ground catwalk, the swing arm of the ground manipulator can swing around the hinge point between the swing arm and the fixing device, and then the swing arm drives the supporting device to swing out from the vertical bracket of the pressure working machine, and supports the oil pipe that is about to leave the ground catwalk, plays a supporting and guiding role, and guides the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main machine of the pressure working machine, thereby avoiding damage to the oil pipe and the main machine; the oil pipe lifting operation is generally the reverse process of the oil pipe lowering operation. When the oil pipe lifted from the well needs to be transported to the ground catwalk, the downward end of the oil pipe is not easy to align with the sliding shoe of the ground catwalk, and manual intervention is required. At this time, the swing arm drives the supporting device to swing out from the vertical bracket of the pressure working machine, which can effectively support the oil pipe and make the oil pipe fall smoothly on the sliding shoe, thereby improving the construction efficiency;

[0027] 2. When the ground manipulator finishes working, the swing arm can be swung so that the swing arm drives the supporting device to be put into the vertical bracket of the pressure working machine, which does not occupy the site space and has a more compact structure;

[0028] 3. The addition of hydraulic cylinders significantly improves the control performance and automation level of the ground manipulator. By controlling the hydraulic cylinder, the operator can achieve precise control of the swing arm movement, including precise adjustment of speed, force and position, ensuring the stability of the oil pipe during the transfer process, effectively reducing sudden shaking or impact, thereby maximizing the protection of the oil pipe and equipment. At the same time, the powerful torque output capacity of the hydraulic system enables the manipulator to easily handle oil pipes of various weights and specifications, greatly enhancing the scope of application and flexibility of the equipment. By programming and controlling the hydraulic cylinder, the swing arm can be automatically moved, reducing manual intervention, which not only improves work efficiency, but also significantly enhances the safety of operation.

[0029] 4. The utility model also provides a remote-controlled pressure-operating system, which uses the ground manipulator provided by the utility model to guide the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main body of the pressure-operating machine, thereby avoiding damage to the oil pipe and the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the ground manipulator structure.

[0031] Figure 2 This is a side view of the ground manipulator.

[0032] Figure 3 This is a schematic diagram of the fixing device structure.

[0033] Figure 4 It is a schematic diagram of the fixing device structure after opening the top cover.

[0034] Figure 5 It is a schematic diagram of the supporting device structure.

[0035] Figure 6 It is a schematic diagram of the roller structure.

[0036] Markings in the figure:

[0037] 1-fixing device, 111-box, 112-top cover, 12-platform, 13-leg, 2-swing arm, 21-long rod, 22-swing arm connecting system, 3-supporting device, 31-seat, 32-roller, 321-fixing part, 322-rotating part, 323-middle shaft, 33-guard plate, 4-hydraulic cylinder. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0039] Unless otherwise specified, in the description of the specific embodiments of the present utility model, the expression terms indicating the orientation or position relationship such as "upper", "lower", "left", "right", "center", "inside", "outside", etc. are all based on the expression of the orientation or position relationship shown in the drawings, or the orientation or position relationship when the product / equipment / device of the utility model is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the utility model or simplifying the description in the specific embodiments, so that technicians can quickly understand the scheme, rather than indicating or implying that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present utility model.

[0040] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the solution of the utility model.

[0041] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0042] In addition, in the description of the embodiments of the present invention, "several", "multiple" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0043] In addition, in the description of the technical solution of the utility model, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal communication of two components.

[0044] Example 1

[0045] like Figure 1-Figure 6 As shown, this embodiment provides a ground manipulator, including a fixing device 1 and a swing arm 2, wherein the swing arm 2 is hinged to the fixing device 1, and a supporting device 3 is installed at one end of the swing arm 2 away from the fixing device 1, and the swing arm 2 can swing around the hinge point between the swing arm 2 and the fixing device 1.

[0046] Specifically, Figure 3 , Figure 4 As shown, the fixing device 1 includes a ballast pier, which may specifically include a box body 111 and a top cover 112. The box body 111 and the top cover 112 are detachable, and the top cover 112 is used to open and close the box body 111. The box body 111 may be, for example, Figure 3 The figure shows a trapezoidal structure, in which the box 111 is hollow inside and the top cover 112 can be covered on the top of the box 111. With this structural arrangement, the design of the box 111 and the removable top cover 112 allows the weight of the ballast pier to be adjusted as needed. The stability of the entire system can be adjusted by adding or reducing materials (such as sand, cement or other heavy objects) in the box 111 to adapt it to different working environments and requirements; during transportation, the box 111 can be left empty, which significantly reduces the weight and facilitates the movement and transportation of the equipment. The ballast material is filled after arriving at the work site, which greatly improves the maneuverability of the equipment. Preferably, cement is poured into the box 111 to form the ballast pier similar to a cement pier.

[0047] The ballast pier installation platform 12 is specifically, Figure 3 As shown, the platform 12 is installed on the box 111, for example Figure 3 The middle platform 12 is installed on the top right side of the box 111, and the platform 12 is parallel to the top surface of the box 111. A leg 13 is arranged between the platform 12 and the right side wall of the box 111, and the leg 13 is arranged at an angle, one end of the leg 13 is welded to the side wall of the box 11, and the other end of the leg 13 is welded to the bottom surface of the platform 12. Figure 3 As shown, three hinged seats can be set on the top surface of the platform 12.

[0048] Further, such as Figure 1 As shown, the swing arm 2 includes two long rods 21 parallel to each other and a swing arm connecting system 22. The swing arm connecting system 22 is located between the two long rods 21. The two ends of the swing arm connecting system 22 are respectively fixedly connected to the two long rods 21. A hinged seat can be set on the swing arm connecting system 22.

[0049] One end of the long rod 21 is hinged to the hinge seat on the top surface of the platform 12 , that is, the swing arm 2 is hinged to the platform 12 , and the other end of the long rod 21 is connected to the supporting device 3 .

[0050] like Figure 1 , Figure 2 As shown, the ground manipulator provided in this embodiment also includes a hydraulic cylinder 4, one end of which is hinged to the hinge seat on the top surface of the platform 12, that is, one end of the hydraulic cylinder 4 is hinged to the fixing device 1, and the other end of the hydraulic cylinder 4 is hinged to the hinge seat provided on the swing arm connection system 22, that is, the hydraulic cylinder 4 is hinged to the swing arm 2. When the hydraulic cylinder 4 is extended, the piston rod pushes the swing arm connection system 22. Because one end of the hydraulic cylinder 4 is hinged to the platform 12, this thrust will cause the swing arm 2 to move around its hinge point with the platform 12 to, for example, Figure 1 When the hydraulic cylinder 4 contracts, the piston rod pulls the swing arm connection 22. Also, because one end of the hydraulic cylinder 4 is hinged on the platform 12, this pulling force causes the swing arm 2 to move around its hinge point with the platform 12, for example Figure 1 The middle right side swings, that is, the hydraulic cylinder 4 is used to drive the swing arm 2 to swing.

[0051] With this structural setting, the addition of the hydraulic cylinder 4 significantly improves the control performance and automation level of the ground manipulator. By controlling the hydraulic cylinder 4, the operator can achieve precise control of the movement of the swing arm 2, including precise adjustment of speed, force and position, ensuring the stability of the oil pipe during the transfer process, effectively reducing sudden shaking or impact, and thus protecting the oil pipe and equipment to the maximum extent. At the same time, the powerful torque output capacity of the hydraulic system enables the manipulator to easily handle oil pipes of various weights and specifications, greatly enhancing the scope of application and flexibility of the equipment. By programming and controlling the hydraulic cylinder 4, the automatic movement of the swing arm 2 can be achieved, reducing manual intervention, which not only improves work efficiency, but also significantly enhances the safety of operation.

[0052] The ground manipulator provided in this embodiment can be installed at the intersection of the transport track and the vertical track of the ground catwalk. During the oil pipe lowering operation, when the oil pipe is about to leave the ground catwalk, the swing arm 2 of the ground manipulator can swing around the hinge point between the swing arm 2 and the fixing device 1, and then the swing arm 2 drives the supporting device 3 to swing out from the vertical bracket of the pressure working machine, supporting the oil pipe that is about to leave the ground catwalk, playing a supporting and guiding role, guiding the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main machine of the pressure working machine, thereby avoiding damage to the oil pipe and the main machine. The oil pipe lifting operation is generally the reverse process of the oil pipe lowering operation. When the oil pipe lifted from the underground needs to be transported to the ground catwalk, the downward end of the oil pipe is not easy to align with the sliding shoe of the ground catwalk, and manual intervention is required. At this time, the swing arm 2 drives the supporting device 3 to swing out from the vertical bracket of the pressure working machine, which can effectively support the oil pipe and make the oil pipe fall smoothly on the sliding shoe, thereby improving the construction efficiency. When the ground manipulator finishes its work, the swing arm 2 can be swung so that the swing arm 2 drives the supporting device 3 to be put into the vertical bracket of the pressure working machine, which does not occupy the site space and has a more compact structure.

[0053] Example 2

[0054] On the basis of Example 1, the supporting device 3 of the ground manipulator provided in this embodiment includes a seat body 31 connected to the swing arm 2 and a roller 32 installed on the seat body 31, such as Figure 5 , Figure 6 As shown, the seat body 31 can be a concave frame structure, and the two sides of the seat body 31 are fixedly connected to the long rod 21 respectively. The roller 32 is a V-shaped roller with large ends and a narrow middle. The roller 32 is connected to the seat body 31 through a central axis 323, and the two ends of the central axis 323 are fixedly connected to the seat body 31 of the concave frame structure. In this embodiment, the roller 32 as a whole can rotate around its own axis, that is, the roller 32 can rotate as a whole with the central axis 323 as the axis, and the surface of the roller 32 can be wrapped with a rubber layer to prevent the oil pipe from being damaged by collision.

[0055] With this structural setting, the design of the V-shaped roller 32 can automatically guide the oil pipe to the center position of the roller 32. This self-guiding effect greatly improves the positioning accuracy of the oil pipe and reduces the operation error; the V-shaped design with large ends and narrow middle allows the roller 32 to adapt to oil pipes of different diameters. This versatility enhances the scope of application of the equipment, and there is no need to replace parts for oil pipes of different specifications; the V-shaped structure provides more stable support, which can effectively prevent the oil pipe from sliding off the two sides of the roller 32 during operation, increasing the safety of the entire operation process.

[0056] Example 3

[0057] On the basis of Example 1, the supporting device 3 of the ground manipulator provided in this embodiment includes a seat body 31 connected to the swing arm 2 and a roller 32 installed on the seat body 31, such as Figure 5 , Figure 6 As shown, the seat body 31 can specifically be a concave-shaped frame structure, and the two sides of the seat body 31 are fixedly connected to the long rod 21 respectively. The roller 32 is a V-shaped roller that is large at both ends and narrow in the middle. The roller 32 is connected to the seat body 31 through a central axis 323, and the two ends of the central axis 323 are fixedly connected to the seat body 31 of the concave-shaped frame structure. In this embodiment, the roller 32 includes two fixed parts 321 and a rotating part 322 located between the fixed parts 321, the fixed part 321 is fixedly connected to the seat body 31, and the rotating part 322 can rotate around its own axis. Specifically, it can be as follows Figure 6 As shown, the fixed portion 321 is specifically a truncated cone structure, the rotating portion 322 is located between the two fixed portions 321, the rotating portion 322 and the fixed portion 321 are both passed through the central axis 323, the fixed portion 321 is fixed relative to the central axis 323, the rotating portion 322 can rotate around the central axis 323 as the axis, the rotating portion 322 is specifically a V-shaped structure with large ends and a narrow middle, and the rotating portion 322 and the fixed portion 321 together constitute the roller 32.

[0058] With this structural setting, the design of the rotating part 322 significantly reduces the friction between the oil pipe and the roller 32 when the oil pipe moves, reduces the wear of the oil pipe, and the rotating part 322 can rotate with the movement of the oil pipe, making the entire oil pipe transfer process smoother and smoother. The fixed connection between the fixed part 321 and the seat body 31 ensures the stability of the overall structure.

[0059] Example 4

[0060] On the basis of Example 3, Figure 6 As shown, the supporting device 3 of the ground manipulator provided in this embodiment also includes two guard plates 33, the guard plates 33 are fixedly connected to the base 31, and the guard plates 33 are arranged at both ends of the roller 32. The guard plates 33 can be a fan-shaped plate structure, and a rubber layer can be arranged on the inner side of the guard plates 33 to prevent the oil pipe from contacting the guard plates 33 and damaging the oil pipe. A plurality of reinforcing ribs can also be arranged on the outer side of the guard plates 33 to improve the overall structural strength of the guard plates 33.

[0061] The provision of the guard plates 33 at both ends of the rollers 32 significantly improves the safety of the operation. It can prevent the oil pipe from accidentally slipping off the rollers 32 during movement, reducing the risk of accidents.

[0062] Example 5

[0063] The present embodiment provides a remote-controlled pressurized operation system, comprising a power catwalk, a pipe lifting device, a tabletop manipulator, and a pressurized operation machine; the power catwalk is arranged on one side of the pressurized operation machine; the pipe lifting device is connected to the pressurized operation machine, and the pipe lifting device is used to pick up and deliver the pipe string between the power catwalk and the pressurized operation machine; the tabletop manipulator is installed on the pressurized operation machine, and the tabletop manipulator is used to switch the pipe string between a vertical state and an inclined state; the pressurized operation machine is used to disassemble or install the pipe string in the wellbore under the pressurized state; and also includes the ground manipulator provided in Example 4, which is installed on the pressurized operation machine.

[0064] The remote-controlled pressure-operating system provided in this embodiment uses the ground manipulator provided in Example 4 to guide the oil pipe to smoothly transition from an inclined state to a vertical state, effectively preventing the oil pipe from directly colliding with the main engine of the pressure-operating machine, thereby avoiding damage to the oil pipe and the main engine.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A ground manipulator, characterized in that: It comprises a fixing device (1) and a swing arm (2), wherein the swing arm (2) is hinged to the fixing device (1), a supporting device (3) is installed at one end of the swing arm (2) away from the fixing device (1), and the swing arm (2) can swing around the hinge point between the swing arm (2) and the fixing device (1); It also comprises a hydraulic cylinder (4), one end of the hydraulic cylinder (4) is hinged to the fixing device (1), and the other end of the hydraulic cylinder (4) is hinged to the swing arm (2), and the hydraulic cylinder (4) is used to drive the swing arm (2) to swing.

2. A ground manipulator according to claim 1, characterized in that: The fixing device (1) comprises a ballast pier, the ballast pier is installed with a platform (12), a support leg (13) is arranged between the platform (12) and the side wall of the ballast pier, the swing arm (2) is hinged to the platform (12), and the hydraulic cylinder (4) is also hinged to the platform (12).

3. A ground manipulator according to claim 2, characterized in that: The swing arm (2) comprises two long rods (21) parallel to each other and a swing arm connection system (22); the swing arm connection system (22) is located between the two long rods (21); and two ends of the swing arm connection system (22) are respectively fixedly connected to the two long rods (21).

4. A ground manipulator according to claim 3, characterized in that: One end of the hydraulic cylinder (4) is hinged to the platform (12), and the other end of the hydraulic cylinder (4) is hinged to the swing arm connection system (22).

5. A ground manipulator according to claim 2, characterized in that: The ballast pier comprises a box body (111) and a top cover (112), wherein the top cover (112) is used to open and close the box body (111), and the platform (12) is installed on the box body (111).

6. A ground manipulator according to any one of claims 1 to 5, characterized in that: The supporting device (3) comprises a seat body (31) connected to the swing arm (2) and a roller (32) mounted on the seat body (31); the roller (32) is a V-shaped roller with large ends and a narrow middle.

7. A ground manipulator according to claim 6, characterized in that: The roller (32) comprises two fixed parts (321) and a rotating part (322) located between the fixed parts (321); the fixed parts (321) are fixedly connected to the seat body (31); and the rotating part (322) can rotate around its own axis.

8. A ground manipulator according to claim 6, characterized in that: The support roller (32) is rotatable around its own axis.

9. A ground manipulator according to claim 6, characterized in that: The supporting device (3) further comprises a guard plate (33), wherein the guard plate (33) is fixedly connected to the base body (31), and guard plates (33) are arranged at both ends of the supporting roller (32).

10. A remote-controlled pressure-operating system, comprising a power catwalk, a pipe lifting device, a tabletop manipulator, and a pressure-operating machine; the power catwalk is arranged on one side of the pressure-operating machine; the pipe lifting device is connected to the pressure-operating machine, and the pipe lifting device is used to pick up and deliver pipe strings between the power catwalk and the pressure-operating machine; the tabletop manipulator is installed on the pressure-operating machine, and the tabletop manipulator is used to switch the pipe string between a vertical state and an inclined state; the pressure-operating machine is used to disassemble or install the pipe string in the wellbore under pressure; it is characterized in that It also includes the ground manipulator described in any one of claims 1-9, and the ground manipulator is installed on the belt pressure working machine.

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