A tabletop manipulator and pressure-operating system

Abstract

The utility model relates to the technical field of oil and gas extraction, and in particular to a tabletop manipulator, comprising a base, the end of the base being rotatably connected to a swing arm assembly, the swing arm assembly being able to make a 120° rotational movement around the base, the swing arm assembly being able to swing around the base, and the end of the swing arm assembly away from the base being hinged to a pipe grabbing device. The tabletop manipulator, by connecting a swing arm assembly that can rotate 120 degrees and swing at one end of the base, greatly increases the range of motion and flexibility of the manipulator. It can be temporarily swung or rotated to one side as needed to free up necessary passages for the transportation of large-sized tools without blocking the passage of tools. The tabletop manipulator is flexible and compact in structure, reduces interference with large tools, shortens the operation preparation time, and thus effectively improves the work efficiency of well repair operations.

Description

Technical Field

[0001] The utility model relates to the technical field of oil and gas drilling equipment, in particular to a table manipulator. 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] In the existing pressurized operation system, the table manipulator is mainly used to replace manual operations to align the tubing at the wellhead. Due to the limited space on the working platform, when large-sized tools need to be transported to the center of the wellhead, the existing table manipulator has poor flexibility and occupies a large area of ​​the platform, which will hinder the transportation of large-sized tools and reduce the overall work efficiency of the well repair operation. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art, such as the poor flexibility of the table manipulator, the large platform area occupied, the obstruction of the transportation of large-sized tools, and the reduction of the working efficiency of the overall well repairing operation, and to provide a table manipulator and a pressure operation system.

[0005] In the first aspect, the utility model provides a tabletop manipulator, including a base, the end of the base is rotatably connected to a swing arm assembly, the swing arm assembly can rotate 120° around the base, the swing arm assembly can swing around the base, and the end of the swing arm assembly away from the base is hinged to a pipe grabbing device.

[0006] The tabletop manipulator provided by the utility model greatly increases the range of motion and flexibility of the manipulator by connecting a swing arm assembly that can rotate 120 degrees and swing at one end of the base. The tabletop manipulator can better avoid obstacles on the platform and obtain a larger working space. Compared with the bulky design of the traditional manipulator structure, which requires a larger platform area, the tabletop manipulator can temporarily swing or rotate to one side as needed by introducing a rotatable and swingable joint design, freeing up necessary channels for the transportation of large-sized tools without blocking the passage of tools. When in use, when the traveling carriage lifts the tubing string to a suitable position on the upper platform, the pipe grabbing device grabs the tubing string, and the swing arm assembly swings around the base to achieve the displacement of the pipe grabbing device from point A to point B, that is, the pipe string is moved from the grabbed position to the center of the wellhead. After the tubing string reaches the center of the wellhead, it remains stationary, the traveling carriage moves down, and after the tubing is buckled, the swing arm assembly will swing to the edge of the platform, ready to take over the next tubing, without occupying the platform space. When a large-diameter tool needs to be lowered, the swing arm assembly rotates around the base, and the maximum rotation angle is 120°, which can deviate the swing arm assembly from the wellhead centerline to facilitate the movement of large-diameter tools to the wellhead center. The tabletop manipulator is flexible and compact, which reduces interference with large tools and shortens the operation preparation time, thereby effectively improving the work efficiency of well repair operations.

[0007] Preferably, the swing arm assembly includes a first bend and a second bend, the concave side of the first bend is the first concave side, a swing arm driving component is arranged in the first concave side, and the swing arm driving component is used to drive the swing arm assembly to swing around the base; one end of the first bend is connected to the base, the other end of the first bend is connected to the second bend, and an end of the second bend away from the first bend is hinged to the pipe grasping device; the concave side of the second bend is the second concave side, and the direction of the second concave side is opposite to that of the first concave side.

[0008] The tabletop manipulator provided by the utility model divides the swing arm assembly into a first curved portion and a second curved portion, that is, the swing arm assembly as a whole is similar to an S-shaped design, and the drive device is arranged inside the first concave side, which is conducive to realizing a compact and simple mechanical layout, avoiding the space occupied by the extended rods and cables, and reducing the size of the overall tabletop manipulator; the swing arm assembly is designed as a curved structure, which further reduces the space occupied by the swing arm assembly, and also avoids the problems of stress concentration points and potential fracture hazards that are prone to occur in straight rod designs, thereby improving the durability of the tabletop manipulator while ensuring that the manipulator does not interfere with the passage of a large-diameter tool string.

[0009] Preferably, the tabletop manipulator provided by the utility model further includes a rotary drive device, through which the base is rotationally connected to the swing arm assembly, and the rotary drive device is used to drive the swing arm assembly to perform rotational motion around the base.

[0010] With this structural setting, the swing arm assembly can rotate through the rotary drive device, so that the swing arm assembly has rotational freedom, which can make full use of the plane space and cover a larger working range. Especially when it is necessary to avoid large-sized tools, a maximum rotation avoidance of 120 degrees can be achieved.

[0011] Preferably, the tabletop manipulator provided by the utility model also includes a second swing arm, one end of the second swing arm is hinged to the pipe grasping device, the other end of the second swing arm is connected to the base, and the swing arm driving component is located between the second swing arm and the swing arm assembly.

[0012] With this structural setting, the second swing arm and the swing arm assembly can support each other when subjected to force, the overall rigidity is enhanced, and the maximum load-bearing capacity will also be increased accordingly, ensuring stability during operation.

[0013] Preferably, the second swing arm is a curved structural member, the concave side of the second swing arm is a third concave side, and the direction of the third concave side is opposite to the direction of the first concave side.

[0014] With this structural setting, the second swing arm is also set as a curved structure, so that the second swing arm and the swing arm assembly cooperate to further save space, and can also prevent direct interference and collision between the arms during movement. The curved design also helps to improve the overall strength of the manipulator.

[0015] Preferably, the tabletop manipulator provided by the utility model further includes an articulated seat, the second swing arm and the swing arm assembly are both articulated to the articulated seat, and the articulated seat is connected to the base.

[0016] With this structural setting, the swing arm assembly and the second swing arm are both hinged to the same hinge seat, so that the motion reference planes of the two swing arms are consistent, which is conducive to motion coordination and position control. The hinge seat also provides a solid installation foundation to ensure the stability of the mechanism.

[0017] Preferably, the pipe grabbing device comprises a seat body hinged to the swing arm assembly, the seat body is provided with rollers and a stop rod, the rollers and the stop rod can perform opening and closing movements, and the rollers and the stop rod cooperate to limit the pipe column.

[0018] With this structural setting, the rollers and the baffle rods can limit and clamp the pipe column from both sides at the same time when in a closed state, so that the pipe column remains stable and does not shift, greatly improving the reliability and safety of pipe grasping; by adjusting the opening and closing degree of the rollers and the baffle rods, it can adapt to pipe columns of different outer diameters, making the pipe grasping device have a certain degree of versatility.

[0019] Preferably, the roller is a V-shaped roller that is large at both ends and narrow in the middle.

[0020] With this structural setting, the narrower design in the middle of the V-shaped roller allows the pipe column to automatically roll and position itself at the lowest point of the V-shaped groove when it is placed, thereby effectively preventing the pipe column from shifting and shaking on the roller and improving the positioning accuracy of the pipe column in the pipe grasping device. Compared with ordinary cylindrical rollers, the V-shaped roller has a larger contact area and can achieve a larger area of ​​fit and clamping with the outer wall of the pipe column, thereby providing greater clamping force and stability.

[0021] Preferably, the seat body is provided with a roller driving device and a baffle rod driving device, the output end of the roller driving device is connected to the roller, and the output end of the baffle rod driving device is connected to the baffle rod.

[0022] In the second aspect, the utility model provides a pressure-operating system, including a power catwalk, a pipe lifting device, a buckle-up and buckle-down device, and a pressure-operating machine, wherein the power catwalk is arranged on one side of the pressure-operating machine, the pipe lifting device is connected to the pressure-operating machine, the pipe lifting device is used to pick up and deliver pipe strings between the power catwalk and the pressure-operating machine, the buckle-up and buckle-down device is connected to the pressure-operating machine, and the buckle-up and buckle-down device is used to buckle the pipe strings; the pressure-operating machine is used to disassemble or install the pipe strings in the wellbore under pressure; the pressure-operating machine also includes the above-mentioned tabletop manipulator, which is installed on the pressure-operating machine.

[0023] The pressure operation system provided by the utility model has a tabletop manipulator with flexible movement and compact structure, which reduces interference with large tools and shortens operation preparation time, thereby effectively improving the work efficiency of well repair operations.

[0024] Compared with the prior art, the utility model has the following beneficial effects:

[0025] 1. The tabletop manipulator provided by the utility model greatly increases the range of motion and flexibility of the manipulator by connecting a swing arm assembly that can rotate 120 degrees and swing at one end of the base. The tabletop manipulator can better avoid obstacles on the platform and obtain a larger working space;

[0026] 2. Compared with the bulky design of the traditional manipulator structure, which requires a larger platform area, the table manipulator provided by the utility model introduces a rotatable and swingable joint design, which can be temporarily swung or rotated to one side as needed, freeing up the necessary channel for the transportation of large-sized tools without blocking the passage of tools;

[0027] 3. During use, when the traveling carriage lifts the tubing string to the appropriate position on the upper platform, the pipe grabbing device grabs the tubing string, and the swing arm assembly swings around the base to achieve the displacement of the pipe grabbing device from point A to point B, that is, to move the tubing string from the grabbed position to the center of the wellhead. After the tubing string reaches the center of the wellhead, it remains stationary, and the traveling carriage moves down. After the tubing is buckled, the swing arm assembly will swing to the edge of the platform, ready to take on the next tubing without occupying platform space. When it is necessary to lower a large-diameter tool, the swing arm assembly rotates around the base, and the maximum rotation angle is 120°. The swing arm assembly can be deviated from the center line of the wellhead to facilitate the movement of the large-diameter tool to the center of the wellhead;

[0028] 4. The tabletop manipulator is flexible and compact, which reduces interference with large tools and shortens operation preparation time, thereby effectively improving the work efficiency of well repair operations.

[0029] 5. The pressure operation system provided by the utility model has a tabletop manipulator with flexible movement and compact structure, which reduces interference with large tools and shortens operation preparation time, thereby effectively improving the work efficiency of well repair operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the table manipulator structure provided by the utility model.

[0031] Figure 2 for Figure 1 main view.

[0032] Figure 3 for Figure 1 Left view of .

[0033] Figure 4 for Figure 1 Right view of .

[0034] Figure 5 It is a schematic diagram of the swing arm assembly structure.

[0035] Figure 6 It is a schematic diagram of the second swing arm structure.

[0036] Figure 7 This is a schematic diagram of the structure of the pipe grabbing device.

[0037] Figure 8 for Figure 7 Left view of .

[0038] Fig. 9 for Figure 7 Right view of .

[0039] Fig.10 for Figure 7 Top view of the .

[0040] Markings in the figure:

[0041] 1-base, 2-swing arm assembly, 21-first bending portion, 211-first concave side, 22-second bending portion, 221-second concave side, 3-pipe grabbing device, 31-seat body, 32-roller, 33-blocking rod, 34-roller driving device, 35-blocking rod driving device, 4-swing arm driving component, 5-rotation driving device, 6-second swing arm, 61-third concave side, 7-articulated seat. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Example 1

[0049] like Figure 1-Figure 6 As shown, a tabletop manipulator includes a base 1, as shown in Figure 1As shown, the base 1 can be a cylindrical structure. The end of the base 1 is rotatably connected to the swing arm assembly 2, and the swing arm assembly 2 can rotate around the base 1 by 120°. It can be understood that the rotation around the base 1 here specifically refers to, for example, rotating within a range of 120° with the extension line of the vertical axis of the base 1 as the central axis; the swing arm assembly 2 can swing around the base 1, and it can be understood that the swing around the base 1 here specifically refers to the connection between the swing arm assembly 2 and the base 1 as the hinge point, and the swing arm assembly 2 performs a pendulum-like motion, and the swing amplitude is not specifically limited, for example, it can be ±45°; the end of the swing arm assembly 2 away from the base 1 is hinged to the pipe grabbing device 3.

[0050] Further, such as Figure 1 As shown, a rotary drive device 5 is installed on the top of the cylindrical base 1, and an articulated seat 7 is installed on the rotary drive device 5. The swing arm assembly 2 is connected to the rotary drive device 5 through the articulated seat 7, and then connected to the base 1. Specifically, the rotary drive device 5 can be a hydraulic rotary drive device composed of a hydraulic motor, a reducer, and a slewing bearing, etc. Of course, the rotary drive device 5 can also be an electric rotary drive device composed of a servo motor, a planetary reducer, and a slewing bearing, etc. That is, as long as the driving force or torque can be reliably transmitted to the swing arm assembly 2, so that it can make a plane rotation movement within a specified angle around the base 1.

[0051] like Figure 3 , Figure 4 As shown, the swing arm assembly 2 and the articulated seat 7 are specifically hinged by installing matching hinge shaft rings or bearing rings at the positions where the swing arm assembly 2 and the articulated seat 7 are connected, and they are hinged together through a pin shaft to form a rotatable hinge point.

[0052] Furthermore, the swing arm assembly 2 includes a first curved portion 21 and a second curved portion 22. Figure 5 As shown, it can be understood that the swing arm assembly 2 is divided into the first curved portion 21 ( Figure 5 The lower dotted line frame) and the second curved portion 22 ( Figure 5 The first bend 21 and the second bend 22 may be an integral structure, that is, the first bend 21 and the second bend 22 together constitute the swing arm assembly 2, and the first bend 21 and the second bend 22 are not two separate sections; of course, in another case, the first bend 21 and the second bend 22 may also be two separate sections, but they are connected into one by, for example, welding to form the swing arm assembly 2.

[0053] The concave side of the first curved portion 21 is a first concave side 211 (eg Figure 5 The opening of the first concave side 211 is to the left), and the swing arm driving component 4 is arranged in the first concave side 211. It can be understood that the swing arm driving component 4 can be a hydraulic cylinder, an electric cylinder, a pneumatic cylinder, etc.; Figure 1 , Figure 3 , Figure 4 As shown, one end of the swing arm driving component 4 can be hinged to the hinge seat 7, and the other end of the swing arm driving component 4 can be hinged at the point where the direction of the first bending portion 21 and the second bending portion 22 changes. The main body of the swing arm driving component 4 is located in the first concave side 211, and the swing arm driving component 4 is used to drive the swing arm assembly 2 to swing around the base 1.

[0054] One end of the first curved portion 21 is connected to the base 1, the other end of the first curved portion 21 is connected to the second curved portion 22, and the end of the second curved portion 22 away from the first curved portion 21 is hinged to the pipe grasping device 3; it can be understood that the first curved portion 21 and the second curved portion 22 can be as follows: Figure 5 The multi-segment broken line rod structure shown may also be an arc-shaped structure. The concave side of the second curved portion 22 is the second concave side 221 (for example Figure 5 The opening of the second concave side 221 faces rightward), and the direction of the second concave side 221 is opposite to the direction of the first concave side 211.

[0055] The swing arm assembly 2 is divided into a first curved portion 21 and a second curved portion 22, that is, the swing arm assembly 2 is designed as an S-shape as a whole, and the swing arm driving component 4 is arranged inside the first concave side 211, which is conducive to realizing a compact and simple mechanism layout, avoiding the space occupied by the protruding rods and cables of the swing arm driving component 4, and also reducing the size of the overall table manipulator; the swing arm assembly 2 is designed as a curved structure, which further reduces the space occupied by the swing arm assembly 2, and also avoids the stress concentration points and potential fracture hazards that are prone to occur in the straight rod design, thereby improving the durability of the table manipulator while ensuring that the manipulator does not interfere with the passage of a large-diameter tool string.

[0056] Further, such as Figure 1-Figure 4 , Figure 6 As shown, the table manipulator of this embodiment also includes a second swing arm 6, one end of which is hinged to the pipe grasping device 3, and the other end of the second swing arm 6 is also hinged to the hinge seat 7. The swing arm assembly 2 and the second swing arm 6 are both hinged to the same hinge seat 7, so that the motion reference planes of the two swing arms are consistent, which is conducive to motion coordination and position control. The hinge seat 7 also provides a solid installation foundation to ensure the stability of the mechanism. The second swing arm 6 is connected to the rotary drive device 5 through the hinge seat 7, and then connected to the base 1. The swing arm drive component 4 is located between the second swing arm 6 and the swing arm assembly 2. The second swing arm 6 and the swing arm assembly 2 can support each other when subjected to force, the overall rigidity is enhanced, and the maximum load-bearing capacity will also be increased accordingly to ensure stability during operation.

[0057] Further, the second swing arm 6 is a curved structural member. It can be understood that the second swing arm 6 can be as follows: Figure 6 The multi-segment broken line rod structure shown ( Figure 6The concave side of the second swing arm 6 is the third concave side 61 (for example Figure 6 The opening of the third concave side 61 faces rightwards), and the direction of the third concave side 61 is opposite to the direction of the first concave side 211. The second swing arm 6 is also configured as a curved structure, so that the second swing arm 6 cooperates with the swing arm assembly 2 to further save space, and can also prevent direct interference and collision between the arms during movement. The curved design also helps to improve the overall strength of the manipulator.

[0058] The tabletop manipulator provided in this embodiment greatly increases the range of motion and flexibility of the manipulator by connecting a swing arm assembly 2 that can rotate 120 degrees and swing at one end of the base 1. The tabletop manipulator can better avoid obstacles on the platform and obtain a larger working space. Compared with the bulky design of the traditional manipulator structure, which requires a larger platform area, the tabletop manipulator can temporarily swing or rotate to one side as needed by introducing a rotatable and swingable articulated design, freeing up necessary channels for the transportation of large-sized tools without blocking the passage of tools. When in use, when the traveling carriage lifts the tubing string to a suitable position on the upper platform, the pipe grabbing device 3 grabs the tubing string, and the swing arm assembly 2 swings around the base 1 to achieve the displacement of the pipe grabbing device 3 from point A to point B, that is, the pipe string is moved from the grasped position to the center of the wellhead. After the tubing string reaches the center of the wellhead, it remains stationary, the traveling carriage moves down, and after the tubing is buckled, the swing arm assembly 2 will swing to the edge of the platform, ready to take over the next tubing, without occupying the platform space. When a large-diameter tool needs to be lowered, the swing arm assembly 2 rotates around the base 1, and the maximum rotation angle is 120°, so that the swing arm assembly 2 can be deviated from the center line of the wellhead, making it easier for the large-diameter tool to move toward the center of the wellhead. The tabletop manipulator is flexible and compact, which reduces interference with large tools and shortens the operation preparation time, thereby effectively improving the work efficiency of well repair operations.

[0059] Example 2

[0060] On the basis of Example 1, Figure 7-10 As shown, the pipe grabbing device 3 of this embodiment includes a seat body 31 hinged to the swing arm assembly 2, and the seat body 31 is provided with a roller 32 and a stop rod 33, and the roller 32 and the stop rod 33 can perform opening and closing movements (for example Figure 7 As shown by the hollow dashed arrow, the roller 32 and the stopper 33 cooperate to limit the pipe column. In the closed state, the roller 32 and the stopper 33 can simultaneously limit and clamp the pipe column from both sides, so that the pipe column remains stable and does not shift, greatly improving the reliability and safety of pipe grabbing; by adjusting the opening and closing degree of the roller 32 and the stopper 33, it can adapt to pipe columns of different outer diameters, so that the pipe grabbing device 3 has a certain versatility.

[0061] Further, such as Fig.10As shown, the roller 32 is a V-shaped roller with large ends and a narrow middle. With this structural setting, the narrower middle design of the V-shaped roller 32 allows the pipe column to automatically roll and position to the lowest point of the V-shaped groove when placed, thereby effectively preventing the pipe column from deflecting and shaking on the roller 32, and improving the positioning accuracy of the pipe column in the pipe grasping device 3; compared with ordinary cylindrical rollers 32, the V-shaped roller 32 has a larger contact area and can achieve a larger area of ​​fit and clamping with the outer wall of the pipe column, thereby providing greater clamping force and stability.

[0062] Further, the seat body 31 is provided with a roller driving device 34 and a stop rod driving device 35, the output end of the roller driving device 34 is connected to the roller 32, and the output end of the stop rod driving device 35 is connected to the stop rod 33. It can be understood that the roller driving device 34 and the stop rod driving device 35 can be hydraulic cylinders, electric cylinders, pneumatic cylinders, etc.

[0063] Example 3

[0064] This embodiment provides a pressure-operated system, including a power catwalk, a pipe lifting device, a make-up and break-out device, and a pressure-operated machine. The power catwalk is arranged on one side of the pressure-operated machine. The power catwalk is used to switch the pipe string between a flat state and an inclined state, and to transfer the pipe string between the pipe lifting mechanism and the pipe bearing mechanism.

[0065] The pipe lifting device is connected to the pressure working machine, and is used to transfer the pipe string between the power catwalk and the pressure working machine;

[0066] The tie-up and tie-down device is connected to the belt pressure working machine, and is used for tie-up and tie-down of the pipe string;

[0067] The pressure-operated machine is used to remove or install the pipe string in the wellbore under pressure;

[0068] It also includes the tabletop manipulator recorded in Example 2, which is installed on the belt pressure working machine and is used to straighten the pipe column so that the pipe column can be switched between a vertical state and an inclined state.

[0069] The pressure operation system provided in this embodiment has a tabletop manipulator that is flexible in movement and compact in structure, reduces interference with large tools, shortens operation preparation time, and thus effectively improves the work efficiency of well repair operations.

[0070] 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 tabletop manipulator, characterized in that: It comprises a base (1), the end of the base (1) is rotatably connected to a swing arm assembly (2), the swing arm assembly (2) can rotate 120 degrees around the base (1), the swing arm assembly (2) can swing around the base (1), and one end of the swing arm assembly (2) away from the base (1) is hingedly connected to a pipe grabbing device (3); The swing arm assembly (2) comprises a first curved portion (21) and a second curved portion (22); the concave side of the first curved portion (21) is a first concave side (211); a swing arm driving component (4) is arranged in the first concave side (211); the swing arm driving component (4) is used to drive the swing arm assembly (2) to swing around the base (1); One end of the first curved portion (21) is connected to the base (1), the other end of the first curved portion (21) is connected to the second curved portion (22), and one end of the second curved portion (22) away from the first curved portion (21) is hinged to the pipe grasping device (3); The concave side of the second curved portion (22) is a second concave side (221), and the orientation of the second concave side (221) is opposite to the orientation of the first concave side (211).

2. A tabletop manipulator according to claim 1, characterized in that: It also comprises a rotary drive device (5), wherein the base (1) is rotationally connected to the swing arm assembly (2) via the rotary drive device (5), and the rotary drive device (5) is used to drive the swing arm assembly (2) to perform rotational movement around the base (1).

3. A tabletop manipulator according to claim 1, characterized in that: It also comprises a second swing arm (6), one end of the second swing arm (6) being hinged to the pipe grabbing device (3), the other end of the second swing arm (6) being connected to the base (1), and the swing arm driving component (4) being located between the second swing arm (6) and the swing arm assembly (2).

4. A tabletop manipulator according to claim 3, characterized in that: The second swing arm (6) is a curved structural member, the concave side of the second swing arm (6) is a third concave side (61), and the direction of the third concave side (61) is opposite to the direction of the first concave side (211).

5. A tabletop manipulator according to claim 3, characterized in that: It also comprises an articulated seat (7), the second swing arm (6) and the swing arm assembly (2) are both articulated to the articulated seat (7), and the articulated seat (7) is connected to the base (1).

6. A tabletop manipulator according to claim 1, characterized in that: The pipe grabbing device (3) comprises a seat body (31) hinged to the swing arm assembly (2), the seat body (31) being provided with a roller (32) and a stop rod (33), the roller (32) and the stop rod (33) being capable of opening and closing movements, and the roller (32) and the stop rod (33) being used in cooperation to limit the position of the pipe column.

7. A tabletop manipulator according to claim 6, characterized in that: The roller (32) is a V-shaped roller that is large at both ends and narrow in the middle.

8. A tabletop manipulator according to claim 6, characterized in that: The seat body (31) is provided with a roller driving device (34) and a blocking rod driving device (35), wherein the output end of the roller driving device (34) is connected to the roller (32), and the output end of the blocking rod driving device (35) is connected to the blocking rod (33).

9. A pressure-operated system, comprising a power catwalk, a pipe lifting device, a buckle-up and buckle-down device, and a pressure-operated machine, wherein the power catwalk is arranged on one side of the pressure-operated machine, the pipe lifting device is connected to the pressure-operated machine, the pipe lifting device is used to receive and deliver pipe strings between the power catwalk and the pressure-operated machine, the buckle-up and buckle-down device is connected to the pressure-operated machine, and the buckle-up and buckle-down device is used to buckle the pipe string; the pressure-operated machine is used to disassemble or install the pipe string in the wellbore under pressure; characterized in that It also includes the tabletop manipulator described in any one of claims 1-8, and the tabletop manipulator is installed on the belt pressure working machine.

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