Oil pipe remote directional lifting system operating under pressure

Abstract

The utility model relates to the technical field of oil and gas equipment, in particular to an oil pipe remote directional lifting system operating under pressure. The oil pipe remote directional lifting system comprises a traveling block, a winch, a ground manipulator, a table manipulator, a camera and a console. And the console is in communication connection with the winch, the ground manipulator, the tabletop manipulator and the camera. The traveling block is provided with an elevator used for clamping an oil pipe. The winch is connected with the traveling block through a traction steel cable. The ground manipulator is arranged on the ground. The table-board manipulator is arranged on the edge of the top layer of the working platform. The camera is used for acquiring images of the traveling block and the ground manipulator. When the oil pipe remote directional lifting system working under pressure is used for lifting the oil pipe, the ground manipulator and the table manipulator can centralize the oil pipe in the lifting process of the oil pipe, and the oil pipe is prevented from swinging and impacting a wellhead working platform; constructors can perform remote control through the console, and personal safety of the constructors is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of oil and gas equipment technology, specifically to a remote directional lifting system for oil pipelines operating under pressure. Background Technology

[0002] In the various construction processes of oil and gas exploration and development, a large number of pipework operations are involved, such as the transportation, lifting, lowering, and docking of oil pipes. Among them, the oil pipe lifting operation is generally the process of hoisting the oil pipe placed in the catwalk on the ground to the wellhead working platform.

[0003] Current technology typically involves using a jacking device to grip the end of the tubing closest to the wellhead work platform, then lifting the tubing. The end of the tubing furthest from the wellhead work platform rests on a catwalk slipper. Simultaneously, as the jacking device moves the tubing, the slipper pulls the furthest end of the tubing along the catwalk transport track on the ground, gradually approaching the wellhead work platform until the tubing detaches from the catwalk. During this process, the tubing gradually tilts from a horizontal position. During the lifting operation, the tubing detached from the catwalk is highly susceptible to swaying and potentially impacting the wellhead work platform, causing damage to both. Currently, a common method to prevent this is for workers to manually straighten the tubing during lifting. However, this manual straightening method undoubtedly increases the safety risks for workers, especially under pressure. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as the susceptibility to collisions during tubing lifting operations, which can damage the tubing and wellhead platform, and the high safety risks associated with manual tubing straightening by construction personnel. This invention provides a remote directional tubing lifting system for pressurized operations.

[0005] In a first aspect, this utility model provides a remote directional lifting system for tubing under pressure. The remote directional lifting system for tubing under pressure is configured on a wellhead working platform and includes: two guide cables, a traveling block, a winch, a ground manipulator, a platform manipulator, a camera, and a control console. The two guide cables have one end connected to the ground and the other end connected to a suspension point on the wellhead working platform. The traveling block is equipped with two guide rails, and a clamp for gripping the tubing is provided in the middle of the two guide rails. The guide rails are fitted onto the guide cables. The winch is connected to the traveling block via a traction cable and is equipped with an encoder and a motor. The ground manipulator is located on the ground of the wellhead working platform and near the area where the guide cables connect to the ground. The platform manipulator is located at the top edge of the wellhead working platform. The camera is used to acquire images of the traveling block and the ground manipulator. The control console is communicatively connected to the winch, the ground manipulator, the platform manipulator, and the camera.

[0006] According to a preferred embodiment, the trolley further includes: pulleys, a crossbeam, a swing arm, a first telescopic rod, and a lifting lug. The pulleys are disposed at both ends of the guide rails, which are mounted on the guide cable via the pulleys. The two guide rails are flush and connected by the crossbeam. One end of the swing arm is hinged to the lifting clamp, and the other end is hinged to the crossbeam. One end of the first telescopic rod is connected to the crossbeam, and the other end is connected to the middle of the swing arm. The first telescopic rod drives the swing arm to swing around the crossbeam by telescoping, and the first telescopic rod is communicatively connected to the control console. A first sensor is disposed on the first telescopic rod, and the first sensor is communicatively connected to the control console. The first telescopic rod is a hydraulic telescopic rod, and the first sensor is a pressure sensor. The lifting lug is disposed on the crossbeam, and the lifting lug is connected to the winch via the traction cable.

[0007] According to a preferred embodiment, the ground manipulator includes a first base, a first main arm, a second telescopic rod, and a first guide roller. The first guide roller is disposed at one end of the first main arm, and the other end of the first main arm is connected to the first base. One end of the second telescopic rod is connected to the first base, and the other end is connected to the middle of the first main arm. The second telescopic rod drives the first main arm to swing around the first base by extending and retracting, and the second telescopic rod is communicatively connected to the control console.

[0008] According to a preferred embodiment, the ground manipulator further includes a second sensor; the second sensor is disposed on the second telescopic rod and is communicatively connected to the control console.

[0009] According to a preferred embodiment, the second telescopic rod is a hydraulic telescopic rod, and the second sensor is a pressure sensor.

[0010] According to a preferred embodiment, the platform robot includes a second base, a second main arm, a third telescopic rod, and a second guide roller. The second guide roller is disposed at one end of the second main arm, and the other end of the second main arm is connected to the second base. One end of the third telescopic rod is connected to the second base, and the other end is connected to the middle of the second main arm. The third telescopic rod drives the second main arm to swing around the second base by extending and retracting, and the third telescopic rod is communicatively connected to the control console.

[0011] According to a preferred embodiment, the tabletop robot further includes a third sensor; the third sensor is disposed on the third telescopic rod and is communicatively connected to the control console.

[0012] According to a preferred embodiment, the third telescopic rod is a hydraulic telescopic rod, and the third sensor is a pressure sensor.

[0013] According to a preferred embodiment, the tabletop robot further includes a rotary mechanism; the second main arm and the third telescopic rod are connected to the second base through the rotary mechanism; the rotary mechanism is used to drive the second main arm to rotate around the second base.

[0014] According to a preferred embodiment, the camera includes a first camera and a second camera. The first camera is mounted on the traveling crane to capture images of the status of the jack and oil pipe on the traveling crane. The second camera is mounted next to the ground robot to capture images of the ground robot in operation.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] The remote directional lifting system for pressurized tubing provided by this utility model enables construction personnel to remotely control the tubing lifting operation through a control console, ensuring the personal safety of the construction personnel; and the ground manipulator and the platform manipulator can straighten the tubing during the lifting process to prevent the tubing from swinging and hitting the wellhead working platform. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a preferred embodiment of the remote directional lifting system for live oil pipe operation according to the present invention.

[0018] Figure 2 This is a schematic diagram of the communication connection of a remote directional lifting system for live tubing operations according to a preferred embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of a preferred embodiment of the vehicle of the present invention;

[0020] Figure 4 This is a schematic diagram of a preferred embodiment of the ground manipulator of the present invention;

[0021] Figure 5 This is a schematic diagram of a tabletop robot arm according to a preferred embodiment of the present invention.

[0022] Marked in the image:

[0023] 101-Guide cable, 102-Support rod

[0024] 110-tour bus,

[0025] 111-Guide rail, 112-Hanging clamp, 113-Pulley, 114-Swing arm, 115-First telescopic rod, 116-Lifting lug.

[0026] 120-Windlock,

[0027] 130-Ground robotic arm,

[0028] 131-First base, 132-First main arm, 133-Second telescopic rod, 134-First guide roller, 135-Second sensor

[0029] 140-Tabletop robotic arm,

[0030] 141-Second base, 142-Second main arm, 143-Third telescopic rod, 144-Second guide roller, 145-Third sensor, 146-Rotation mechanism,

[0031] 150-camera,

[0032] 160 - Console. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to specific embodiments. However, it should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0034] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of this utility model is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the utility model solution or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on this utility model.

[0035] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0036] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0037] Furthermore, in the description of the embodiments of this utility model, "several", "multiple", and "several" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, or nine, and can even exceed nine.

[0038] Furthermore, in the description of the technical solution of this utility model, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "equipped with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0039] Example 1

[0040] This embodiment provides a remote directional lifting system for oil pipes operating under pressure. See also: Figure 1 The live tubing remote directional lifting system is configured on the wellhead work platform. The system includes: two guide cables 101, a traveling block 110, a winch 120, a ground manipulator 130, a platform manipulator 140, a camera 150, and a control console 160. The two guide cables 101 are arranged substantially parallel to each other, with one end connected to the ground and the other end connected to the suspension point of the wellhead work platform. See also... Figure 1 The suspension point of the wellhead working platform can be set at the top of the support rod 102 of the wellhead working platform.

[0041] See Figure 2 The traveling trolley 110, winch 120, ground robot 130, platform robot 140 and camera 150 are respectively connected to the control console 160.

[0042] See Figure 3 The traveling trolley 110 is equipped with two guide rails 111, and a clamp 112 for gripping oil pipes is provided in the middle of the two guide rails 111. Preferably, the traveling trolley 110 further includes: pulleys 113, a crossbeam, a swing arm 114, a first telescopic rod 115, and a lifting lug 116. The pulleys 113 are located at both ends of the guide rails 111, and the guide rails 111 are sleeved on the guide steel cable 101 through the pulleys 113. The two guide rails 111 are arranged in parallel and connected by the crossbeam. One end of the swing arm 114 is hinged to the clamp 112, and the other end is hinged to the crossbeam. One end of the first telescopic rod 115 is connected to the crossbeam, and the other end is connected to the middle of the swing arm 114. The first telescopic rod 115 drives the swing arm 114 to swing around the crossbeam by telescoping, and the first telescopic rod 115 is communicatively connected to the control console 160. A first sensor is provided on the first telescopic rod 115, and the first sensor is communicatively connected to the control console 160. The first telescopic rod 115 is a hydraulic telescopic rod, and the first sensor is a pressure sensor. The lifting lug 116 is mounted on the crossbeam.

[0043] See Figure 1The guide rail 111 is mounted on the guide cable 101. The winch 120 is mounted on the support rod 102 of the wellhead working platform and is connected to the traveling block 110 via a traction cable. Preferably, the winch 120 is connected to the lifting lug 116 of the traveling block 110 via the traction cable. Preferably, the winch 120 is equipped with an encoder and a motor, and the encoder and motor are respectively communicatively connected to the control console 160. The encoder is mounted on the motor and is used to monitor information such as current, speed, and shaft position in real time. The control console 160 can determine the motor's status based on the parameters monitored by the encoder and then adjust it accordingly. The control console 160 can control the motor's rotation direction to cause the winch 120 to retract and extend the traction cable, thereby achieving the traction of the traveling block 110.

[0044] See Figure 1 The ground manipulator 130 is positioned on the ground of the wellhead work platform, near the area where the guide cable 101 connects to the ground. (See also...) Figure 4 The ground robot 130 includes a first base 131, a first main arm 132, a second telescopic rod 133, and a first guide roller 134. The first guide roller 134 is located at one end of the first main arm 132, and the other end of the first main arm 132 is hinged to the first base 131. One end of the second telescopic rod 133 is connected to the first base 131, and the other end is connected to the middle of the first main arm 132. The second telescopic rod 133 drives the first main arm 132 to swing around the first base 131 by telescoping, and the second telescopic rod 133 is communicatively connected to the control console 160.

[0045] Preferably, the ground manipulator 130 further includes a second sensor 135; the second sensor 135 is disposed on the second telescopic rod 133 and is communicatively connected to the control console 160. Preferably, the second telescopic rod 133 is a hydraulic telescopic rod, and the second sensor 135 is a pressure sensor. Preferably, the control console 160 determines the extension length of the second telescopic rod 133 based on the pressure data from the second sensor 135, and can then adjust the extension length of the second telescopic rod 133 to adjust the swing angle of the first main arm 132 around the first base 131. Preferably, the second telescopic rod 133 is communicatively connected to the control console 160 and extends and retracts in response to control commands from the control console 160. Preferably, the second telescopic rod 133 is connected to a hydraulic control unit via a hydraulic oil line, and the hydraulic control unit is signal-connected to the control console 160. The control console 160 adjusts the increase or decrease of hydraulic oil in the second telescopic rod 133 through the hydraulic control unit, thereby controlling the extension and retraction of the second telescopic rod 133.

[0046] See Figure 1 The platform robot 140 is positioned at the top edge of the wellhead work platform. (See also...) Figure 5Preferably, the tabletop robot 140 includes a second base 141, a second main arm 142, a third telescopic rod 143, and a second guide roller 144. The second guide roller 144 is disposed at one end of the second main arm 142, and the other end of the second main arm 142 is connected to the second base 141. One end of the third telescopic rod 143 is connected to the second base 141, and the other end is connected to the middle of the second main arm 142. The third telescopic rod 143 drives the second main arm 142 to swing around the second base 141 by telescoping, and the third telescopic rod 143 is communicatively connected to the control console 160. Preferably, the tabletop robot 140 also includes a third sensor 145; the third sensor 145 is disposed on the third telescopic rod 143, and the third sensor 145 is communicatively connected to the control console 160. Preferably, the third telescopic rod 143 is a hydraulic telescopic rod, and the third sensor 145 is a pressure sensor.

[0047] Preferably, the control console 160 determines the extension length of the third telescopic rod 143 based on the pressure data from the third sensor 145, thereby adjusting the extension length of the third telescopic rod 143 to adjust the swing angle of the second main boom 142 around the second base 141. Preferably, the third telescopic rod 143 is communicatively connected to the control console 160 and extends or retracts in response to control commands from the control console 160. Preferably, the third telescopic rod 143 is connected to a hydraulic control unit via a hydraulic oil line, and the hydraulic control unit is signal-connected to the control console 160. The control console 160 adjusts the increase or decrease of hydraulic oil in the third telescopic rod 143 through the hydraulic control unit, thereby controlling the extension or retraction of the third telescopic rod 143.

[0048] Preferably, the tabletop robot 140 further includes a rotary mechanism 146; the second main arm 142 and the third telescopic rod 143 are connected to the second base 141 via the rotary mechanism 146; the rotary mechanism 146 is used to drive the second main arm 142 to rotate around the second base 141. The rotary mechanism 146 can be a hydraulic rotary drive device composed of a hydraulic motor, a reducer, and a slewing bearing, etc., or it can be an electric rotary drive device composed of a servo motor, a planetary reducer, and a slewing bearing, etc. That is, it can reliably transmit driving force or torque to the second main arm 142, causing it to rotate within a specified angle around the second base 141. Preferably, the rotary mechanism 146 is signal-connected to the control console 160, which can control the power output of the rotary mechanism 146 to allow the second main arm 142 to rotate a specific angle around the second base 141 within a specified plane.

[0049] Camera 150 is used to acquire images of the traveling crane 110 and the ground robot 130. Control console 160 is communicatively connected to winch 120, ground robot 130, platform robot 140, and camera 150. Preferably, camera 150 includes a first camera and a second camera. The first camera is mounted on the traveling crane 110 to capture images of the status of the jack 112 and the oil pipe on the traveling crane 110. The second camera is mounted next to the ground robot 130 to capture images of the ground robot 130 in operation.

[0050] Preferably, the principle by which the control console 160 adjusts the length of the telescopic rod and thus the rotation angle of the robotic arm based on the pressure sensor data configured on the hydraulic telescopic rod is as follows: the initial value and the actual value of the pressure sensor change linearly, and the correspondence between the rotation angle of the robotic arm and the value indicated by the pressure sensor can be tested in advance; when the oil pipe lifting operation is carried out, the control console 160 can adjust the hydraulic pressure of the hydraulic telescopic rod according to the correspondence between the rotation angle of the robotic arm and the value indicated by the pressure sensor, thereby adjusting the rotation angle of the robotic arm.

[0051] In this embodiment, all communication connections can be remote communication connections implemented through wired communication or remote communication connections implemented through wireless network communication.

[0052] Example 2

[0053] This implementation provides a method for using the remote directional lifting system for live tubing operations involved in Example 1, including the following steps:

[0054] Step 1: The traveling carriage 110 uses clamp 112 to pick up the oil pipe placed on the catwalk or other oil pipe delivery equipment. The clamp 112 holds one end of the oil pipe.

[0055] Step two: The control console 160 confirms, via the image captured by the first camera, that the clamp 112 has successfully gripped the tubing. Then, the control console 160 sends a command to the winch 120, causing it to rotate and retrieve the traction cable, thereby pulling the traveling block 110 upwards and raising the tubing. During the process of the traveling block 110 raising the tubing, the end of the tubing connected to the clamp 112 first disengages from the catwalk, while the end of the tubing not connected to the clamp 112 gradually approaches the wellhead work platform until it disengages from the catwalk.

[0056] Step 3: The control console 160 determines the disconnection status of the tubing from the catwalk using images captured by the first and second cameras and the length of the traction cable retrieved by the winch 120. When the traveling block 110 leaves the rotation range of the ground manipulator 130 and the end of the tubing not connected to the clamp 112 remains on the catwalk, the control console 160 controls the ground manipulator 130 to rotate, thus supporting the tubing. Specifically, the control console 160 drives the first main boom 132 to swing around the first base 131 via the second telescopic rod 133, moving it away from the wellhead platform. This allows the first guide roller 134 to contact the tubing, ensuring the tubing moves along the first guide roller 134 during ascent. This prevents the tubing from swaying due to changes in force when disconnecting from the catwalk, and consequently, avoids a collision between the tubing and the wellhead platform.

[0057] Preferably, when the tubing is short or the wellhead working platform is high, the wellhead working platform can be additionally equipped with several guide rollers. During the tubing ascent, the control console 160 controls the ground manipulator 130 to rotate and approach the wellhead working platform. After the tubing disengages from the first guide roller 134, the guide rollers on the wellhead working platform can continue to guide the tubing, preventing the tubing from colliding with the wellhead working platform. Preferably, the guide rollers on the wellhead working platform and the first guide roller 134 of the ground manipulator 130 are on the same plane.

[0058] Step four: The control console 160 determines the lifting status of the tubing using images captured by the first and second cameras, as well as the length of the traction cable retrieved by the winch 120. When the traveling block 110 leaves the rotation range of the platform manipulator 140, and the end of the tubing not connected to the clamp 112 is still attached to the guide roller, the control console 160 controls the platform manipulator 140 to rotate, thus guiding the tubing. Specifically, the control console 160 drives the second main arm 142 to swing around the second base 141 via the third telescopic rod 143, causing the second guide roller 144 to contact the tubing. This ensures the tubing moves along the second guide roller 144 during the ascent, preventing collisions with the wellhead platform after the tubing detaches from the first guide roller 134 or the guide rollers on the wellhead platform. Preferably, before controlling the platform manipulator 140 to guide the tubing, the control console 160 first controls the rotation mechanism 146 of the platform manipulator 140 to operate, aligning the second guide roller 144 with the tubing.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A remote directional lifting system for tubing under pressure, configured on a wellhead work platform, characterized in that, include: Two guide steel cables (101), one end of which is connected to the ground and the other end is connected to the suspension point of the wellhead working platform; The trolley (110) is equipped with two guide rails (111), and a clamp (112) for gripping the oil pipe is provided in the middle of the two guide rails (111); the guide rails (111) are sleeved on the guide steel cable (101); A winch (120) is connected to the traveling car (110) via a traction cable, and the winch (120) is equipped with an encoder and a motor; A ground manipulator (130) is installed on the ground of the wellhead working platform and in the area where the guide cable (101) connects to the ground; A platform robot (140) is installed at the top edge of the wellhead working platform; A camera (150) is used to acquire images of the traveling vehicle (110) and the ground robotic arm (130); The control console (160) is communicatively connected to the winch (120), the ground manipulator (130), the platform manipulator (140), and the camera (150).

2. The remote directional lifting system for live tubing operations according to claim 1, characterized in that, The trolley (110) also includes: pulleys (113), crossbeams, swing arms (114), a first telescopic rod (115), and lugs (116); The pulleys (113) are disposed at both ends of the guide rail (111), and the guide rail (111) is sleeved on the guide steel cable (101) through the pulleys (113); The two guide rails (111) are arranged flush and connected by the crossbeam; One end of the swing arm (114) is hinged to the hanging bracket (112), and the other end is hinged to the crossbeam; One end of the first telescopic rod (115) is connected to the crossbeam, and the other end is connected to the middle of the swing arm (114); the first telescopic rod (115) drives the swing arm (114) to swing around the crossbeam by telescopic movement, and the first telescopic rod (115) is communicatively connected to the control console (160); The first telescopic rod (115) is equipped with a first sensor, and the first sensor is communicatively connected to the control console (160); the first telescopic rod (115) is a hydraulic telescopic rod, and the first sensor is a pressure sensor; The lifting lug (116) is mounted on the crossbeam, and the lifting lug (116) is connected to the winch (120) via the traction cable.

3. The remote directional lifting system for live tubing operations according to claim 1, characterized in that, The ground manipulator (130) includes a first base (131), a first main arm (132), a second telescopic rod (133), and a first guide roller (134); The first guide roller (134) is disposed at one end of the first main arm (132), and the other end of the first main arm (132) is connected to the first base (131); One end of the second telescopic rod (133) is connected to the first base (131), and the other end is connected to the middle of the first main arm (132). The second telescopic rod (133) drives the first main arm (132) to swing around the first base (131) by telescopic movement, and the second telescopic rod (133) is communicatively connected to the control console (160).

4. The remote directional lifting system for live tubing operations according to claim 3, characterized in that, The ground manipulator (130) also includes a second sensor (135); the second sensor (135) is mounted on the second telescopic rod (133), and the second sensor (135) is communicatively connected to the console (160).

5. A remote directional lifting system for live tubing operations according to claim 4, characterized in that, The second telescopic rod (133) is a hydraulic telescopic rod, and the second sensor (135) is a pressure sensor.

6. A remote directional lifting system for live tubing operations according to claim 1, characterized in that, The tabletop robot (140) includes a second base (141), a second main arm (142), a third telescopic rod (143), and a second guide roller (144); The second guide roller (144) is disposed at one end of the second main arm (142), and the other end of the second main arm (142) is connected to the second base (141); One end of the third telescopic rod (143) is connected to the second base (141), and the other end is connected to the middle of the second main arm (142). The third telescopic rod (143) drives the second main arm (142) to swing around the second base (141) by telescopic movement, and the third telescopic rod (143) is communicatively connected to the control console (160).

7. A remote directional lifting system for live tubing operations according to claim 6, characterized in that, The tabletop robot (140) also includes a third sensor (145); the third sensor (145) is disposed on the third telescopic rod (143) and is communicatively connected to the control console (160).

8. A remote directional lifting system for live tubing operations according to claim 7, characterized in that, The third telescopic rod (143) is a hydraulic telescopic rod, and the third sensor (145) is a pressure sensor.

9. A remote directional lifting system for live tubing operations according to claim 6, characterized in that, The tabletop robot (140) also includes a rotary mechanism (146); the second main arm (142) and the third telescopic rod (143) are connected to the second base (141) through the rotary mechanism (146); the rotary mechanism (146) is used to drive the second main arm (142) to rotate around the second base (141).

10. A remote directional lifting system for live tubing operations according to claim 1, characterized in that, The camera (150) includes: A first camera is mounted on the traveling car (110) in a manner that enables it to capture images of the status of the jack (112) and the oil pipe on the traveling car (110); A second camera is positioned next to the ground robot (130) in a manner that enables it to capture images of the ground robot (130) in operation.

Images