Oil pipe remote buckling system for under-pressure operation and under-pressure operation equipment

Abstract

The utility model relates to the technical field of oil and gas drilling and production equipment, in particular to an oil pipe remote buckling system for under-pressure operation and under-pressure operation equipment. When the remote buckling system for the oil pipe carries out buckling operation, the lifting device lowers the oil pipe, the mechanical arm righting the oil pipe, the oil pipe is prevented from swinging, and the horn mouth arranged on the guide device can effectively guide the lowered oil pipe, so that the lowered oil pipe can be smoothly buckled. In addition, the console is in communication connection with the lifting device, the camera, the guide device and the manipulator. The lifting device, the guide device and the manipulator can be remotely controlled by an operator through the console, and the operator does not need to be exposed on a wellhead operation platform for under-pressure operation during buckling operation, so that the safety risk of the operator is reduced.

Description

Technical Field

[0001] This utility model relates to the field of oil and gas drilling and production equipment technology, specifically to a remote tubing coupling system and live-line operation equipment for live-line operation. Background Technology

[0002] In the various construction processes of oil and gas development, numerous alignment operations are involved. This involves lowering tubing into the well and aligning it. An oil and gas well typically requires several tubings connected end-to-end. The operation of aligning and connecting two tubings is called alignment. Furthermore, to protect and maintain the original formation productivity and reduce the frequency of production enhancement measures such as acid fracturing, current technologies mostly employ pressurized operations during tubing installation and other construction processes. Pressurized operations are an advanced downhole operation method that maintains a certain pressure state inside the wellbore, allowing for the installation and removal of tubing components without well control or pressure release.

[0003] In current technology, during pressurized tubing coupling operations, the tubing is typically hoisted to a certain height on the wellhead work platform before being lowered for coupling. During this lowering process, due to the long length of the tubing and the often strong winds in the working environment, the suspended tubing is prone to swaying, potentially colliding with facilities on the wellhead work platform and causing damage to the tubing or the platform itself. Furthermore, the swaying of the tubing during lowering makes it difficult to accurately lower it into the well for coupling. To reduce swaying during lowering, current methods typically involve workers manually straightening the tubing during the process, minimizing movement, aligning it with the wellhead, and finally completing the coupling. However, this method of relying on manual tubing straightening requires workers to be exposed to the pressurized wellhead work platform for extended periods, increasing their safety risks. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies in the process of tubing alignment, such as easy swinging and collision with wellhead facilities, difficulty in alignment, and high safety risks for operators manually straightening the tubing. This invention provides a remote tubing alignment system and equipment for live-line operations.

[0005] In a first aspect, this utility model provides a remote tubing coupling system for pressurized operations. The remote tubing coupling system is configured on a wellhead work platform. The system includes: a lifting device, a guiding device, a camera, a robotic arm, and a control console. The lifting device is used to suspend the tubing and move it up or down. The guiding device includes a mounting plate. A flared opening is provided in the middle of the mounting plate. First telescopic rods are respectively provided at both ends of the mounting plate. The telescopic ends of the first telescopic rods are connected to the flared opening. The first telescopic rods are communicatively connected to the control console. The guiding device is located in the middle of the top layer of the wellhead work platform, and guides the suspended tubing through the flared opening during coupling. The camera is used to acquire images of the flared opening. The robotic arm is located at the edge of the top layer of the wellhead work platform and is used to support the tubing during coupling. The control console is communicatively connected to the lifting device, the camera, and the robotic arm.

[0006] According to a preferred embodiment, the lifting device includes a traveling block and a winch. The traveling block is equipped with a clamp for holding the oil pipe. The winch is connected to the traveling block via a steel cable, and the winch raises or lowers the traveling block by winding or unwinding the steel cable.

[0007] According to a preferred embodiment, the winch is mounted on a support rod of the wellhead working platform. The winch is equipped with an encoder and a motor, and the encoder and the motor are respectively communicatively connected to the control console.

[0008] According to a preferred embodiment, the traveling trolley further includes: a crossbeam, a swing arm, a second telescopic rod, and a lifting lug. 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 second telescopic rod is hinged to the crossbeam, and the other end is hinged to the middle of the swing arm. The second telescopic rod is communicatively connected to the control console. The second telescopic rod drives the swing arm to swing around the crossbeam by extending and retracting. The lifting lug is disposed on the crossbeam. The lifting lug is connected to the winch via the steel cable.

[0009] According to a preferred embodiment, the trolley further includes: two guide rails and pulleys. The two guide rails are arranged parallel to each other on both sides of the swing arm and are connected by the crossbeam. The pulleys are located at both ends of the guide rails; the guide rails are sleeved on guide cables via the pulleys. One end of the guide cable is connected to the ground, and the other end is connected to the apex of the support rod.

[0010] According to a preferred embodiment, the robotic arm includes: a base, a main arm, a third telescopic rod, and guide rollers. The guide rollers are disposed at one end of the main arm, and the other end of the main arm is connected to the base. One end of the third telescopic rod is connected to the base, and the other end is connected to the middle of the main arm. The third telescopic rod can drive the main arm to swing around the base by extending and retracting, and the third telescopic rod is communicatively connected to the control console.

[0011] According to a preferred embodiment, the first telescopic rod is equipped with a first sensor. The second telescopic rod is equipped with a second sensor. The third telescopic rod is equipped with a third sensor. The first, second, and third telescopic rods are hydraulic telescopic rods. The first, second, and third sensors are pressure sensors.

[0012] According to a preferred embodiment, the robotic arm further includes a rotary mechanism. The main arm and the second telescopic rod are connected to the base via the rotary mechanism. The rotary mechanism drives the main arm to rotate around the base.

[0013] According to a preferred embodiment, the console is equipped with a display screen, a data processor, and several input modules. The data processor is communicatively connected to the display screen, the input modules, the lifting device, the camera, and the robotic arm.

[0014] On the other hand, this utility model also provides a live-line working device, including: a powered catwalk, a wellhead working platform, and a ground robotic arm. The live-line working device also includes the remote tubing coupling system for live-line working provided by this utility model. The powered catwalk is located on one side of the wellhead working platform. The ground robotic arm is located between the powered catwalk and the wellhead working platform. The robotic arm is located at the top edge of the wellhead working platform. The lifting device is used to transport tubing between the powered catwalk and the wellhead working platform. The guiding device is installed in the middle of the top layer of the wellhead working platform.

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

[0016] The remote tubing coupling system provided by this utility model lowers the tubing during coupling operations, while a robotic arm straightens the tubing to prevent it from swaying. The flared end on the guide device effectively guides the lowered tubing, ensuring a smooth coupling. Furthermore, because the control console is communicatively connected to the lifting device, camera, guide device, and robotic arm, operators can remotely control these components. During coupling operations, operators do not need to be exposed on the pressurized wellhead platform, reducing safety risks. Attached image description:

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

[0018] Figure 2 This is a schematic diagram of a guide device 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 robotic arm of this utility model;

[0021] Figure 5 This is a schematic diagram of a live-line working device according to a preferred embodiment of the present invention.

[0022] Marked in the image:

[0023] Lifting device-100, guide cable-101, support rod-102, traveling trolley-110, guide rail-112, pulley-113, swing arm-114, second telescopic rod-115, lifting lug-116, winch-120, guide device-200, mounting plate-210, bell mouth-220, first telescopic rod-230, camera-300, robotic arm-400, base-410, main arm-420, third telescopic rod-430, guide roller-440, third sensor-450, slewing mechanism-460, control console-500, display screen-510, data processor-520, input module-530, power catwalk-600, wellhead work platform-700, ground robotic arm-800. Detailed Implementation

[0024] 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 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Example 1

[0031] This utility model provides a remote tubing coupling system for live operations. The remote tubing coupling system is configured on the wellhead work platform 700. See also... Figure 1 The remote tubing coupling system includes: a lifting device 100, a guiding device 200, a camera 300, a robotic arm 400, and a control console 500. The control console 500 is communicatively connected to the lifting device 100, the camera 300, and the robotic arm 400. The lifting device 100 is used to suspend the tubing and move it up or down. A first telescopic rod 230 is communicatively connected to the control console 500. Preferably, the first telescopic rod 230 is equipped with a first sensor, and the first sensor is communicatively connected to the control console 500. The guiding device 200 is located at the center of the top layer of the wellhead working platform 700, and guides the suspended tubing through a flared opening 220 during the coupling process. The camera 300 is used to acquire images of the flared opening 220. The robotic arm 400 is located at the edge of the top layer of the wellhead working platform 700 and is used to support the tubing during the coupling process.

[0032] See Figure 1 The control console 500 is equipped with a display screen 510, a data processor 520, and several input modules 530. The data processor 530 is communicatively connected to the display screen 510, the input modules 530, the lifting device 100, the camera 300, and the robotic arm 400.

[0033] See Figure 2 The guide device 200 includes: a mounting plate 210, a flared opening 220, a first telescopic rod 230, and a slider 240. The mounting plate 210 has a first telescopic rod 230 at each end. The telescopic end of the first telescopic rod 230 is connected to the flared opening 220. The flared opening 220 is located in the middle of the mounting plate 210. The telescopic end of the first telescopic rod 230 is connected to the flared opening 220 via the slider 240.

[0034] The first telescopic rods 230, located at both ends of the mounting plate 210, can extend and retract to move the slider 240 on the mounting plate 210, thereby adjusting the position of the horn opening 220 on the mounting plate 210. Preferably, the camera 300 is located at the upper end of the horn opening or at other positions. The image captured by the camera 300 can confirm the relative position of the oil pipe and the horn opening 220, and confirm whether the oil pipe has entered the horn opening 220.

[0035] The flared opening 220 is hollow and penetrating, with its bottom screwed to the slider 240. Preferably, the mounting plate 210, without the first telescopic rod 230, has slide rails on both sides. The slider 240 moves horizontally along the slide rails. Preferably, the mounting plate 210 has a hollow center, allowing the lifting device 100 to suspend and lower the oil pipe, which passes through the flared opening 220 and connects to the oil pipe in the well. The size of the hollow area in the center of the mounting plate 210 satisfies the condition that the bottom opening of the flared opening 220 is not obstructed when the slider 240 is at its limit stroke.

[0036] In this embodiment, the remote tubing coupling system lowers the tubing during coupling operations, while the robotic arm 400 straightens it to prevent swaying. The flared end 220 on the guide device 200 effectively guides the lowered tubing, ensuring successful coupling. Furthermore, since the control console 500 is communicatively connected to the lifting device 100, camera 300, guide device 200, and robotic arm 400, operators can remotely control these devices. During coupling operations, operators can adjust the position of the flared end 220 by extending the first telescopic rod 230 on the guide device 200 and confirm whether the tubing has entered the flared end 220 using the image from the camera 300, thus confirming whether the flared end 220 effectively guides the lowered tubing. This eliminates the need for operators to be exposed on the pressurized wellhead platform, reducing safety risks.

[0037] Example 2

[0038] This embodiment is a further improvement on Embodiment 1; repeated content will not be described again. See also... Figure 1 In this embodiment, the lifting device 100 includes a traveling trolley 110 and a winch 120. See also Figure 2 The traveling block 110 is equipped with a clamp 111 for holding the oil pipe. A winch 120 is connected to the traveling block 110 via a steel cable, and the winch 120 raises or lowers the traveling block 110 by winding and unwinding the cable. The winch 120 is equipped with an encoder and a motor, both of which are communicatively connected to the control console 500. The encoder, mounted on the motor, is used to monitor information such as current, speed, and shaft position in real time. The control console 500 can determine the motor's status based on the parameters monitored by the encoder and then adjust it accordingly.

[0039] See Figure 3 and Figure 5Preferably, the trolley 110 further includes: two guide rails 112, pulleys 113, a crossbeam, a swing arm 114, a second telescopic rod 115, and a lifting lug 116. One end of the swing arm 114 is hinged to the lifting bracket 112, and the other end is hinged to the crossbeam. One end of the second telescopic rod 115 is hinged to the crossbeam, and the other end is hinged to the middle of the swing arm 114. The second telescopic rod 115 is also communicatively connected to the control console 500. Preferably, the second telescopic rod 115 is equipped with a second sensor, and the second sensor is communicatively connected to the control console 500. The second telescopic rod 115 drives the swing arm 114 to swing around the crossbeam by telescoping. The lifting lug 116 is mounted on the crossbeam. The lifting lug 116 is connected to the winch 120 via a steel cable. The two guide rails 112 are arranged parallel to each other on both sides of the swing arm 114 and are connected by the crossbeam. Pulleys 113 are located at both ends of the guide rails 111; the guide rails 111 are fitted onto the guide steel cable 101 via the pulleys 113. One end of the guide cable 101 is connected to the ground, and the other end is connected to the top of the support rod 102.

[0040] See Figure 4 and Figure 5 Preferably, the robotic arm 400 includes: a base 410, a main arm 420, a third telescopic rod 430, a guide roller 440, a third sensor 450, and a rotation mechanism 460. The guide roller 440 is disposed at one end of the main arm 420, and the other end of the main arm 420 is connected to the base 410. One end of the third telescopic rod 430 is connected to the base 410, and the other end is connected to the middle of the main arm 420; the third telescopic rod 430 can drive the main arm 420 to swing around the base 410 by telescoping, and the third telescopic rod 430 is communicatively connected to the control console 500. The third sensor 450 is disposed on the third telescopic rod 430 and is communicatively connected to the control console 500. The main arm 420 and the second telescopic rod 430 are connected to the base 410 via the rotation mechanism 460. The rotation mechanism 460 is used to drive the main arm 420 to rotate around the base 410.

[0041] Preferably, the slewing mechanism 460 is signal-connected to the control console 500. The control console 500 can control the power output of the slewing mechanism 460 so that the main boom 420 can rotate around the base 410 at a specific angle in a specified plane.

[0042] Preferably, the slewing mechanism 460 can be a hydraulic slewing drive device composed of a hydraulic motor, a reducer, and a slewing bearing. Of course, the slewing mechanism 460 can also be an electric slewing drive device composed of a servo motor, a planetary reducer, and a slewing bearing. That is, as long as it can reliably transmit the driving force or torque to the main boom 420, causing it to perform planar rotational motion around the base 410 within a specified angle, it is acceptable.

[0043] Preferably, the first telescopic rod 230, the second telescopic rod 115, and the third telescopic rod 430 are hydraulic telescopic rods; the first sensor, the second sensor, and the third sensor 450 are pressure sensors.

[0044] Example 3

[0045] This embodiment provides a method for using a remote tubing coupling system for live operations, and the remote tubing coupling system for live operations involved in this embodiment is the same as the remote tubing coupling system for live operations provided in Embodiments 1 and 2.

[0046] Preferably, the method of use includes the following steps:

[0047] Step 1: The clamp 112 holds one end of the oil pipe and suspends the oil pipe; the control console 500 lowers the traveling block 110 by controlling the rotation of the winch 120, and the traveling block 110 drives the oil pipe down.

[0048] Step 2: During the descent of the oil pipe, the control console 500 adjusts the rotation angle of the manipulator 400 by controlling the third telescopic rod 430 and the hydraulic motor, so that the guide roller 440 contacts the oil pipe, providing a force point for the oil pipe and preventing the oil pipe from shaking during the descent.

[0049] Step 3: Confirm that the oil pipe has descended to the vicinity of the horn opening 220 by using the image captured by the camera 300. The control console 500 controls the first telescopic rod 230 to align the horn opening 220 with the descending oil pipe, ensuring that the entire horn opening 220 can effectively guide the lowered oil pipe as it continues to descend.

[0050] Example 4

[0051] This embodiment provides a live-line working device. See also... Figure 5 The live-line working equipment includes: a powered catwalk 600, a wellhead working platform 700, and a ground robotic arm 800, as well as a remote tubing coupling system for live-line working. The remote tubing coupling system for live-line working involved in this embodiment is the same as the remote tubing coupling system for live-line working provided in Embodiments 1 and 2.

[0052] A powered catwalk 600 is positioned on one side of the wellhead work platform 700. A surface robotic arm 800 is positioned between the powered catwalk 600 and the wellhead work platform 700. A robotic arm 400 is positioned at the top edge of the wellhead work platform 700. A lifting device 100 is used to transport tubing between the powered catwalk 600 and the wellhead work platform 700. A guiding device 200 is installed at the center of the top layer of the wellhead work platform 700. Preferably, a winch 120 is mounted on the support rod 102 of the wellhead work platform 700.

[0053] 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 tubing reconnection system for live operations, configured on a wellhead work platform (700), characterized in that, include A lifting device (100) is used to suspend the oil pipe and drive the oil pipe to rise or fall. The guide device (200) includes a mounting plate (210); a flared opening (220) is provided in the middle of the mounting plate (210); a first telescopic rod (230) is provided at both ends of the mounting plate (210); the telescopic end of the first telescopic rod (230) is connected to the flared opening (220); the first telescopic rod (230) is communicatively connected to the control console (500); The guiding device (200) is located in the middle of the top layer of the wellhead working platform (700), and the guiding device (200) guides the suspended tubing through the bell mouth (220) during the coupling process; A camera (300) is used to acquire an image of the horn opening (220); A robotic arm (400) is located at the top edge of the wellhead work platform (700) for supporting the tubing during the coupling process; The control console (500) is communicatively connected to the lifting device (100), the camera (300), and the robotic arm (400), respectively; The lifting device (100) includes a traveling trolley (110) and a winch (120); the traveling trolley (110) is equipped with a clamp (111) for holding the oil pipe; the winch (120) is connected to the traveling trolley (110) by a steel cable, and the winch (120) drives the traveling trolley (110) to rise or fall by winding and unwinding the steel cable; The robotic arm (400) includes: a base (410), a main arm (420), a third telescopic rod (430), a guide roller (440), and a rotary mechanism (460). The guide roller (440) is disposed at one end of the main arm (420), and the other end of the main arm (420) is connected to the base (410); One end of the third telescopic rod (430) is connected to the base (410), and the other end is connected to the middle of the main arm (420); the third telescopic rod (430) can drive the main arm (420) to swing around the base (410) by telescopic movement, and the third telescopic rod (430) is communicatively connected to the control console (500); The third telescopic rod (430) is equipped with a third sensor (450), and the third sensor (450) is communicatively connected to the control console (500); The main boom (420) and the third telescopic rod (430) are connected to the base (410) through the rotary mechanism (460); the rotary mechanism (460) is used to drive the main boom (420) to rotate around the base (410); The rotary mechanism (460) is signal-connected to the control console (500).

2. The remote coupling system for live tubing operation according to claim 1, characterized in that, The winch (120) is mounted on the support rod (102) of the wellhead working platform (700); the winch (120) is equipped with an encoder and a motor, and the encoder and the motor are respectively connected in communication with the control console (500).

3. A remote coupling system for live tubing operation according to claim 2, characterized in that, The trolley (110) also includes: a crossbeam, a swing arm (114), a second telescopic rod (115), and a lifting lug (116). One end of the swing arm (114) is hinged to the hanging clamp (111), and the other end is hinged to the crossbeam; One end of the second telescopic rod (115) is hinged to the crossbeam, and the other end is hinged to the middle of the swing arm (114); and the second telescopic rod (115) is communicatively connected to the control console (500); the second telescopic rod (115) drives the swing arm (114) to swing around the crossbeam by telescopic movement; The lifting lug (116) is mounted on the crossbeam; the lifting lug (116) is connected to the winch (120) via the steel cable.

4. A remote coupling system for live tubing operation according to claim 3, characterized in that, The trolley (110) also includes: two guide rails (112) and pulleys (113); The two guide rails (112) are arranged parallel to each other on both sides of the swing arm (114) and are connected by the crossbeam; The pulleys (113) are disposed at both ends of the guide rail (112); the guide rail (112) is sleeved on the guide steel cable (101) through the pulleys (113); One end of the guide cable (101) is connected to the ground, and the other end is connected to the top of the support rod (102).

5. A remote coupling system for live tubing operation according to claim 4, characterized in that, The first telescopic rod (230) is equipped with a first sensor; the second telescopic rod (115) is equipped with a second sensor; The first telescopic rod (230), the second telescopic rod (115), and the third telescopic rod (430) are hydraulic telescopic rods; the first sensor, the second sensor, and the third sensor (450) are pressure sensors.

6. A remote coupling system for live tubing operation according to claim 1, characterized in that, The console (500) is equipped with a display screen (510), a data processor (520) and several input modules (530); the data processor (520) is communicatively connected to the display screen (510), the input modules (530), the lifting device (100), the camera (300) and the robotic arm (400).

7. A live-line working device, comprising: The power catwalk (600), wellhead work platform (700), and ground robotic arm (800) are characterized in that they further include a remote tubing coupling system for pressurized operations as described in any one of claims 1-6; The power cat walkway (600) is located on one side of the wellhead work platform (700); The ground robotic arm (800) is positioned between the power cat walkway (600) and the wellhead work platform (700); The robotic arm (400) is located at the top edge of the wellhead working platform (700); The lifting device (100) is used to transport tubing between the power catwalk (600) and the wellhead work platform (700); The guiding device (200) is installed in the middle of the top layer of the wellhead working platform (700).

Images