A workover rig pipe running mechanism

Abstract

The application discloses a workover rig pipe feeding mechanism and relates to the technical field of workover operation equipment, which comprises a base, an upper arm, a lower arm, a first driving element, a rotating platform and two clamping mechanisms, the upper arm is rotationally arranged on the base, the rotating platform is arranged on a suspended end of the upper arm, the lower arm is arranged on the rotating platform, and the first driving element is used for driving the upper arm to rotate in the vertical direction on the base. The application has high automation, high efficiency and high flexibility, and meets different working condition requirements. Manual operation is not needed, and the safety is high.

Description

Technical Field

[0001] This application relates to the field of well workover equipment technology, specifically a well workover rig pipe delivery mechanism. Background Technology

[0002] Workover rigs are specialized equipment used in oilfields to repair exploited oil wells. They are mainly used to lift and lower tubing and sucker rods inside the well.

[0003] In oil well workover operations, the delivery and placement of tubing is a crucial and demanding task. Existing workover rigs mostly use traditional catwalk-style tubing delivery mechanisms, which present the following problems: 1. Limited efficiency: Low degree of automation, relies on manual operation, resulting in low efficiency; 2. Poor flexibility, making it difficult to quickly adjust to adapt to different operational needs; 3. Lower safety: Manual operation increases safety risks, especially in harsh environments.

[0004] In view of this, there is an urgent need for a well workover rig pipe delivery mechanism. Summary of the Invention

[0005] To address the problems existing in the prior art, this application solves this problem using the following technical structure.

[0006] To achieve the above objectives, this application adopts the following technical solution: A workover rig pipe delivery mechanism includes: a base, an upper arm, a lower arm, a first driving member, a rotating platform, and two clamping mechanisms. The upper arm is rotatably mounted on the base, the rotating platform is mounted on the suspended end of the upper arm, and the lower arm is mounted on the rotating platform. The first driving member is used to drive the upper arm to rotate vertically on the base. Both clamping mechanisms are disposed on the lower arm and are arranged sequentially along the extension direction of the lower arm. Each clamping mechanism includes a manipulator and a second driving member, the second driving member being used to drive the manipulator to clamp the workpiece.

[0007] The lower arm is provided with a fourth driving member for driving the two clamping mechanisms to move linearly synchronously, and the direction of movement of the clamping mechanism is the extension direction of the lower arm.

[0008] The lower arm is provided with a slide rail, and the clamping mechanism also includes a mounting base. The robot arm is mounted on the mounting base, and the two mounting bases are slidably mounted on the slide rail. A synchronization plate is provided between the two mounting bases, and the two ends of the synchronization plate are respectively connected to the two mounting bases.

[0009] The clamping mechanism further includes a third driving member. The robotic arm is movably mounted on the mounting base. The third driving member is used to drive the robotic arm to move toward or away from the lower arm.

[0010] The third driving component is a third electric cylinder, which is mounted on the mounting base, and its output end is connected to the robotic arm.

[0011] The robotic arm is equipped with sensors for monitoring the gripping state of the robotic arm.

[0012] The fourth driving component is a fourth electric cylinder, which is mounted on the lower arm, and the output end of the fourth electric cylinder is connected to one of the mounting bases.

[0013] Two slide rails are provided, and the two slide rails are respectively located on both sides of the lower arm.

[0014] The first driving component is a hydraulic cylinder, which is mounted on the base and its output end is connected to the upper arm.

[0015] The upper arm includes a first segment and a second segment. The first segment is rotatably mounted on the base, and the second segment is mounted on the suspension end of the first segment. The included angle between the first segment and the second segment is between 100° and 100°. The hydraulic cylinder is located on the side facing the included angle.

[0016] The following beneficial effects can be achieved by adopting the structure described in this application: In use, the base is installed on the workover rig, the upper arm rotates on the base to adjust its pitch angle, and the lower arm rotates on the rotating platform. The positions of the two manipulators are adjusted, and the two manipulators clamp both ends of the workpiece. Then, the upper arm rotates on the base to adjust its pitch angle, and the lower arm rotates on the rotating platform to adjust the orientation of the workpiece. Once the workpiece is positioned at the designated location, the manipulators release their grip on the workpiece, completing the pipe delivery operation. Similarly, this application can also be used to complete the pipe retrieval operation. It has a high degree of automation, high efficiency, and high flexibility, meeting the needs of different working conditions. No manual operation is required, and safety is high. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the base and upper arm in this application; Figure 3 This is a schematic diagram of the lower arm structure in this application; Figure 4 This is a schematic diagram of the clamping mechanism and slide rail in this application.

[0018] In the diagram: 1. Base; 2. Upper arm; 3. Lower arm; 4. First drive component; 5. Rotating platform; 6. Clamping mechanism; 61. Robotic arm; 62. Mounting base; 63. Third electric cylinder; 7. Slide rail; 8. Fourth drive component. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, area, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0021] The following combination Figures 1-4 And further detailed description of this application.

[0022] like Figures 1-2 As shown, a workover rig pipe delivery mechanism includes: a base 1, an upper arm 2, a lower arm 3, a first drive member 4, a rotating platform 5, and two clamping mechanisms 6. The upper arm 2 is rotatably mounted on the base 1, the rotating platform 5 is mounted on the suspended end of the upper arm 2, and the lower arm 3 is mounted on the rotating platform 5. The first drive member 4 (which can be a hydraulic cylinder, rotatably mounted on the base 1, with its output end rotatably connected to the upper arm 2) is used to drive the upper arm 2 to rotate vertically on the base 1. Both clamping mechanisms 6 are mounted on the lower arm 3. The two clamping mechanisms 6 are arranged sequentially along the extension direction of the lower arm 3. The clamping mechanism 6 includes a manipulator 61 and a second driving member. The second driving member is used to drive the manipulator 61 (the manipulator 61 can be composed of multiple grippers. The second driving member drives the multiple grippers to move towards or away from each other to achieve clamping and release) to clamp the workpiece.

[0023] Based on the above structure, in use, the base 1 is installed on the workover rig, the upper arm 2 rotates on the base 1, and the pitch angle of the upper arm 2 is adjusted. The lower arm 3 rotates on the rotating platform 5. The positions of the two manipulators 61 are adjusted, and the two manipulators 61 clamp both ends of the workpiece. Then, the upper arm 2 rotates on the base 1, and the pitch angle of the upper arm 2 is adjusted. The lower arm 3 rotates on the rotating platform 5, and the orientation of the workpiece is adjusted. When the workpiece position is adjusted to the designated position, the manipulators 61 release the clamp on the workpiece, completing the pipe delivery work. Similarly, the pipe retrieval work can also be completed using this application. It has a high degree of automation, high efficiency, and high flexibility, meeting the needs of different working conditions. No manual operation is required, and the safety is high.

[0024] like Figure 3 and Figure 4 As shown, the lower arm 3 is provided with a fourth driving member 8 for driving the two clamping mechanisms 6 to move linearly in sync. The direction of movement of the clamping mechanism 6 is the extension direction of the lower arm 3. That is to say, the two robotic arms 61 are driven to move synchronously by the fourth driving member 8, thereby adjusting the height of the two robotic arms 61 to achieve the purpose of adjusting the height of the workpiece and lifting or moving the workpiece up or down.

[0025] like Figure 1 and Figure 4 As shown, a slide rail 7 is provided on the lower arm 3. The clamping mechanism 6 also includes a mounting base 62 (the fourth driving component can be a fourth electric cylinder, which is mounted on the lower arm 3, and its output end is connected to one of the mounting bases 62) and a third driving component 63. The robotic arm 61 is mounted on the mounting base 62, and the two mounting bases 62 are slidably mounted on the slide rail 7 (there are two slide rails 7, which are respectively located on both sides of the lower arm 3, and the mounting bases 62 are mounted on the two slide rails 7). A synchronization plate is provided between the two mounting bases 62, and the two ends of the synchronization plate are respectively connected to the two mounting bases 62. In this way, by setting the synchronization plate, the two mounting bases 62 are ensured to move synchronously. The fourth driving component drives one of the mounting bases 62 to move, which can make the two mounting bases 62 move synchronously. A limit rail can be set on the mounting base 62 to set the robot arm 61. The third driving component 63 is used to drive the robot arm 61 to move closer to or away from the lower arm 3. The robot arm 61 is driven closer to or away from the lower arm 3 by the third driving component 63 (the third driving component 63 can be a third electric cylinder, which is set on the mounting base 62 and the output end of the third electric cylinder is connected to the robot arm 61) to pick up the workpiece. A position sensor is set on the mounting base 62 to detect the position of the robot arm 61 for operation.

[0026] Further optimization involves equipping the robotic arm 61 with sensors (such as displacement sensors and pressure sensors) to detect whether the robotic arm 61 is in a clamping state, thereby obtaining the clamping status of the robotic arm 61 on the workpiece in real time.

[0027] like Figure 1 and Figure 2 As shown, the upper arm 2 includes a first section and a second section. The first section is rotatably mounted on the base 1, and the second section is mounted on the suspension end of the first section. The included angle between the first section and the second section is 100 degrees to 170 degrees (e.g., 100 degrees, 120 degrees, 140 degrees, 160 degrees or 170 degrees). The hydraulic cylinder is located on the side facing the included angle. That is to say, the two ends of the upper arm 2 are facing different directions, so that when the hydraulic cylinder is at its minimum stroke, the lower arm 3 can be in a lower position, which is convenient for moving the workpiece.

[0028] These are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations that can be directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.

Claims

1. A well workover rig pipe delivery mechanism, characterized in that, include: The base (1), upper arm (2), lower arm (3), first drive member (4), rotating platform (5) and two clamping mechanisms (6) are provided. The upper arm (2) is rotatably mounted on the base (1). The rotating platform (5) is mounted on the suspended end of the upper arm (2). The lower arm (3) is mounted on the rotating platform (5). The first drive member (4) is used to drive the upper arm (2) to rotate vertically on the base (1). Both clamping mechanisms (6) are disposed on the lower arm (3). The two clamping mechanisms (6) are arranged sequentially along the extension direction of the lower arm (3). Each clamping mechanism (6) includes a manipulator (61) and a second driving member. The second driving member is used to drive the manipulator (61) to clamp the workpiece.

2. The well workover rig pipe delivery mechanism according to claim 1, characterized in that: The lower arm (3) is provided with a fourth driving member (8) for driving the two clamping mechanisms (6) to move linearly in sync. The direction of movement of the clamping mechanism (6) is the extension direction of the lower arm (3).

3. The well workover rig pipe delivery mechanism according to claim 2, characterized in that: The lower arm (3) is provided with a slide rail (7), the clamping mechanism (6) also includes a mounting base (62), the robot (61) is mounted on the mounting base (62), and the two mounting bases (62) are slidably mounted on the slide rail (7); A synchronization plate is provided between the two mounting bases (62), and the two ends of the synchronization plate are respectively connected to the two mounting bases (62).

4. The well workover rig pipe delivery mechanism according to claim 3, characterized in that: The clamping mechanism (6) further includes a third drive member (63), the robotic arm (61) is movably mounted on the mounting base (62), and the third drive member (63) is used to drive the robotic arm (61) to move toward or away from the lower arm (3).

5. The well workover rig pipe delivery mechanism according to claim 4, characterized in that: The third driving component (63) is a third electric cylinder, which is mounted on the mounting base (62) and the output end of the third electric cylinder is connected to the robot arm (61).

6. The well workover rig pipe delivery mechanism according to claim 1, characterized in that: The robotic arm (61) is equipped with a sensor, which is used to monitor the gripping state of the robotic arm (61).

7. The well workover rig pipe delivery mechanism according to claim 3, characterized in that: The fourth driving component is a fourth electric cylinder, which is mounted on the lower arm (3), and the output end of the fourth electric cylinder is connected to one of the mounting seats (62).

8. The well workover rig pipe delivery mechanism according to claim 3, characterized in that: There are two slide rails (7), which are respectively located on both sides of the lower arm (3).

9. A well workover rig pipe delivery mechanism according to claim 8, characterized in that: The first driving component (4) is a hydraulic cylinder, which is mounted on the base (1) and the output end of the hydraulic cylinder is connected to the upper arm (2).

10. A well workover rig pipe delivery mechanism according to claim 9, characterized in that: The upper arm (2) includes a first segment and a second segment. The first segment is rotatably mounted on the base (1), and the second segment is mounted on the suspension end of the first segment. The included angle between the first segment and the second segment is 100 degrees to 170 degrees, and the oil cylinder is mounted on the side facing the included angle.

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