Well site pipe string moving device

Abstract

The utility model relates to well site pipe column removal and transportation device. Well site pipe column removal and transportation device includes: transportation base, between well site pipe column storage area and well hole construction area along the first direction extension, travel mechanism can along transportation base between well site pipe column storage area and well hole construction area remove, and grab mechanism, install on travel mechanism, can grab pipe column in one of well site pipe column storage area and well hole construction area, and release pipe column in another of well site pipe column storage area and well hole construction area. Transportation base includes at least two track assembly between well site pipe column storage area and well hole construction area extension. Travel mechanism includes initiative travel assembly, passive travel assembly and connecting assembly. Grab mechanism includes grab movement assembly and grab manipulator.

Description

Technical Field

[0001] This utility model relates to the field of oil well site construction technology, and in particular to a well site tubing transport device. Background Technology

[0002] In oil drilling, hundreds or even thousands of drill pipes, casings, drill collars, and other tubing tools typically require frequent surface movement, transport to and from the drilling rig, and placement on the rig surface. This results in tubing handling operations consuming a significant amount of time. For example, tubing handling operations on conventional land drilling rigs typically account for more than 30% of the total drilling time. Furthermore, traditional tubing handling methods mostly rely on 5-6 on-site drilling workers directly handling the tubing through primitive manual methods such as pushing, pulling, dragging, and supporting. This consumes a large amount of manpower and poses safety hazards. Especially during continuous operations, the repetitive nature of these operations reduces worker concentration, easily leading to fatigue and potentially fatal accidents.

[0003] There is a consensus in this field that string handling is the most labor-intensive, physically demanding, and dangerous operation in oil drilling, and it is also a process that is highly prone to personal injury and drilling accidents.

[0004] Currently, several automated devices have been proposed to address this issue, such as powered catwalks, drilling rig robots, and automated pipe-laying tools for second-level platforms. Powered catwalks can be used to deliver tubing to the drilling surface. Drilling rig robots can be used to replace manual pushing of the tubing on the drilling surface. Automated pipe-laying tools for second-level platforms can be used to automatically release and move tubing on the drilling surface. There are also devices available for moving tubing from the well site's pipe rack to the powered catwalk.

[0005] For example, CN203822203U describes an automated surface tubing handling device for mechanized well workover operations. This device uses a cantilever lifting tool and a tubing bridge to move the tubing. Specifically, the device uses the cantilever lifting tool to tilt the frame supporting the tubing, allowing the tubing to roll to the desired position under gravity.

[0006] However, this device can cause the tubing to collide with each other. On the one hand, this can generate a lot of noise, which is detrimental to the control of the site environment. On the other hand, it may also damage the tubing. Therefore, this device can only be used in well workover operations with small tubing diameters and low tubing quality requirements, and is not suitable for drilling operations with large volume, large diameters, and high quality requirements. Utility Model Content

[0007] In view of the above-mentioned problems in the existing technology, the present invention provides a well site tubing transfer device that can be used to solve the above-mentioned technical problems.

[0008] According to this utility model, a well site tubing transfer device is proposed, comprising: a transport base extending along a first direction between a well site tubing storage area and a wellbore construction area; a traveling mechanism capable of moving along the transport base between the well site tubing storage area and the wellbore construction area; and a gripping mechanism installed on the traveling mechanism, capable of gripping the tubing at one location in the well site tubing storage area and the wellbore construction area, and releasing the tubing at the other location in the well site tubing storage area and the wellbore construction area. The transport base includes at least two track assemblies extending between a well site tubing storage area and a wellbore construction area. Each track assembly includes: a base plate extending between the well site tubing storage area and the wellbore construction area; one or more support frames mounted on the base plate extending between the well site tubing storage area and the wellbore construction area; and guide rails mounted on the upper ends of the one or more support frames, the guide rails being configured to engage with a traveling mechanism. The traveling mechanism includes: an active traveling assembly engaging with one of the at least two track assemblies of the transport base to drive the traveling mechanism to move along the transport base; and a passive traveling assembly engaging with the remaining track assembly of the at least two track assemblies of the transport base to follow the active traveling assembly along the transport base. A connecting assembly includes at least one first support rod mounted on an active traveling assembly, at least one second support rod mounted on a passive traveling assembly, and at least one connecting beam extending along a second direction perpendicular to the first direction. One end of the connecting beam is fixedly connected to the upper end of the first support rod, and the other end of the connecting beam is fixedly connected to the upper end of the second support rod. The connecting beam of the traveling mechanism is configured as a gripping track, or a gripping track is installed, with one or more track segments along the gripping track. A corresponding gripping mechanism is provided on each track segment. The gripping mechanism includes: a gripping moving assembly configured to move on the corresponding track segment; and a gripping manipulator mounted on the lower part of the gripping moving assembly and configured to grip a tubular column.

[0009] This device moves the delivery tubing by gripping it. On one hand, this eliminates the need for workers to directly contact and manipulate the tubing, saving manpower and ensuring worker safety. On the other hand, it also prevents damage and noise from collisions to the tubing.

[0010] In a preferred embodiment, the track assembly includes a buffer and a position sensor mounted on the base plate, the buffer being positioned at an end of the track, the position sensor being positioned at an end of the track, and / or the position sensor being arranged along the guide rail.

[0011] In a preferred embodiment, when multiple track assemblies are provided, the multiple track assemblies are arranged relatively spaced apart, and one or more connecting positioning rods are provided between adjacent track assemblies, the one or more connecting positioning rods being configured to position adjacent track assemblies relative to each other; wherein, the connecting positioning rods extend perpendicular to the direction in which the track assemblies extend.

[0012] In a preferred embodiment, the at least one first support rod and the at least one second support rod are configured as a piston lifting hydraulic cylinder capable of synchronously raising and lowering.

[0013] In a preferred embodiment, the active travel assembly includes: an active support plate; an active drive motor mounted on the active support plate; an active reducer mounted on the active support plate, the input shaft of the active reducer being connected to the output shaft of the active drive motor; and an active travel wheel connected to the output shaft of the active reducer, such that the active drive motor can drive the active travel wheel to move along a first direction on the guide rail of the track assembly.

[0014] In a preferred embodiment, a buffer baffle is provided on the active support plate, the buffer baffle being configured to cooperate with a buffer on the track assembly.

[0015] In a preferred embodiment, two first support rods are spaced apart on the active support plate, and the active drive motor, active reducer and active walking wheel are installed between the two first support rods.

[0016] In a preferred embodiment, the passive travel assembly includes: a passive support plate; and a passive travel wheel, the passive travel wheel being rotatably connected to the passive support plate via a rotating shaft assembly; wherein a buffer baffle is provided on the passive support plate, the buffer baffle being configured to cooperate with a buffer on the track assembly; wherein two second support rods are spaced apart on the passive support plate, and the passive travel wheel and the corresponding rotating shaft assembly are installed between the two second support rods.

[0017] In a preferred embodiment, the grasping and moving component includes: a moving base plate; a moving drive motor mounted on the moving base plate; a moving reducer mounted on the moving base plate, the input shaft of the moving reducer being connected to the output shaft of the moving drive motor; and moving wheels connected to the output shaft of the moving reducer, enabling the moving drive motor to drive the moving wheels to move along a second direction on the track segment; wherein, buffers and position sensors are provided at the ends of each track segment, and buffer baffles are provided on the moving base plate, the buffer baffles being configured to cooperate with the buffers on the track segment.

[0018] In a preferred embodiment, the gripping manipulator is hingedly mounted below the movable base plate of the gripping moving assembly; the gripping manipulator includes: a first claw; a second claw arranged opposite to the first claw, the second claw cooperating with the first claw to grip a tubular column; a main telescopic cylinder extending longitudinally and connected between the movable base plate and the first and second claws, the main telescopic cylinder being configured to adjust the height of the first and second claws; a first telescopic cylinder section mounted outside the main telescopic cylinder, the upper end of the first telescopic cylinder being connected to the outer shell of the main telescopic cylinder, the lower end of the first telescopic cylinder being connected to the hinge portion of the first claw via a connecting rod, the extension and retraction of the first telescopic cylinder causing the first claw to tighten or open; and a second telescopic cylinder section mounted outside the main telescopic cylinder, the upper end of the second telescopic cylinder being connected to the outer shell of the main telescopic cylinder, the lower end of the second telescopic cylinder being connected to the hinge portion of the second claw via a connecting rod, the extension and retraction of the second telescopic cylinder causing the second claw to tighten or open. Attached Figure Description

[0019] The present invention will be described in more detail below with reference to the accompanying drawings. Wherein: Figure 1 The image shows a front view of one embodiment of the well site tubing transport device according to the present invention; Figure 2 Showing Figure 1 A top view of the well site tubing transport device; Figure 3 Showing Figure 1 Side view of the well site tubing transport device; Figure 4 The image shows a front view of an embodiment of the transport base in the well site tubing transport device according to the present invention; Figure 5 Showing Figure 4 A top view of the transport base in the middle; Figure 6 This image shows a front view of an embodiment of the active travel component in the travel mechanism of a well site tubing transport device according to the present invention; Figure 7 Showing Figure 6 A top view of the active movement component in the image; Figure 8 Showing Figure 6 A side view of the active movement component in the video; Figure 9 This image shows a front view of an embodiment of the passive traveling component in the traveling mechanism of a well site tubing transport device according to the present invention; Figure 10 Showing Figure 9 Top view of the passive movement component in the image; Figure 11 Showing Figure 9 A side view of the passive movement component in the video; Figure 12 This image shows a front view of an embodiment of a connecting assembly in the traveling mechanism of a well site tubing transport device according to the present invention; Figure 13 Showing Figure 12 A top view of a portion of the connecting components; Figure 14 The image shows a front view of an embodiment of the gripping manipulator in the traveling mechanism of the well site tubing transfer device according to the present invention; Figure 15 Showing Figure 14 A side view of the gripping robotic arm in the image; Figure 16 This image shows a front view of an embodiment of the gripping and moving component in the traveling mechanism of a well site tubing transport device according to the present invention; Figure 17 Showing Figure 16 A top view of the grabbing and moving component; Figure 18 Showing Figure 16 The side view of the grabbing and moving component; Figure 19 The image shows a front view of an embodiment of a buffer in a well site tubing transport device according to the present invention; Figure 20 Showing Figure 19 Top view of the buffer in the middle; Figure 21 Showing Figure 19 A side view of the buffer in the middle; Figure 22The image shows a front view of an embodiment of the traveling wheels in the well site tubing transport device according to the present invention; Figure 23 Showing Figure 22 Side view of the walking wheels; Figure 24 The image shows a front view of an embodiment of the rotating shaft assembly in the well site tubing transport device according to the present invention; Figure 25 Showing Figure 24 Top view of the rotating shaft assembly in the middle; Figure 26 This diagram shows an embodiment of the well site tubing transport device according to the present invention in a usage scenario.

[0020] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] In this paper, unless there is an obvious contradiction, “longitudinal” refers to the direction extending perpendicular to the ground, “first direction” refers to the direction extending in a horizontal plane perpendicular to the longitudinal direction, and “second direction” refers to the direction extending in a horizontal plane perpendicular to the longitudinal direction, with the first direction and the second direction being perpendicular to each other.

[0023] Figures 1 to 3 A schematic structural diagram of a well site tubing transport device 100 according to an embodiment of the present invention is shown.

[0024] The well site tubing transport device 100 generally includes a transport base 1, a traveling mechanism, and a gripping mechanism. The transport base 1 extends along a first direction between the well site tubing storage area and the wellbore construction area. The traveling mechanism can move along the transport base 1 between the well site tubing storage area and the wellbore construction area. The gripping mechanism is mounted on the traveling mechanism and can grip the tubing at one location in the well site tubing storage area and the wellbore construction area, and release the tubing at the other location in the well site tubing storage area and the wellbore construction area.

[0025] The transport base 1, also known as the ground guide rail assembly, is generally formed as a rectangular rigid structure. For example... Figure 4 and Figure 5 As shown, the transport base 1 includes two track assemblies extending along a first direction. More track assemblies may be provided as needed. Adjacent track assemblies are spaced apart relative to each other in a second direction.

[0026] by Figure 5Taking the track assembly on the left as an example, the track assembly may include a base plate 102, two (or fewer or more) support frames 104 and 108 mounted on the base plate 102, and guide rails 105 and 109 mounted on each support frame 104 and 108.

[0027] The base plate 102 can be set on the ground to support the entire well site tubing transport device 100.

[0028] The support frames 104 and 108 can be I-beams and can be connected to the base plate 102 by welding or any other suitable means.

[0029] The base plate 102, support frames 104 and 108, and guide rails 105 and 109 all extend along a first direction to extend between the well site tubing storage area and the wellbore construction area. Adjacent support frames 104 and 108 are spaced apart from each other in a second direction. Connecting rods 103, 126, and 127 can extend along the second direction and connect to the support frames 104 and 108 to achieve positioning support. Connecting rods 103, 126, and 127 can be spaced apart from each other in the first direction, for example, spaced at equal intervals. Connecting rods 103, 126, and 127 can be steel pipes. Connecting rods 103, 126, and 127 can be connected to the support frames 104 and 108 by welding or any other suitable method.

[0030] Corresponding buffers 107 and 132 and position sensors 106 and 131 may also be installed at both ends of the base plate 102 along the first direction. Buffer 107 and position sensor 106 may be combined together and detachably connected to the base 102 by bolt 101, or may be connected to the base 102 by other means. Buffer 132 and position sensor 131 may be combined together and detachably connected to the base 102 by bolt 130, or may be connected to the base 102 by other means.

[0031] by Figure 5 Taking the track assembly on the right side as an example, the track assembly may include a base plate 123, two (or fewer or more) support frames 117 and 121 mounted on the base plate 123, and guide rails 116 and 120 mounted on each support frame 117 and 121.

[0032] The base plate 123 can be set on the ground to support the entire well site tubing transport device 100.

[0033] The support frames 117 and 121 can be I-beams and can be connected to the base plate 123 by welding or any other suitable means.

[0034] The base plate 123, support frames 117 and 121, and guide rails 116 and 120 all extend along a first direction to extend between the well site tubing storage area and the wellbore construction area. Adjacent support frames 117 and 121 are spaced apart from each other in a second direction. Connecting rods 122, 128, and 129 can extend along the second direction and connect to the support frames 117 and 121 to achieve positioning support. Connecting rods 122, 128, and 129 can be spaced apart from each other in the first direction, for example, spaced at equal intervals. Connecting rods 122, 128, and 129 can be steel pipes. Connecting rods 122, 128, and 129 can be connected to the support frames 117 and 121 by welding or any other suitable method.

[0035] Corresponding buffers 119 and 135 and position sensors 118 and 134 may also be installed at both ends of the base plate 123 along the first direction. Buffer 119 and position sensor 118 may be combined together and detachably connected to the base 123 by bolt 124, or may be connected to the base 123 by other means. Buffer 135 and position sensor 134 may be combined together and detachably connected to the base 123 by bolt 133, or may be connected to the base 123 by other means.

[0036] Adjacent track assemblies are spaced apart from each other in the second direction and can be positioned and connected by a connecting positioning rod 110 extending in the second direction. The length of the connecting positioning rod 110 is greater than the length of the tubing string 14 to be moved to avoid collision and interference between the tubing string 14 and the well site tubing string transfer device 100 during the transfer process.

[0037] Connecting seats 113 and 115 can be installed on adjacent base plates 102 and 123, respectively. Connecting seats 113 and 115 extend longitudinally and perpendicular to the base plates. Alternatively or additionally, connecting seats 113 and 115 can be connected to support frames 108 and 117, for example, by welding.

[0038] The two ends of the connecting positioning rod 110 are connected to the connecting seats 113 and 115 via pins 112 and 114 and cotter pins 111 and 125, respectively. Pins 112 and 114 pass through both ends of the connecting positioning rod 110 and through the mounting holes of the connecting seats 113 and 115, respectively. Cotter pins 111 and 125 pass through the ends of pins 112 and 114 to hold pins 112 and 114 within the ends of the connecting positioning rod 110 and the mounting holes of the connecting seats 113 and 115.

[0039] Multiple connecting positioning rods 110 can be provided, and the multiple connecting positioning rods are arranged at intervals from each other in the first direction, preferably at equal intervals. Figure 5 In the embodiment shown, two connecting positioning rods 110 are provided.

[0040] Position sensors 106, 118, 131, and 134 can be used to acquire position signals of the traveling mechanism in real time and transmit them to the controller (e.g., a hydraulic integrated controller) 11. Position sensors 106 and 131 can be used to monitor the position of the active traveling component of the traveling mechanism. Position sensors 118 and 134 can be used to monitor the position of the passive traveling component of the traveling mechanism, and the measured signals can be used as backup protection control signals.

[0041] As an alternative or addition, multiple position sensors may also be arranged along the support frame and guide rail in the first direction.

[0042] The buffers 107, 119, 132, and 135 can cooperate with the corresponding buffer baffles 201, 212, 301, and 312 on the traveling mechanism to perform damping braking, buffering, and limiting functions, thereby achieving inertial buffer protection.

[0043] The traveling mechanism includes an active traveling component 2, a passive traveling component 10, and a connecting component 4.

[0044] The active travel component engages with one of the track components of the transport base 1 to drive the travel mechanism to move along the transport base 1.

[0045] like Figures 6 to 8 As shown, the active travel assembly 2 includes an active support plate 218 extending along a first direction, an active drive motor (e.g., a variable frequency speed control motor) 216 mounted on the active support plate 218, and an active reducer 219 mounted on the active support plate 218. The active reducer 219 is adjacent to the active drive motor 216 in the first direction. The output shaft of the active drive motor 216 is directly or indirectly connected to the input shaft of the active reducer 219.

[0046] The active reducer 219 has two output shafts arranged on both sides along the second direction. Active travel wheels 208 and 214 are connected (e.g., by bolts) to these two output shafts. Thus, the output shafts of the active reducer 219 can support the active travel wheels 208 and 214. The active drive motor 216 and the active reducer 219 can drive the active travel wheels 208 and 214 to roll forward or backward along the guide rails 105 and 109 in the first direction. This enables the active travel assembly 2 to move forward and backward.

[0047] Additionally, a rotating shaft assembly 207 may be provided on the active support plate 218. The rotating shaft assembly 207 may be adjacent to the active drive motor 216 and arranged on its side facing away from the active reducer 219. Two output shafts extending along a second direction from the rotating shaft assembly 207 may be connected (e.g., via bolts) to two auxiliary travel wheels 206, 217. The rotating shaft assembly 207 allows the auxiliary travel wheels 206, 207 to rotate relative to the active support plate 218. Thus, when the active travel wheels 208, 214 roll forward or backward, the auxiliary travel wheels 206, 217 may be driven to roll forward or backward together.

[0048] Additionally, by stopping the active drive motor 216, the active travel assembly 2 can be stationary. Alternatively or additionally, a corresponding brake or actuator may be provided.

[0049] The aforementioned active drive motor 216, active driver 219, and rotating shaft assembly 207 can be detachably mounted on the active support plate 218 via bolts 205, 213, and 215.

[0050] Buffer baffles 201 and 212 are also provided at both ends of the active support plate 218 along the first direction. Buffer baffles 201 and 212 can be connected to the active support plate 218 by bolts 202 and 211. Buffer baffles 201 and 212 can cooperate with corresponding buffers 107 and 132 to achieve the above-mentioned inertial buffer protection.

[0051] The passive travel component 10 engages with another track component of the transport base 1.

[0052] like Figures 9 to 11 As shown, the passive travel assembly 10 includes a passive support plate 317 extending in a first direction. Rotating shaft assemblies 307 and 309 may also be provided on the passive support plate 317. Each of the rotating shaft assemblies 307 and 309 is configured with two output shafts extending in a second direction. The output shafts of the rotating shaft assemblies 307 and 309 can be connected (e.g., via bolts) to passive travel wheels 306, 308, 314, and 316 respectively. The rotating shaft assemblies 307 and 309 allow the passive travel wheels 306, 308, 314, and 316 to rotate relative to the passive support plate 317. Thus, when the active travel wheels 208 and 214 roll forward or backward, they can drive the passive travel wheels 306, 308, 314, and 316 to roll forward or backward together.

[0053] The aforementioned rotating shaft assemblies 307 and 309 can be detachably mounted on the passive support plate 317 via bolts 305 and 315.

[0054] Buffer baffles 301 and 312 are also provided at both ends of the passive support plate 317 along the first direction. Buffer baffles 301 and 312 can be connected to the passive support plate 317 by bolts 302 and 313. Buffer baffles 301 and 312 can cooperate with corresponding buffers 119 and 135 to achieve the above-mentioned inertial buffer protection.

[0055] The connecting component 4 is connected above the active moving component 2 and the passive moving component 10, so that the active moving component 2 can drive the passive moving component 10 to move.

[0056] like Figures 6 to 8 As shown, the connecting assembly 4 includes two first support rods 203 and 210 mounted on the active support plate 218. More or fewer first support rods may be provided as needed. The first support rods 203 and 210 may be positioned on either side of the active drive motor 216, active driver 219, rotating shaft assembly 207, and active wheels 208 and 214 and auxiliary wheels 206 and 217 in a first direction, located at both ends of the active support plate 218 along the first direction. In other words, the active drive motor 216, active driver 219, rotating shaft assembly 207, and active wheels 208 and 214 and auxiliary wheels 206 and 217 are positioned between the spaced-apart first support rods 203 and 210.

[0057] The aforementioned first support rods 203 and 210 can be connected to the active support plate 218 via bolts 204 and 209.

[0058] like Figures 9 to 11 As shown, the connecting assembly 4 also includes two second support rods 303 and 310 mounted on the passive support plate 317. More or fewer second support rods may be provided as needed. The second support rods 303 and 310 can be positioned on both sides of the rotating shaft assemblies 307 and 309 and the passive wheels 306, 308, 314, and 316 in the first direction, located at both ends of the passive support plate 317 along the first direction. In other words, the passive wheels 306, 308, 314, and 316 and the rotating shaft assemblies 307 and 309 are positioned between the spaced-apart second support rods 303 and 310.

[0059] The aforementioned second support rods 303 and 310 can be connected to the passive support plate 317 via bolts 304 and 311.

[0060] The first support rods 203 and 210 and the second support rods 303 and 310 can be configured as piston lifting hydraulic cylinders, which can be synchronously raised, lowered or stationary under the control of the controller 11.

[0061] Connecting component 4 may also include a connecting crossbeam. Figure 13In the illustrated embodiment, two connecting beams 402 and 406 are provided. They extend in the second direction and are spaced apart from each other in the first direction. More or fewer connecting beams may be provided as needed. The active traveling component 2 and the passive traveling component 10 are securely connected together by the connecting beams. This ensures that the active traveling component 2 and the passive traveling component 10 move and stay synchronously.

[0062] One end of the connecting beams 402 and 406 can be connected to the upper end of the first support rods 203 and 210 via the connecting support plate 401, for example, via bolt 3. The other end of the connecting beams 402 and 406 can be connected to the upper end of the second support rods 303 and 310 via the connecting support plate 407, for example, via bolt 9. The connecting support plates 401 and 407 extend along a first direction. The connecting beams 402 and 406 are generally mounted on the upper surface of the middle portion of the connecting support plates 401 and 407. The first support rods 203 and 210 and the second support rods 303 and 310 are generally mounted on the lower surface of the ends of the connecting support plates 401 and 407 along the first direction.

[0063] In one embodiment, the connecting beams 402 and 406 may be configured as gripping tracks along which the gripping mechanism moves. Alternatively or additionally, the connecting beams 402 and 406 may be equipped with gripping tracks along which the gripping mechanism moves.

[0064] One or more track segments can be constructed along the gripping track, and a corresponding gripping mechanism is installed on each track segment. The gripping mechanism can move on its corresponding track segment. Figure 12 and Figure 13 In this design, the connecting beams 402 and 406 are directly constructed as gripping tracks, made of guide rails, forming two track segments arranged sequentially along the first direction. A fixing plate 414 can be installed between the two track segments. The fixing plate 414 extends along the first direction, with one end connected to the connecting beam 402 and the other end connected to the connecting beam 406. This allows for the mutual fixing and positioning of the two connecting beams.

[0065] Buffers 403, 408, 411, and 417 can be installed at both ends of each track segment to cushion the gripping mechanism moving on the track segment. Figure 12 In the specific example shown, buffers 403 and 417 correspond to the two ends of one track segment; buffers 408 and 411 correspond to the two ends of another track segment.

[0066] Buffers 403 and 408 can be connected to connecting support plates 401 and 407 via bolts 405 and 510. Buffers 411 and 417 can be connected to fixing plate 414 via bolts 413 and 415.

[0067] Position sensors 404, 409, 412, and 416 can also be installed at both ends of each track segment to detect the position of the gripping mechanism on the track segment. Figure 12 In the specific example shown, position sensors 404 and 416 correspond to the two ends of one track segment; position sensors 409 and 412 correspond to the two ends of another track segment.

[0068] The gripping mechanism may include a gripping moving assembly that cooperates with the track segment for movement, and a gripping robot mounted on the gripping moving assembly. The gripping robot can move with the gripping moving assembly and grip and release the tubing. Figure 1 As shown, two gripping moving components 6 and 7 can be set for the two track segments, and each is connected to a gripping robot arm 5 and 8.

[0069] like Figure 14 and Figure 15 As shown, the gripping robot includes a first gripper 504 and a second gripper 505. The first gripper 504 and the second gripper 505 are opposite each other in a first direction and can cooperate with each other to grip or release the tubing.

[0070] The outer surfaces of the first claw 504 and the second claw 505 may be covered with a cushioning layer, such as a rubber layer. This prevents the tube from being unintentionally scratched when the first claw 504 and the second claw 505 come into contact with the tube. Specifically, the cushioning layer is covered on both the inner and outer surfaces of the first claw 504 and the second claw 505. This ensures that the gripped tube is not scratched, and that other tubes (or other related devices) adjacent to the gripped tube are also not scratched.

[0071] The gripping robot also includes a main telescopic cylinder 501. The main telescopic cylinder 501 extends longitudinally. A first gripper 504 and a second gripper 505 are hingedly mounted to the lower end of the main telescopic cylinder 501. The upper end of the main telescopic cylinder 501 is connected to a gripping moving assembly. The main telescopic cylinder 501 can extend and retract longitudinally to adjust the longitudinal distance between the gripping moving assembly and the first gripper 504 and the second gripper 505, thereby adjusting the height of the first gripper 504 and the second gripper 505.

[0072] The gripping robot also includes a first telescopic cylinder 502 and a second telescopic cylinder 503. The first telescopic cylinder 502 extends longitudinally, with its upper end mounted outside the housing of the main telescopic cylinder 501, and its lower end connected to the hinge of the first gripper 504 via a connecting rod (located within the first stage telescopic body of the main telescopic cylinder 501). The second telescopic cylinder 503 extends longitudinally, with its upper end mounted outside the housing of the main telescopic cylinder 501, and its lower end connected to the hinge of the second gripper 505 via a connecting rod (located within the second stage telescopic body of the main telescopic cylinder 501).

[0073] Therefore, the extension and retraction of the first telescopic cylinder 502 causes the first claw 504 to tighten or open. The extension and retraction of the second telescopic cylinder 503 causes the second claw 505 to tighten or open. The synchronous tightening of the first claw 504 and the second claw 505 allows the tubing to be gripped. The synchronous opening of the first claw 504 and the second claw 505 allows the tubing to be released.

[0074] exist Figure 14 In the illustrated embodiment, the first telescopic cylinder 502 and the second telescopic cylinder 503 are staggered in height by a certain distance. Specifically, the upper end of the first telescopic cylinder 502 is higher than the upper end of the second telescopic cylinder 503. This arrangement allows for a narrower width of the main telescopic cylinder 501. However, if needed, the main telescopic cylinder 501 can be widened, and the first telescopic cylinder 502 and the second telescopic cylinder 503 can be made to have the same height.

[0075] Both gripping manipulators 5 and 8 can adopt the above-mentioned gripping manipulator structure, or any other suitable gripping manipulator structure.

[0076] like Figures 16 to 18 As shown, the gripping and moving assembly includes a movable base plate 602 extending in a second direction, a moving drive motor (e.g., a variable frequency speed control motor) 614 mounted on the movable base plate 602, and a moving reducer 607 mounted on the movable base plate 602. The moving drive motor 614 and the moving reducer 607 are adjacent in the second direction. The output shaft of the moving drive motor 614 is connected to the input shaft of the moving reducer 607. The moving reducer 607 is configured with two output shafts extending in a first direction. Each output shaft is equipped with a corresponding moving wheel 601, 606. The moving wheels 601, 606 engage with connecting beams (gripping rails) 402, 406 on corresponding rail sections. Thus, the moving wheels 601, 606 can roll forward, backward, or stop along the connecting beams 402, 406 under the drive of the moving drive motor 614.

[0077] Additionally, the grasping and moving assembly may also include a rotating shaft assembly 609 mounted on a moving base plate 602. The rotating shaft assembly 609 is adjacent to the moving drive motor 614 in a second direction and is located on the side opposite to the moving reducer 607. The rotating shaft assembly 609 is configured with two output shafts extending in a first direction. Each output shaft is equipped with corresponding auxiliary wheels 608, 613. When the moving wheels 601, 606 are driven by the moving drive motor 614 to roll forward, backward, or stop, the auxiliary wheels 608, 613 can roll forward, backward, or stop synchronously with the moving wheels 601, 606.

[0078] The aforementioned mobile drive motor 614, mobile reducer 607, and rotating shaft assembly 609 can be detachably mounted on the mobile base plate 602 using bolts 605, 612, and 615.

[0079] Buffer baffles 604 and 610 are also provided at both ends of the movable base plate 602 along the second direction. Buffer baffles 604 and 610 can cooperate with buffers 403, 408, 411, and 417 on the track section to achieve inertial buffer protection. Buffer baffles 604 and 610 can be detachably connected to both ends of the movable base plate 602 by bolts 603 and 611.

[0080] Additionally, a robot arm mounting base 616 is mounted (e.g., by welding) on ​​the lower surface of the movable base plate 602. The robot arm mounting base 616 can be hinged to the gripping robot arm 5. Figure 18 As shown, the robot arm mounting base 616 may be configured with mounting holes. Accordingly, as Figure 14 and Figure 15 As shown, the upper end of the main telescopic cylinder 501 of the gripping manipulator 5 is equipped with a mounting connection portion, which has mounting holes extending along a first direction. A pin 617 can pass through both the manipulator mounting base 616 and the mounting holes on the mounting connection portion of the gripping manipulator 5 along the first direction, and is held within these two mounting holes by a cotter pin 618. This allows for a hinged connection between the gripping manipulator 5 and the gripping moving assembly. The hinged connection enables the positions of the first claw 504 and the second claw 505 of the gripping manipulator 5 to be finely adjusted according to the position of the tubing string, thereby improving the operational flexibility of the well site tubing string transfer device 100.

[0081] Both grasping and moving components 6 and 7 can adopt the structure of the grasping and moving component described above, or any other suitable grasping and moving component structure.

[0082] Figures 19 to 21 The diagram shows a schematic structure of one embodiment of the buffer in this invention. Buffers 107, 119, 132, 135, 403, 408, 411, and 417 in this invention can all adopt this structure, or other suitable structures can also be adopted.

[0083] The buffer may include a buffer mounting plate 701 for fixed installation. The buffer mounting plate 701 extends generally in a horizontal plane and is detachably connected to the base plates 102, 123 and the connecting support plates 401, 407 and the fixing plate 414 by bolts. The buffer may also include a vertical plate 702 mounted longitudinally on the buffer mounting plate 701. The vertical plate 702 may be connected to the buffer mounting plate 701 by welding or any other suitable means. A spring seat 707 is mounted at the upper end of the vertical plate 702. The vertical plate 707 may be connected to the spring seat 707 by welding or any other suitable means.

[0084] The spring seat 707 may be constructed as a cylinder and extend horizontally (or in a first or second direction as needed). A guide rod 709 extending horizontally (or in a first or second direction as needed) is provided within the spring seat 707. The guide rod 709 is coaxially arranged with the spring seat 707. An annular receiving space is formed between the guide rod 709 and the spring seat 707. A compression spring 708, such as a metal helical spring, is provided within this receiving space. The compression spring 708 is coaxially arranged with the guide rod 709.

[0085] The first end of the spring seat 707 is open, and a pressure cylinder 711 is provided at this first end. The pressure cylinder 711 is cylindrical and coaxially arranged with the spring seat 707. The first end of the pressure cylinder 711 facing the spring seat 707 is open, and one end of the guide rod 709 extends into the inner cavity of the pressure cylinder 711 from the open end and is fixed within the inner cavity. The second end of the pressure cylinder 711 facing away from the spring seat 707 is closed. A rubber buffer 701 is wrapped around this closed end. This rubber buffer 701 is used to contact a corresponding buffer baffle.

[0086] The second end of the spring seat 707 is constructed as a closed end. One end of the compression spring 708 abuts against the first end of the aforementioned pressure cylinder 711, and the other end abuts against the closed second end of the spring seat 707.

[0087] The other end of the guide rod 709 extends through the second end of the spring seat 707 to the outside of the spring seat 707. A washer 705, a locking nut 703, and a cotter pin 704 are sequentially provided on this other end. The locking nut 703 is threaded into the guide rod 709. This ensures that the guide rod 709 is fixed relative to the spring seat 707.

[0088] The structure of the buffer described above can effectively cooperate with the buffer baffle to achieve the buffering effect.

[0089] Additionally, a sensor mounting plate 706 may be connected to the upper end of the spring seat 707 by welding or any other suitable means. Position sensors (e.g., position sensors 106, 118, 131, 134, 404, 409, 412, 416) may be detachably connected to the sensor mounting plate 706 by bolts.

[0090] Figure 22 and Figure 23 A schematic structure of one embodiment of a walking wheel is shown. This structure can be used for active walking wheels, auxiliary walking wheels, passive walking wheels, and mobile walking wheels, or other suitable structures may also be used.

[0091] The traveling wheel includes a rolling wheel 801, a shaft end plate 802, a set bolt 803, a key 804, and a rotating shaft 805. The rolling wheel 801 is fitted onto the end of the rotating shaft 805 using a transition fit with the key 804. The rolling wheel 801 and the end face of the rotating shaft 805 are fixed together by the set bolt 803 and the shaft end plate 802 on the inner side of the rolling wheel 801.

[0092] Figure 24 and Figure 25 A schematic structure of one embodiment of the rotating shaft assembly is shown. Rotating shaft assemblies 207, 307, 309, and 609 may all employ this structure, or other suitable structures may be used.

[0093] The rotating shaft assembly includes a rotating shaft 901, a bushing A902, a radial T-slot labyrinth seal cover A903, a hexagonal set screw A904, an O-ring seal A905, a connecting bolt K906, an axial annular groove labyrinth seal cover A907, an oil sealing gasket A908, an oil cup A909, an oil cup B910, a lifting eye 911, an oil cup C912, an oil cup D913, an oil sealing gasket B914, a connecting bolt L915, and an axial annular groove labyrinth seal cover. B916, Hexagonal Set Screw; B917, Radial T-Slot Labyrinth Seal Cover; B918, Bushing; B919, O-ring; C920, O-ring; D921, Bearing Housing; 922, Oil Seal; D923, Spacer Ring; B924, Oil Seal; C925, Oil Seal Box; B926, Bearing; 927, Oil Seal Box; A928, Oil Seal; B929, Spacer Ring; A930, Oil Seal; A931, O-ring; B932.

[0094] Bearing 927 can be a single bearing or a pair of bearings used together. It is fixedly mounted in the middle of the rotating shaft 901 with an interference fit and placed in the middle of the bearing housing 922. The axial, radial and end face sealing principles, structural forms and structural components of the two sides of bearing 927 are completely the same and are symmetrically installed on both sides of bearing 927.

[0095] On one side of bearing 927, bushing A902 is fixedly fitted onto shaft 901 with a clearance fit. An O-ring B932 is installed between bushing A902 and shaft 901 for axial and radial static sealing, preventing lubricant leakage from between bushing A902 and shaft 901, and also preventing external media from entering the bearing housing 922 cavity between bushing A902 and shaft 901. The inner end face of bushing A902 supports the inner ring end face of bearing 927 and rotates together with shaft 901, thus being in motion.

[0096] The radial T-slot labyrinth seal cover A903 is fitted onto the outer surface of the bushing A902 with a clearance fit, and is equipped with an O-ring seal A905 for axial and radial static sealing. This prevents lubricant from leaking outward from the outer surface of the bushing A902, and also prevents external media from entering the inner cavity of the bearing housing 922 from the outer surface of the bushing A902. The tail end of the radial T-slot labyrinth seal cover A903 is secured to the rotating shaft 901 together with the bushing A902 using a hexagonal set screw A904, and rotates with the rotating shaft 901, indicating its motion state.

[0097] The front end face of the radial T-groove labyrinth seal cover A903 is provided with radial T-shaped teeth and grooves, usually 2-4 in number. The T-shaped teeth and grooves between the cover and the outer end face of the axial annular groove labyrinth seal cover A907 form a radial T-groove labyrinth dynamic seal, which prevents radial leakage of lubricant and also prevents external media from entering the inner cavity of the bearing housing 922.

[0098] The inner surface of the axial annular groove labyrinth seal gland A907 is provided with 2-4 semi-circular annular sealing grooves, which form an axial annular groove labyrinth dynamic seal with the outer surface of the bushing A902. This prevents lubricant from leaking outward from the outer surface of the bushing A902 and also prevents external media from entering the inner cavity of the bearing housing 922 from the outer surface of the bushing A902.

[0099] An oil sealing gasket A908 is installed between the inner end face of the axial annular groove labyrinth seal gland A907 and the outer end face of the bearing housing 922, forming a static end face seal. The axial annular groove labyrinth seal gland A907 is then fixed and tightened to the bearing housing 922 using connecting bolts K906. Simultaneously, the inner end face of the axial annular groove labyrinth seal gland A907 presses against the skeleton oil seal A931, the intermediate spacer ring A930, the skeleton oil seal B929, and the oil seal box A928, and the oil seal box A928 provides support for the outer ring of the bearing 927. The axial annular groove labyrinth seal gland A907, skeleton oil seal A931, intermediate spacer ring A930, skeleton oil seal B929, and oil seal box A928 are all in a static state.

[0100] The oil seal box A928 is installed on one end face of the bearing 927 inside the bearing housing 922 cavity.

[0101] The oil seal box A928 is provided with an oil hole and an oil passage, and communicates with the oil cups A909 and B910. Lubricant can be injected into and stored in the bearing housing 922 cavity through the oil cups A909 and B910 to lubricate the bearing 927 and the skeleton oil seals A931 and B929.

[0102] Oil seals A931 and B929 are mounted back-to-back inside the oil seal box A928, forming an axial dynamic seal with the outer surface of the bushing A902. A spacer ring A930 is installed between oil seals A931 and B929, and its material is generally copper alloy or non-metallic materials such as high-hardness nylon.

[0103] The sealing principle, structural form, and structural composition of the other side of bearing 927 are exactly the same as those described above.

[0104] The lifting ring 911 is positioned symmetrically in the middle of the upper part of the bearing housing 922 and is used for lifting, transporting, and moving the rotating shaft assembly or the bearing housing 922. Oil cups A909, B910, C912, and D913 are symmetrically installed on both sides of the lifting ring 911.

[0105] The well site tubing transport device 100 of this utility model also includes a controller 11. The controller 11 can be installed at any position on the transport base 1 as needed. For example, it can be installed as follows: Figure 2 It is positioned at one end of the base plate 123 along the first direction as shown, for ease of operation.

[0106] The controller 11 may include an integrated electrical control and hydraulic system for providing power, control, parameter setting, data recording and remote transmission capabilities to the well site tubing transport device 100.

[0107] The controller 11 can have multiple control methods, such as manual operation, touch screen operation, and remote operation by remote control 12.

[0108] Operators can control the active travel component 2 to move forward, backward, and stop in the first direction by operating the controller 11 or the matching remote controller 12, thereby driving the passive travel component 10, the connecting beam, and the gripping mechanism to move forward, backward, and stop in the first direction. During this process, position sensors 106, 118, 131, and 134 can collect the position signals of the active travel component 2 and the passive travel component 10 in real time and transmit them to the controller 11. The controller 11 then controls the active drive motor 216 through feedback to achieve the aforementioned forward, backward, and stop movements.

[0109] Operators can control the synchronous lifting or lowering of the first support rods 203, 210 and the second support rods 303, 310 by operating the controller 11 or the matching remote controller 12, thereby realizing the lifting or lowering of the connecting beam and the gripping mechanism.

[0110] Operators can control the forward, backward, and stationary movement of the gripping moving component along the second direction by operating the controller 11 or the matching remote controller 12, thereby enabling the gripping robot to move forward, backward, and stationary along the second direction. During this process, position sensors 404, 409, 412, and 416 can collect the position signals of the gripping moving component in real time and transmit them to the controller 11. The controller 11 then controls the moving drive motor 614 through feedback, thereby achieving the aforementioned forward, backward, and stationary movements.

[0111] Operators can control the extension, retraction, and dwell of the main telescopic cylinder 501 of the gripping robot in the longitudinal direction by operating the controller 11 or the matching remote controller 12, thereby enabling the first claw 504 and the second claw 505 of the gripping robot to descend, rise, and dwell in the longitudinal direction.

[0112] Operators can control the extension, retraction, and holding of the first hydraulic cylinder 502 and the second hydraulic cylinder 503 in the longitudinal direction by operating the controller 11 or the matching remote controller 12, thereby enabling the first claw 504 and the second claw 505 to grasp, release, and hold.

[0113] The following will combine Figure 26 The well site tubing transport method of this utility model is described in detail. This well site tubing transport method can be carried out using the aforementioned well site tubing transport device 100.

[0114] like Figure 26 As shown, the well site tubing transport device 100 can be installed in the well site, extending between the well site tubing storage area 15 and the wellbore construction area. The well site tubing storage area 15 is equipped with a surface tubing rack 13 for storing tubing strings 14. These tubing strings 14 can include drill strings, casing, tubing, drill pipe, and / or any other suitable tubing string tools. The wellbore construction area may include a tubing transfer device 16, an automatic tilting device 17, a powered catwalk 18, a ramp 19, a drilling platform 20, a derrick 21, and a drilling rig travel system 22.

[0115] exist Figure 26 In the well site shown, well site tubing storage areas are set up on both sides of the wellbore construction area. Therefore, corresponding well site tubing transfer devices 100 are set up on both sides of the wellbore construction area for transferring tubing between the corresponding well site tubing storage areas and the wellbore construction area. This arrangement helps to improve the flexibility and efficiency of tubing transfer.

[0116] As needed, more or fewer well site tubing storage areas and corresponding well site tubing transport devices 100 can also be set up.

[0117] The well site tubing transport device 100 can be configured to be adjacent to the tubing transfer device 16 in the wellbore construction area, and the ground tubing rack 13 in the well site tubing storage area 15 is arranged within the area of ​​the transport base 1 of the well site tubing transport device 100. Specifically, the ground tubing rack 13 can be located between two track components of the transport base 1.

[0118] The process of using the well site tubing transfer device 100 to transfer the tubing string from the well site tubing string storage area 15 to the wellbore construction area is as follows.

[0119] First, the controller 11 or remote control 12 is operated to synchronously raise or lower the first support rods 203, 210 and the second support rods 303, 310, thereby adjusting the height of the gripping manipulators 5, 8 (and / or adjusting the extension length of the main telescopic cylinder 501 of the gripping manipulators 5, 8), so that the lowest point of the first claw 504 and the second claw 505 is slightly higher than the top of the uppermost pipe column 14 on the ground pipe rack 13. This prevents the first claw 504 and the second claw 505 from colliding with the pipe column 14 during the movement of the traveling mechanism.

[0120] Then, the traveling mechanism is moved along the transport base to the well site tubing storage area in the first direction. Specifically, the control controller 11 or remote controller 12 starts the active drive motor 216 to rotate, which in turn drives the active reducer 219. The output shafts at both ends of the active reducer 219 drive the active traveling wheels 208 and 214 to travel on the guide rails 105 and 109, thereby driving the auxiliary traveling wheels 206 and 217 to travel synchronously on the guide rails 105 and 109, and driving the connecting beam, the gripping moving component, the gripping manipulator, and the passive traveling component to travel together until the gripping manipulators 5 and 8 reach above the tubing 14 to be gripped and transported in the first direction.

[0121] Subsequently, the control controller 11 or remote controller 12 starts the mobile drive motor 614. The mobile drive motor 614 drives the mobile reducer 607. The output shafts at both ends of the mobile reducer 607 rotate and drive the mobile wheels 601 and 606 to move on the track section, and also drive the auxiliary wheels 608 and 613 to move on the track section until the gripping manipulators 5 and 8 reach the position of the column 14 to be gripped and moved in the second direction, and then stop.

[0122] Next, the controller 11 or remote controller 12 is operated to extend the main telescopic cylinder 501 of the gripping manipulators 5 and 8 until the first claw 504 and / or the second claw 505 contact the pipe column 14. The controller 11 or remote controller 12 is then operated to extend the first telescopic cylinder 502 and the second telescopic cylinder 503 of the gripping manipulators 5 and 8, so that the first claw 504 and the second claw 505 open simultaneously to surround the pipe column to be gripped. The first telescopic cylinder 502 and the second telescopic cylinder 503 are then retracted a certain stroke, so that the first claw 504 and the second claw 505 of the gripping manipulators 5 and 8 are relatively closed and maintain a certain clamping force, gripping the pipe column 14. The main telescopic cylinder 501 is then retracted, causing the gripping manipulators 5 and 8, which have gripped the pipe column 14, to move upwards, thus lifting the pipe column 14 off the ground pipe rack 13.

[0123] Next, the traveling mechanism is moved along the transport base to the wellbore construction area. Specifically, the controller 11 or remote controller 12 is operated to cause the active traveling component 2 to drive the passive traveling component 10, the connecting beam, the gripping mechanism, and the already gripped tubing string 14 toward the wellbore construction area until the tubing string 14 reaches above the tubing string adapter 16 in the wellbore construction area.

[0124] Then, the controller 11 or remote controller 12 can be operated to extend the main telescopic cylinder 501 of the gripping manipulators 5 and 8 until the transferred tubing 14 contacts the tubing transfer device 16. Continuing to operate the controller 11 or remote controller 12, the first telescopic cylinder 502 and the second telescopic cylinder 503 of the gripping manipulators 5 and 8 extend, and the first claw 504 and the second claw 505 of the gripping manipulators 5 and 8 simultaneously open and release the tubing 14, allowing it to fall into the tubing transfer device 16. Continuing to operate the controller 11 or remote controller 12, the main telescopic cylinder 501 retracts, causing the gripping manipulators 5 and 8 to move upwards a certain distance, thus allowing the gripping manipulators 5 and 8 to leave the tubing transfer device 16.

[0125] This enabled the transfer of tubing from the well site tubing storage area to the wellbore construction area in a single operation.

[0126] By repeating the above process, multiple tubing strings can be quickly and stably moved to the wellbore construction area and lowered into the well.

[0127] After the tubing transfer device 16 receives the tubing, it rises, allowing the tubing 14 inside to automatically roll into the automatic tilting device 17. The automatic tilting device 17 then tilts the tubing 14 into the V-path of the powered catwalk 18. The powered catwalk 18 rises along the ramp 19, delivering the tubing 14 to the drilling platform 20. The drilling rig traveling system 22 then delivers the tubing 14 to the wellbore or another designated position on the drilling platform 20, completing the process of delivering the tubing 14 to the drilling platform.

[0128] The process of transporting the tubing 14 stored on the drilling platform 20 in the well construction area to the ground pipe rack 13 in the well site tubing storage area is the reverse of the above process, which can arrange all the tubing 14 on the drilling platform in layers on the ground pipe rack 13.

[0129] The device described above can effectively move the tubing without causing collisions, thereby reducing construction noise and preventing damage to the tubing during transport. Furthermore, the device can significantly improve the efficiency of tubing transport by at least 10%.

[0130] Although the present invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A well site tubing transport device, characterized in that, include: A transport base extends along a first direction between the well site tubing storage area and the wellbore construction area; A traveling mechanism that can move along the transport base between the well site tubing storage area and the wellbore construction area; as well as A gripping mechanism, mounted on the traveling mechanism, is capable of gripping a tubing string at one of the well site tubing string storage area and the wellbore construction area, and releasing the tubing string at the other of the well site tubing string storage area and the wellbore construction area; The transport base includes at least two track assemblies extending between the well site tubing storage area and the wellbore construction area. Each track assembly includes: a base plate extending between the well site tubing storage area and the wellbore construction area; one or more support frames mounted on the base plate extending between the well site tubing storage area and the wellbore construction area; and a guide rail mounted on the upper end of the one or more support frames, the guide rail being configured to engage with the traveling mechanism. The traveling mechanism includes: an active traveling component, which engages with one of at least two track components of the transport base to drive the traveling mechanism to move along the transport base; a passive traveling component, which engages with the other of the at least two track components of the transport base to follow the active traveling component to move along the transport base; and a connecting component, which includes at least one first support rod mounted on the active traveling component, at least one second support rod mounted on the passive traveling component, and at least one connecting beam extending along a second direction perpendicular to the first direction, one end of the connecting beam being fixedly connected to the upper end of the first support rod, and the other end of the connecting beam being fixedly connected to the upper end of the second support rod. The connecting beam of the traveling mechanism is constructed as a gripping track, or a gripping track is installed, with one or more track segments constructed along the gripping track. A corresponding gripping mechanism is provided on each track segment. The gripping mechanism includes: a gripping moving component, which is configured to move on the corresponding track segment; and a gripping manipulator, which is installed on the lower part of the gripping moving component and configured to grip the tubular column.

2. The well site tubing transport device according to claim 1, characterized in that, The track assembly includes a buffer and a position sensor mounted on the base plate. The position of the buffer corresponds to the end of the track, the position of the position sensor corresponds to the end of the track, and / or the position sensor is arranged along the guide rail.

3. The well site tubing transport device according to claim 2, characterized in that, In the case of multiple track assemblies, the multiple track assemblies are arranged relatively spaced apart, and one or more connecting positioning rods are provided between adjacent track assemblies, the one or more connecting positioning rods being configured to position adjacent track assemblies relative to each other. The connecting positioning rod extends perpendicular to the direction in which the track assembly extends.

4. The well site tubing transport device according to any one of claims 1 to 3, characterized in that, The at least one first support rod and at least one second support rod are configured as piston lifting hydraulic cylinders that can be raised and lowered synchronously.

5. The well site tubing transport device according to any one of claims 1 to 3, characterized in that, The active movement components include: Active support plate; An active drive motor is mounted on the active support plate; An active speed reducer is mounted on the active support plate, and the input shaft of the active speed reducer is connected to the output shaft of the active drive motor. An active walking wheel is connected to the output shaft of the active reducer, enabling the active drive motor to drive the active walking wheel to move along a first direction on the guide rail of the track assembly.

6. The well site tubing transport device according to claim 5, characterized in that, in, A buffer baffle is provided on the active support plate, the buffer baffle being configured to cooperate with the buffer on the track assembly.

7. The well site tubing transport device according to claim 5, characterized in that, in, Two first support rods are spaced apart on the active support plate, and the active drive motor, active reducer and active walking wheel are installed between the two first support rods.

8. The well site tubing transport device according to any one of claims 1 to 3, characterized in that, The passive movement component includes: Passive support plate; and A passive walking wheel, which is rotatably connected to the passive support plate via a rotating shaft assembly; A buffer baffle is provided on the passive support plate, and the buffer baffle is configured to cooperate with the buffer on the track assembly. Two second support rods are spaced apart on the passive support plate, and the passive walking wheel and the corresponding rotating shaft assembly are installed between the two second support rods.

9. The well site tubing transport device according to any one of claims 1 to 3, characterized in that, The grasping and moving component includes: Movable base plate; A mobile drive motor is mounted on the mobile base plate; A mobile speed reducer is mounted on the mobile base plate, and the input shaft of the mobile speed reducer is connected to the output shaft of the mobile drive motor; The mobile walking wheel is connected to the output shaft of the mobile reducer, so that the mobile drive motor can drive the mobile walking wheel to move along the second direction on the track section; The track section is equipped with a buffer and a position sensor at the end of each track segment, and a buffer baffle is provided on the movable base plate. The buffer baffle is configured to cooperate with the buffer on the track segment.

10. The well site tubing transport device according to any one of claims 1 to 3, characterized in that, The gripping robot arm is hingedly mounted below the movable base plate of the gripping moving assembly; The gripping robotic arm includes: First claw component; A second claw is arranged opposite to the first claw, and the second claw cooperates with the first claw to grip the tubular column; A main telescopic cylinder extends longitudinally and is connected between the movable base plate and the first claw and the second claw. The main telescopic cylinder is configured to adjust the height of the first claw and the second claw. The first telescopic cylinder is installed outside the main telescopic cylinder. The upper end of the first telescopic cylinder is connected to the outer shell of the main telescopic cylinder. The lower end of the first telescopic cylinder is connected to the hinge of the first claw through a connecting rod. The extension and retraction of the first telescopic cylinder can cause the first claw to tighten or open. The second telescopic cylinder is installed outside the main telescopic cylinder. The upper end of the second telescopic cylinder is connected to the outer shell of the main telescopic cylinder, and the lower end of the second telescopic cylinder is connected to the hinge of the second claw through a connecting rod. The extension and retraction of the second telescopic cylinder can cause the second claw to tighten or open.

Images