A kind of petroleum well workover Work robotTechnical field
The utility model relates to a kind of petroleum well workover machine people, belong to petroleum well workover equipment technical field.
Background technique
In oilfield process, some oil wells or equipment fault can often occur, the underproduction is caused even to stop production.In order to make oilWell returns to normal production, it is necessary to take appropriate measures, debug.In addition, the condition of oil well changes, need according to newSituation takes production technology measure appropriate, for example, flowing well turns pumpingh well, changes oil well pump depth of setting, model etc..TheseWork all needs well workover machine equipment to complete.1) existing shaft mouth operation needs labor intensity big, well workover low efficiency, and energy consumption is high,It is easy to cause pollution environment；2) the design novel 95% is to be fully automated, and scene only needs 2 people to operate；Well workover is high-efficient,It is environmentally friendly and energy saving, it has greatly liberated labour and has saved the energy.The applicant applied for a kind of petroleum well workover in 2017The deficiencies of Work robot patent, exists and takes up a large area, and transports not aspect, and workflow is complicated, and the down tube time is long.In the presence ofIt takes up a large area, it is long not to play the down tube time for aspect, workflow complexity for transport.
Summary of the invention
Technical problem to be solved in the utility model is in view of the defects existing in the prior art, to provide a kind of petroleum well workoverWork robot.
In order to solve this technical problem, the utility model provides a kind of petroleum well workover Work robot, including pedestal dressIt sets, guide device, big arm assembly, swing seat transmitting device, measuring motion and hydraulic control system, the base device include bottomSeat, hydraulic support leg, walking mechanism, rotating hydraulic supporting leg, large arm mounting base, correcting support, large arm support, support rotating disk,Correcting installation pedestal and survey long mounting bracket, pedestal is rectangular frame structure, the head end of pedestal be equipped with large arm mounting base andLarge arm support, big arm assembly is mounted on base device by large arm mounting base, and when large arm folding device is propped up by large arm supportSupport；Correcting installation pedestal and correcting support are being equipped at large arm mounting base, guide device is installed by correcting installation pedestalOn base device, supported when guide device folds by correcting；The big arm assembly and guide device are equipped with hydraulicCylinder is connected thereto, and 90 ° of swings between horizontal-vertical can be achieved in arm assembly big under the driving of hydraulic cylinder and guide device；The tail end of the pedestal is equipped with support rotating disk and surveys long mounting bracket, and measuring motion installation is surveyed in long mounting bracket；The bottomIt is equipped with rotating hydraulic supporting leg on front side of the tail end of seat, is equipped with hydraulic support leg in the corresponding position of pedestal its excess-three；In rear sideAt least two vehicle with walking machine are provided between two hydraulic support legs and between the rotating hydraulic supporting leg and hydraulic support leg of front sideStructure；The swing seat transmitting device is arranged on front side of pedestal, is located at the middle part and tail portion of pedestal；The hydraulic control system controlBase device processed, guide device, big arm assembly, swing seat transmitting device, measuring motion movement.
The hydraulic support leg includes column, guide sleeve, nut seat, screw rod and spiral lift, table on the outside of the columnFace is welded with a plurality of gib block, and top is equipped with erecting bed；The guide sleeve medial surface is equipped with guide rail, and guide sleeve covers outside columnFace can simultaneously be slided up and down along column；Spiral lift and hydraulic motor are fixed on the erecting bed at the top of column, nut seat sideIt is fixed with guide sleeve, the other side is connect with pedestal；The column bottom welds closure plate, is equipped with threaded hole, column bottom among closure platePortion is equipped with spherical surface pedestal by the threaded hole.
The walking mechanism includes bracket, bottom plate, guide rail, sliding block and oil cylinder, and described bottom plate one end is equipped with oil cylinder seat, and twoSide is separately installed with sliding block, and the guide rail is mounted on frame bottom two sides, and guide rail and sliding block cooperation are slided；The bracket includes verticalPlate, plate and oil cylinder mounting rack, oil cylinder mounting rack end are equipped with head bracket, and the cylinder body of the oil cylinder is fixed on oil cylinder seatOn, piston rod end is fixed on head bracket；The vertical plate is equipped with rack fixation hole, and bracket passes through the rack fixation holeIt is fixed on the base.
The rotating hydraulic supporting leg includes supporting leg, supporting leg fixed frame, supporting leg promotion oil cylinder, ram, supporting leg transmission mechanism, passesDynamic case, lead screw, nut seat, secondary supporting leg, support, fixed pin shaft and active pin shaft, the supporting leg and supporting leg fixed frame are connected as oneBody, supporting leg push oil cylinder one end to be fixed in gantry base, and the other end is connect with supporting leg fixed frame；The supporting leg pushes on oil cylinderEquipped with ram, ram end is connect with supporting leg fixed frame, and ram side is equipped with rack gear；The supporting leg transmission mechanism setting is being drivenIn case, transmission case is connect by bolt with supporting leg fixed frame, and the transmission lower box part and ram cooperate, and is driven in supporting leg transmission mechanismIt can be moved along ram rack gear under dynamic；Nut seat is connect with transmission case, and lead screw and nut seat cooperate, and lead screw bottom is equipped with support, branchSeat is hinged by fixed pin shaft and secondary supporting leg, secondary supporting leg around fixed pin shaft overturn 180 ° after pass through the another of active pin shaft and supportOne pin shaft hole is fixed；The top of the lead screw is equipped with tetragonal prism, is rotated by the rotatable lead screw of manual wrench, and then drives secondary branchLeg moves up and down.
The guide device includes correcting pedestal, correcting conduit, upper correcting, lower correcting, elevator and hydraulic control system, instituteStating correcting conduit is telescopic structure, correcting conduit top is provided with upper correcting, its underpart is provided with lower correcting；It is described to leadThe top of positive conduit is equipped with telescoping catheter and elevating ram, telescoping catheter can be given rise to operating position by elevating ram；InstituteThe top for stating telescoping catheter is equipped with pulley, and rope one end is connect with the small winch being arranged in correcting conduit, and rope is anotherEnd connect around pulley, with elevator；The bottom of the correcting conduit is hinged on robot base by correcting pedestal, described to leadPositive conduit can be swung under the driving of hydraulic cylinder between 0-90 °；The hydraulic control system control its act upper correcting, under leadJust, the movement of elevator and telescoping catheter.
The upper correcting includes upper correcting rail brackets, guide rail one, revolution jar support, rotary cylinder pedestal, rotary cylinder one, slidesPlate, oil cylinder, guide rail two, horizontal guide rail bracket, angling cylinder two, face end support, angling cylinder three and clamp system, the guide railOne is arranged on upper correcting rail brackets, turns round jar support and rotary cylinder pedestal and is connect by sliding block with guide rail one and can be along leadingRail one moves up and down；The rotary cylinder one is mounted on rotary cylinder pedestal, and slide plate passes through bracket and revolution jar support and rotary cylinderOne connection, rotary cylinder one drive slide plate that can rotate horizontally 90 °；The slide plate is equipped with guide rail two, and horizontal guide rail bracket passes through cunningBlock is connect with guide rail two, and oil cylinder one end is fixed on slide plate, and the other end is connect with horizontal guide rail bracket, is lauched in the driving of oil cylinderLevel gauge bracket can be moved along slide plate level；The end of the horizontal guide rail bracket be equipped with angling cylinder two, angling cylinder two withFace end support connects and face end support can be driven to be rotated by 90 °；The face end support is equipped with angling cylinder three, angling cylinder threeIt is connect with clamp system and clamp system is driven to be rotated by 90 °；The clamp system include clamping cylinder, idler wheel, support plate andSupport, clamping cylinder is fixed on the support, and two roller shafts are flexibly connected by link mechanism with clamping cylinder, and clamping cylinder drivesThe opening and closure of dynamic idler wheel, support plate are arranged below idler wheel.
The lower correcting includes correcting clamping device, hydraulic pipe wrench and moves up and down bracket, it is described move up and down bracket itsThe back side is equipped with upright guide rail, and slide plate upper and lower bracket is connect by sliding block and upright guide rail with bracket slide is moved up and down, upper and lowerMobile bracket and slide plate upper and lower bracket) between be equipped with vertical cylinder, vertical cylinder drives slide plate upper and lower bracket to move down along upright guide railIt is dynamic；The slide plate upper and lower bracket is equipped with horizontal guide rail, and slide plate front and back support is propped up up and down by sliding block and horizontal guide rail and slide plateFrame is slidably connected, and horizontal cylinder is equipped between slide plate upper and lower bracket and slide plate front and back support, and horizontal cylinder drives slide plate front and back supportIt is moved horizontally along horizontal guide rail；The end of the slide plate front and back support is equipped with workbench；The workbench be equipped with linear guide andPedestal, hydraulic pipe wrench are fixed on the pedestal of workbench, and correcting clamping device is mounted on the pedestal of workbench by jacking cylinderAbove and it can rise or land along linear guide under the driving of jacking cylinder；The bracket that moves up and down is frame-shaped structure, ifThere are bottom plate and vertical plate, two sides are equipped with stiffener plate between bottom plate and vertical plate, and the back side of vertical plate is arranged in the upright guide rail；It is describedThe bottom for moving up and down bracket is fixed on correcting pedestal, and rotation manually is equipped between frame bottom and correcting pedestal moving up and downRotation structure.
The elevator includes elevator body, swing seat, swing seat axis, connecting plate and hydraulic cylinder, is equipped in the middle part of the elevator bodyCavity, front and back vertical plate is in inverted T-shaped, and top is cross, and top and bottom are equipped with concentric oil tubes hole；Two swing seats pass through pendulumIn elevator body cavity, swing seat and swing seat axis are positioned and can be rotated with swing seat axis by flat key seat axis connection；It is solid on swing seatGripping sleeve there are two fixed, gripping sleeve can be swung with swing seat；The two sides of vertical plate are respectively equipped with support before and after the elevator body, and fourBent plate is separately mounted on support, and the upper end of bent plate is fixed on the cross side wall of top；On the back vertical plate of the elevator bodyConnecting plate is installed；Hydraulic cylinder body is fixed on connecting plate, and hydraulic stem is connect with link mechanism, the end of the link mechanismPortion is connected by key with swing seat axis, and the rotation of Driven by Hydraulic Cylinder link mechanism drives the opening and closing of gripping sleeve by swing seat axis；The side of the elevator body is equipped with curved boom mounting base, and curved boom one end is fixed in elevator body by curved boom mounting base, curved boomThe other end fixed by rope and moved up and down under the drive of rope；The link mechanism by link block, two swing arms andConnecting rod composition, swing arm one end is connected by key with swing seat axis, and one end of the other end and connecting rod is hinged, two connecting rodsThe both ends of the other end and link block are hinged；Hydraulic cylinder is connect with link block.
The swing seat transmitting device includes pedestal, conveyer arm, conveys hand, transmitting device, oscillating oil cylinder and elevating ram,The pedestal is in trench structure, including side plate, backboard and bottom plate, conveyer arm one end are mounted on the two of pedestal top by hinge shaftBetween side plate, the other end is equipped with conveying hand, and one end of the oscillating oil cylinder is connected to close to the conveying at hand portion of conveyer arm,The other end is hinged on pedestal；The elevating ram is arranged in the trench structure of pedestal, and upper end is connected with linear guide, bottom endIt is mounted on the bottom plate of pedestal, transmitting device is fixed on the top of linear guide；The transmitting device includes transmission bracket, transmissionIdler wheel and hydraulic motor, the transmission bracket include bottom plate and vertical plate, and two sides are equipped with stiffener plate, and the transmission bracket passes throughBottom plate is fixed at the top of linear guide, and conveying roller is mounted on transmission bracket by transmission shaft, and hydraulic motor is fixed on transmissionIt is connect on axis transmission bracket and with conveying roller.
The end of the measuring motion is provided with rod tube identity recognition device, by reserving at sucker rod or tubing couplingIdentification marking effectively the identity of online recognition difference sucker rod or oil pipe and can put different location, and input in real timeTo background computer system, oil well rod tube lifecycle management database is established.
The utility model has the advantages that petroleum well workover Work robot of the utility model compared with the prior art, structure is more compact, closesIt manages, is reliable, solving the problems such as live labor intensity is big, and well workover low efficiency, energy consumption is high, be easy to cause pollution environment；It is realWorkover treatment automation is showed.The utility model occupied area is small, and tossing well head is flexible, and high degree of automation greatly improvesThe efficiency of well workover.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model folded state；
Fig. 3 is the structural schematic diagram of the utility model base device；
Fig. 4 is the structural schematic diagram of the utility model hydraulic support leg；
Fig. 5 is the structural schematic diagram of the utility model walking mechanism；
Fig. 6 is the structural schematic diagram of the utility model rotating hydraulic supporting leg；
Fig. 7 is the structural schematic diagram of the utility model guide device；
Fig. 8 is the structural schematic diagram of correcting on the utility model；
Fig. 9 is the structural schematic diagram of correcting under the utility model；
Figure 10 is the structural schematic diagram of the utility model elevator；
Figure 11 is the structural schematic diagram of the utility model swing seat transmitting device；
Figure 12 is the utility model raising status diagram；
Figure 13 is half unfolded state schematic diagram of the utility model；
Figure 14 is one schematic diagram of utility model works state；
Figure 15 is two schematic diagram of utility model works state；
Figure 16 is three schematic diagram of utility model works state；
Figure 17 is four schematic diagram of utility model works state；
Figure 18 is five schematic diagram of utility model works state；
Figure 19 is six schematic diagram of utility model works state.
In figure: I base device, II guide device, the big arm assembly of III, IV swing seat transmitting device, V measuring motion；1 pedestal,2 hydraulic support legs, 3 walking mechanisms, 4 rotating hydraulic supporting legs, 5 large arm mounting bases, 6 correctings support, the support of 7 large arm, 8 support rotationsLong mounting bracket is surveyed in turntable, 9 correcting installation pedestals, 10；21 columns, 22 guide sleeves, 23 nut seats one, 24 screw rods, 25 spiral litersDrop machine, 26 spherical surface pedestals, 27 gib blocks, 28 erecting beds；30 brackets, 31 head brackets, 32 bottom plates, 33 guide rails, 34 sliding blocks, 35Oil cylinder one, 36 oil cylinder seats, 37 vertical plates, 38 plates, 39 oil cylinder mounting racks；41 supporting legs, 42 supporting leg fixed frames, 43 supporting legs push oilCylinder, 44 rams, 45 supporting leg transmission mechanisms, 46 transmission cases, 47 lead screws, 48 nut seat two, 49 secondary supporting leg, 410 supports one, 411 teethItem；51 correcting pedestals, 52 correcting conduits, correcting, 54 lower correctings, 55 elevators, 56 telescoping catheters on 53；Correcting guide rail branch on 61Frame, 62 guide rails one, 63 turn round jar support, 64 rotary cylinder pedestals, 65 rotary cylinders one, 66 slide plates, 67 oil cylinders two, 68 guide rails two, 69Horizontal guide rail bracket, 610 angling cylinders two, 611 face end supports, 612 angling cylinders three, 613 clamp systems, 614 supports two,615 clamping cylinders, 616 idler wheels, 617 support plates；71 correcting clamping devices, 72 hydraulic pipe wrenches, 73 upright guide rails, 74 levels are ledRail, 75 mounting brackets, 76 slide plate front and back supports, 77 slide plate upper and lower brackets, 78 move up and down bracket, 79 vertical cylinders, 710 jack-up oilCylinder；81 elevator bodies, 82 swing seats, 83 swing seat axis, 84 connecting plates, 85 supports three, 86 bent plates, 87 swing arms, 88 connecting rods, 89 connectConnect block, 810 hydraulic cylinders, 811 mounting bases, 812 curved booms；91 pedestals, 92 conveyer arms, 93 conveying hands, 94 oil pipe baffles, 95 transmissionDevice, 96 oscillating oil cylinders, 97 elevating rams, 98 linear guides, 99 transmission brackets, 910 conveying rollers, 911 hydraulic motors, 912Mounting bracket.
Specific embodiment
The utility model is specifically described with reference to the accompanying drawings and embodiments.
Fig. 1 show the structural schematic diagram of the utility model.
The utility model provides a kind of petroleum well workover Work robot, including base device I, guide device II, large armDevice III, swing seat transmitting device IV, measuring motion V and hydraulic control system.
Fig. 3 show the structural schematic diagram of the utility model base device.
The base device I includes pedestal 1, hydraulic support leg 2, walking mechanism 3, rotating hydraulic supporting leg 4, large arm mounting base5, correcting support 6, large arm support 7, support rotating disk 8, correcting installation pedestal 9 and the long mounting bracket 10 of survey, pedestal 1 are rectangleFrame structure is equipped with large arm mounting base 5 and large arm support 7 in the head end of pedestal 1, and big arm assembly III is pacified by large arm mounting base 5On base device I, pass through 7 support of large arm support when big arm assembly III is folded；It is led being equipped at large arm mounting base 5Positive installation pedestal 9 and correcting support 6, guide device II is mounted on base device I by correcting installation pedestal 9, guide devicePass through 6 support of correcting support when II is folded；The big arm assembly III and guide device II is equipped with hydraulic cylinder and is connected thereto,90 ° of swings between horizontal-vertical can be achieved in big arm assembly III and guide device II under the driving of hydraulic cylinder；The pedestal 1Tail end be equipped with support rotating disk 8 and survey long mounting bracket 10, measuring motion installation is surveyed in long mounting bracket 10；The pedestal 1Tail end on front side of be equipped with rotating hydraulic supporting leg 4, be equipped with hydraulic support leg 2 in the corresponding position of pedestal 1 its excess-three；In rear sideAt least two rows are provided between two hydraulic support legs 2 and between the rotating hydraulic supporting leg 4 and hydraulic support leg 2 of front sideWalk mechanism 3；The middle part and tail portion that the swing seat transmitting device is arranged in 1 front side of pedestal, is located at pedestal 1；The hydraulic controlSystem processed controls base device I, guide device II, big arm assembly III, swing seat transmitting device IV, measuring motion V movement.
Fig. 4 show the structural schematic diagram of the utility model hydraulic support leg.
The hydraulic support leg 2 includes column 21, guide sleeve 22, nut seat 1, screw rod 24 and spiral lift 25, instituteIt states 21 outer surface of column and is welded with a plurality of gib block 27, top is equipped with erecting bed 28；22 medial surface of guide sleeve is equipped withGuide rail, 22 sets of guide sleeve is in 21 outside of column and can slide up and down along column 21；Spiral lift 25 and hydraulic motor are fixed onOn the erecting bed 28 at 21 top of column, one 23 side of nut seat and guide sleeve 22 are fixed, and the other side is connect with pedestal 1；It is described verticalClosure plate is welded in 21 bottom of column, is equipped with threaded hole among closure plate, 21 bottom of column is equipped with spherical surface pedestal 26 by the threaded hole.
Fig. 5 show the structural schematic diagram of the utility model walking mechanism.
The walking mechanism 3 includes bracket 30, bottom plate 32, guide rail 33, sliding block 34 and oil cylinder 1, described 32 one end of bottom plateEquipped with oil cylinder seat 36, two sides are separately installed with sliding block 34, and the guide rail 33 is mounted on 30 two sides of the bottom of bracket, guide rail 33 and cunningThe cooperation sliding of block 34；The bracket 30 includes vertical plate 37, plate 38 and oil cylinder mounting rack 39, the installation of 39 end of oil cylinder mounting rackThere is head bracket 31, the cylinder body of the oil cylinder 1 is fixed on oil cylinder seat 36, and piston rod end is fixed on head bracket 31On；The vertical plate 37 is equipped with rack fixation hole, and bracket 30 is fixed on pedestal 1 by the rack fixation hole.
Fig. 6 show the structural schematic diagram of the utility model rotating hydraulic supporting leg.
The rotating hydraulic supporting leg 4 includes supporting leg 41, supporting leg fixed frame 42, supporting leg promotion oil cylinder 43, ram 44, supporting leg biographyMotivation structure 45, transmission case 46, lead screw 47, nut seat 2 48, secondary supporting leg 49, support 1, fixed pin shaft and active pin shaft, instituteSupporting leg 41 is stated to be connected as one with supporting leg fixed frame 42, supporting leg push 43 one end of oil cylinder be fixed in gantry base, the other end withSupporting leg fixed frame 42 connects；The supporting leg pushes oil cylinder 43 to be equipped with ram 44, and 44 end of ram is connect with supporting leg fixed frame 42,44 side of ram is equipped with rack gear 411；The supporting leg transmission mechanism 45 is arranged in transmission case 46, transmission case 46 by bolt withSupporting leg fixed frame 42 connects, and 46 lower part of transmission case and ram 44 cooperate, can be along ram under the driving of supporting leg transmission mechanism 4544 rack gears 411 are mobile；Nut seat 2 48 is connect with transmission case 46, and lead screw 47 and nut seat 2 48 cooperate, and 47 bottom of lead screw is equipped withSupport 1, support 1 is hinged by fixed pin shaft and secondary supporting leg 49, and secondary supporting leg 49 leads to after 180 ° of fixed pin shaft overturningAnother pin shaft hole for crossing active pin shaft and support 1 is fixed；The top of the lead screw 47 is equipped with tetragonal prism, passes through manual wrenchRotatable lead screw 47 rotates, and then secondary supporting leg 49 is driven to move up and down.
Fig. 7 show the structural schematic diagram of the utility model guide device.
The guide device includes correcting pedestal 51, correcting conduit 52, upper correcting 53, lower correcting 54, elevator 55 and hydraulicControl system, the correcting conduit 52 are telescopic structure, and 52 top of correcting conduit is provided with upper correcting 53, its underpartIt is provided with lower correcting 54；The top of the correcting conduit 52 is equipped with telescoping catheter 56 and elevating ram, can be incited somebody to action by elevating ramTelescoping catheter 56 gives rise to operating position；The top of the telescoping catheter 56 is equipped with pulley, and rope one end is led with setting in correctingSmall winch connection in pipe 52, the rope other end connect around pulley, with elevator 55；The bottom of the correcting conduit 52 is logicalIt crosses correcting pedestal 51 to be hinged on robot base, the correcting conduit 52 can be put under the driving of hydraulic cylinder between 0-90 °It is dynamic；The hydraulic control system controls it and acts upper correcting 53, lower correcting 54, the movement of elevator 55 and telescoping catheter 56.
Fig. 8 show the structural schematic diagram of correcting on the utility model.
The upper correcting 53 include upper correcting rail brackets 61, guide rail 1, revolution jar support 63, rotary cylinder pedestal 64,Rotary cylinder 1, slide plate 66, oil cylinder 2 67, guide rail 2 68, horizontal guide rail bracket 69, angling cylinder 2 610, face end support611, angling cylinder 3 612 and clamp system 613, the guide rail 1 are arranged on upper correcting rail brackets 61, rotary cylinder branchFrame 63 and rotary cylinder pedestal 64 are connect with guide rail 1 and can be moved up and down along guide rail 1 by sliding block；The rotary cylinder one65 are mounted on rotary cylinder pedestal 64, and slide plate 66 is connect by bracket with revolution jar support 63 and rotary cylinder 1, rotary cylinder one65 drive slide plates 66 can rotate horizontally 90 °；The slide plate 66 is equipped with guide rail 2 68, and horizontal guide rail bracket 69 passes through sliding block and leadsRail 2 68 connects, and 2 67 one end of oil cylinder is fixed on slide plate 66, and the other end is connect with horizontal guide rail bracket 69, in oil cylinder 2 67Drive lower horizontal guide rail bracket 69 that can move horizontally along slide plate 66；The end of the horizontal guide rail bracket 69 is equipped with angling cylinder two610, angling cylinder 2 610 connect with face end support 611 and face end support 611 can be driven to be rotated by 90 °；The face end support 611It is equipped with angling cylinder 3 612, angling cylinder 3 612 connect with clamp system 613 and clamp system 613 is driven to be rotated by 90 °；The clamp system 613 includes clamping cylinder 615, idler wheel 616, support plate 617 and support 2 614, and clamping cylinder 615 is fixedOn support 2 614, two 616 axis of idler wheel are flexibly connected by link mechanism with clamping cylinder 615, and clamping cylinder 615 drivesThe opening and closure of idler wheel 616, support plate 617 are arranged below idler wheel 616.
Fig. 9 show the structural schematic diagram of correcting under the utility model.
The lower correcting 54 includes correcting clamping device 71, hydraulic pipe wrench 72 and moves up and down bracket 78, it is described on move downDynamic its back side of bracket 78 is equipped with upright guide rail 73, and slide plate upper and lower bracket 77 is by sliding block and upright guide rail 73 and moves up and down bracket78 are slidably connected, and vertical cylinder 79 are equipped between bracket 78 and slide plate upper and lower bracket 77 moving up and down, vertical cylinder 79 drives slide plateUpper and lower bracket 77 is moved up and down along upright guide rail 73；The slide plate upper and lower bracket 77 is equipped with horizontal guide rail 74, branch before and after slide plateFrame 76 is slidably connected by sliding block and horizontal guide rail 74 with slide plate upper and lower bracket 77, is propped up before and after slide plate upper and lower bracket 77 and slide plateHorizontal cylinder is equipped between frame 76, horizontal cylinder driving slide plate front and back support 76 is moved horizontally along horizontal guide rail 74；Before and after the slide plateThe end of bracket 76 is equipped with workbench 75；The workbench 75 is equipped with linear guide and pedestal, and hydraulic pipe wrench 72 is fixed on workOn the pedestal of platform 75, correcting clamping device 71 is mounted on the pedestal of workbench 75 by jacking cylinder 710 and can jack up oilIt rises or lands along linear guide under the driving of cylinder 710；The bracket 78 that moves up and down is frame-shaped structure, is equipped with bottom plate and standsPlate, two sides are equipped with stiffener plate between bottom plate and vertical plate, and the back side of vertical plate is arranged in the upright guide rail 73；It is described to move up and downThe bottom of bracket 78 is fixed on correcting pedestal, can be manually rotated knot moving up and down to be equipped between 78 bottom of bracket and correcting pedestalStructure.
Figure 10 show the structural schematic diagram of the utility model elevator.
The elevator 55 includes elevator body 81, swing seat 82, swing seat axis 83, connecting plate 84 and hydraulic cylinder 810, described to hangCavity is equipped in the middle part of card main body 81, front and back vertical plate is in inverted T-shaped, and top is cross, and top and bottom are equipped with concentric oil tubesHole；Two swing seats 82 are connected in 81 cavity of elevator body by swing seat axis 83, and swing seat 82 and swing seat axis 83 are fixed by flat keyPosition can simultaneously be rotated with swing seat axis 83；Fixed there are two gripping sleeve on swing seat 82, gripping sleeve can be swung with swing seat 82；It is described to hangThe two sides of 81 front and back vertical plate of card main body are respectively equipped with support 3 85, and four bent plates 86 are separately mounted on support 3 85, bent plate 86Upper end be fixed on top cross side wall on；Connecting plate 84 is installed on the back vertical plate of the elevator body 81；Hydraulic cylinder 810Cylinder body is fixed on connecting plate 84, and hydraulic stem is connect with link mechanism, and end and the swing seat axis 83 of the link mechanism pass throughKey connection, 810 drive link mechanism of hydraulic cylinder rotation, the opening and closing of gripping sleeve are driven by swing seat axis 83；The elevatorThe side of main body 81 is equipped with curved boom mounting base 811, and 812 one end of curved boom is fixed in elevator body 81 by curved boom mounting base 811,The other end of curved boom 812 is fixed by rope and is moved up and down under the drive of rope；The link mechanism by link block 89,Two swing arms 87 and connecting rod 88 form, and 87 one end of swing arm is connected by key with swing seat axis 83, the other end and connecting rod 88One end is hinged, and the both ends of the other end and link block 89 of two connecting rods 88 are hinged；Hydraulic cylinder 810 is connect with link block 89.
Figure 11 show the structural schematic diagram of the utility model swing seat transmitting device.
The swing seat transmitting device IV includes pedestal 91, conveyer arm 92, conveying hand 93, transmitting device 95, oscillating oil cylinder96 and elevating ram 97, the pedestal 91 is in trench structure, including side plate, backboard and bottom plate, 92 one end of conveyer arm pass through strandAxis is mounted between the both side plate on 91 top of pedestal, and the other end is equipped with conveying hand 93, one end connection of the oscillating oil cylinder 96In 93 bottom of conveying hand close to conveyer arm 92, the other end is hinged on pedestal 91；The elevating ram 97 is arranged in pedestalIn 91 trench structure, upper end is connected with linear guide 98, and bottom end is mounted on the bottom plate of pedestal 91, and transmitting device 95 is fixed onThe top of linear guide 98；The transmitting device 95 includes transmission bracket 99, conveying roller 910 and hydraulic motor 911, the biographyDefeated bracket 99 includes bottom plate and vertical plate, and two sides are equipped with stiffener plate, and the transmission bracket 99 is fixed on straight line by bottom plate and leads98 top of rail, conveying roller 910 are mounted on transmission bracket 99 by transmission shaft, and hydraulic motor 911 is fixed on transmission shaft transmissionIt is connect on bracket 99 and with conveying roller 910.
The big arm assembly III includes large arm pendulous device and flexible mechanical arm device, and the large arm pendulous device includesSwing arm and big arm cylinder, the swing arm are two-part structure, and flexible mechanical arm device is mounted on its forearm end；The large arm pendulumDynamic device and the large arm pedestal being fixed on chassis be hinged, with the telescopic oscillating of big arm cylinder to horizontal or vertical position；It is describedForearm is cavity structure, is internally provided with manipulator oil cylinder, rack and pinion, and gear is connect with splined shaft by spline, flexibleManipulator is mounted on splined shaft, and manipulator oil cylinder pushing rack drives gearing, flexible manipulator can be with gearing；InstituteIt states manipulator oil cylinder and big arm cylinder is equipped with displacement sensor, control oil cylinder stroke.
The measuring motion V includes motion detection device and fixed test device, and the end of the measuring motion V is setIt is equipped with rod tube identity recognition device, it, being capable of effectively online recognition by reserving identification marking at sucker rod or tubing couplingThe identity of different sucker rods or oil pipe simultaneously puts different location, and is input to background computer system in real time, establishes oil well barPipe lifecycle management database.
The course of work of the utility model:
1 folded state:
The utility model is readily transported and stores when being in folded state, the work of big arm assembly and guide device in hydraulic cylinderUnder, it is in horizontality with base device, passes through large arm support and correcting support support (as shown in Figure 2).
2 unfolded states:
When the utility model preparation, under the action of hydraulic cylinder, guide device rises (as shown in figure 12), until reachingTo plumbness (as shown in figure 13).
3 working conditions: (as shown in figure 14) (as shown in figure 15) (as shown in figure 16) (as shown in figure 17) is (such as Figure 18 instituteShow) (as shown in figure 19)
When utility model works, mobile measuring motion, fixed measuring motion, elevator return to origin position；Swing seat transmissionPipe is swung to lift location and is sent at measuring motion detection switch by device, is completed oil pipe and is surveyed length；Big arm assembly 3 is from crawlPipe crawl is walked in position, is jacked up by the big arm cylinder 34 of the rotation of flexible mechanical arm device 32 and big arm assembly 3, pipe is erectedIt stands in Hoisting Position；Then elevator 8 starts, and pipe is sent into well head by the guide steel wire rope on guide device 2 by elevator 8.
For the utility model compared with the petroleum well workover Work robot of the prior art, structure is more compact, reasonable, reliable, solutionThe problems such as live labor intensity of having determined is big, well workover low efficiency, and energy consumption is high, be easy to cause pollution environment；Realize well workover workIndustry automation.The utility model occupied area is small, and tossing well head is flexible, and high degree of automation greatly improves the effect of well workoverRate.
The utility model the embodiment above, is merely illustrative, be not it is only, it is all in the scope of the utility modelOr the change in equivalent the scope of the utility model is surrounded by the utility model.