Patent ID: 12234692

REFERENCE SIGNS

1—automated equipment for drilling and workover operations of oil field;10—workover rig;20—derrick floor;30—power catwalk;40—elevator;50—monkey-board string automatic placement apparatus;60—slip;70—oil field workover operation device;80—buckling apparatus;90—derrick floor pipe handling manipulator;100—driller centralized control operating apparatus;110—hydraulic station;1000—string;10100—derrick;20100—first derrick floor;20110—second derrick floor;20120—third derrick floor;20130—string storage portion;30100—mechanical system;30110—hydraulic system;30120—electrical system;30101—base;30102—hoisting mechanism;30103—transporting mechanism;30104—loading and unloading mechanism;301010—bracket assembly;301011—jack leg;301020—front rotating arm;301021—rear rotating arm;301022—hoisting hydraulic cylinder;301030—bearing platform;301031—secondary telescoping mechanism;301032—turnover trough;301033—sliding shoe trough;301034—secondary telescoping hydraulic cylinder;301035—sliding shoe hydraulic cylinder;301036—turnover hydraulic cylinder;301040—loading frame;301041—rotating arm;301042—loading hydraulic cylinder;40100—main body;40110—valve;40120—latch;40130—bushing;40140—turnover mechanism;50100—monkey board and fingerboard mechanism;50110—electrical control box;50120—jaw opening mechanism;50130—monkey board;50140—monkey-board manipulator;50150—rotating mechanism of the monkey-board manipulator;50160—traveling drive mechanism;501401—clamping jaw arm;501402—middle guide track;501403—manipulator base;501404—jaw opening mechanism;501405—push rod mechanism;60100—slip housing;60110—slip assembly;60120—slip front stop;60130—first transmission rod;60140—connecting shaft;60150—drive member;60160—second transmission rod;601001—slip body lug;601101—slip insert;601102—slip bowl;601103—connecting lug;20100—first derrick floor;70110—derrick floor panel;70120—derrick floor bottom plate;70130—supporting column;70140—first cover plate;70150—second cover plate;70111—avoidance hole;70200—lifting apparatus;70210—platform base;70220—guide stand column;70230—lifting platform;70240—lifting motor;70250—lead screw;70260—angular transmission box;70270—coupling;70280—worm gear mechanism;70231—guide cylinder;70232—track;70310—translation drive cylinder;70320—movable trolley;70400—screwing on and off apparatus;70410—rotating mechanism;70420—lifting fine-tuning mechanism;70430—telescoping mechanism;70440—screwing on and off mechanism;70421—lifting guide track;70422—lifting pulley;70423—rack;70424—gear;70425—lifting motor;70431—scissor-type cross component;70432—telescoping hydraulic cylinder;70441—bracket;70442—cantilever;70443—shifting mechanism;70444—hydraulic clamp;700100—hydraulic clamp body;700200—floating deflection device;700210—floating mounting frame;700211—tackle;700220—spring sleeve;700230—floating barrel fixing seat;700231—sliding frame;700232—stand column;700240—pin shaft;700300—movable bracket;700310—telescoping boom;700320—lifting pulley;700330—transportation base;700400—tension spring;80100—slip component;80110—fixing seat;80130—positioning plate;80200—drive member;80300—pipe centralizing component;80310—pipe centralizing arm;80311—transmission arm;80312—supporting arm;80320—pipe centralizing hand;80321—clamping platform;80322—semi-cylindrical barrel;80323—semi-horn barrel;80400—connecting rod;90100—trolley feeding mechanism;90110—feeding trolley;90120—first holding plate;90130—supporting framework;90200—base;90210—first base;90211—first clamping member;90220—second base;90221—second clamping member;90230—track;90300—rotating mechanism;90310—rotating base;90320—rotating component;90321—supporting frame;90322—second holding plate;90330—decelerator;90340—fourth drive member;90350—hydraulic transducer;90400—boom mechanism;90410—supporting boom;90420—telescoping boom;90430—third drive member;90500—clamping jaw mechanism;90510—second drive member;90520—first link rod;90530—second link rod;90540—third link rod;90550—curved rod;90560—roller;90600—first drive member;90700—buffer mechanism;90710—buffer rod;90720—supporting rod;90730—supporting base;90731—first supporting base;90732—second supporting base;90740—buffer spring;90750—induction rod;90760—proximity switch;90770—locking nut.

DETAILED DESCRIPTION OF EMBODIMENTS

In order to make objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to drawings in the embodiments of the present disclosure, and apparently, the embodiments described are some but not all embodiments of the present disclosure. Generally, components in the embodiments of the present disclosure, as described and shown in the drawings herein, may be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the claimed scope of the present disclosure, but merely illustrates chosen embodiments of the present disclosure. All of other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without using any inventive efforts shall belong to the scope of protection of the present disclosure.

It should be noted that similar reference signs and letters represent similar items in the following drawings, therefore, once a certain item is defined in one drawing, it is not needed to be defined or explained in subsequent drawings.

In the description of the present disclosure, it should be noted that orientation or positional relationships indicated by the terms such as “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, and “outer” are based on orientation or positional relationships as shown in the drawings, or orientation or positional relationships of a product of the present disclosure conventionally placed when in use, merely for facilitating describing the present disclosure and simplifying the description, rather than indicating or suggesting that related apparatuses or elements have to be in the specific orientation, or configured or operated in a specific orientation, therefore, they should not be construed as limiting the present disclosure. Besides, the terms such as “first”, “second”, and “third” are merely for distinguishing the description, but should not be construed as indicating or implying importance in the relativity.

Besides, the terms “horizontal”, “vertical” and the like do not mean that the parts are required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, by “horizontal” it merely means that a structure is more horizontal in comparison with “vertical”, rather than being completely horizontal, while the structure can be slightly inclined.

In the description of the present disclosure, it should be further noted that, unless otherwise specifically regulated and defined, the terms “set”, “install”, “link”, and “connect” should be understood in a broad sense, for example, a connection may be a fixed connection, a detachable connection, or an integrated connection; it may be a mechanical connection or an electrical connection; it may be direct joining or indirect joining through an intermediary, and it also may be inner communication between two elements. For a person ordinarily skilled in the art, the specific meanings of the above-mentioned terms in the present disclosure could be construed in accordance with specific circumstances.

Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the drawings. The following embodiments and the features in the embodiments may be combined with each other without conflict.

First, automated equipment1for drilling and workover operations of oil field according to an exemplary embodiment of the present disclosure is illustrated with reference toFIG.1andFIG.2.FIG.1is a structural schematic perspective diagram of the automated equipment1for drilling and workover operations of oil field provided in an embodiment of the present disclosure.FIG.2is a structural schematic enlarged perspective diagram of the automated equipment1for drilling and workover operations of oil field provided in an embodiment of the present disclosure.

As shown inFIG.1andFIG.2, the automated equipment1for drilling and workover operations of oil field according to an exemplary embodiment of the present disclosure can be used to realize a lifting operation and a lowering operation of a string1000(shown inFIG.3BandFIG.4AtoFIG.4B) at a wellhead, wherein the string1000may have a first end portion and a second end portion. In an exemplary embodiment shown, the automated equipment1may include a workover rig10, a derrick floor20, an elevator40, a monkey-board string automatic placement apparatus50, a slip60, an oil field workover operation device70, a power clamp700, and a derrick floor pipe handling manipulator90.

In an exemplary embodiment of the present disclosure, the workover rig10may have a derrick10100. In an exemplary embodiment shown, the workover rig10can be arranged along a front-rear direction of the automated equipment1. In some embodiments, the derrick10100can be disposed at a rear end portion of the workover rig10and aligned with the wellhead.

In an exemplary embodiment shown, the derrick floor20can be placed on the ground and disposed at the wellhead. In some embodiments of the present disclosure, the derrick floor20can be disposed adjacent to the derrick10100. The derrick floor20can be provided with a string storage portion20130for receiving the first end portion of the string. In some optional embodiments, the string storage portion20130may be a recess in an upper portion of the derrick floor20. By way of example and not limitation, the string storage portion20130may be a separate part arranged on an upper surface of the derrick floor20. In addition, a plurality of string storage portions20130can be provided, the plurality of string storage portions20130can be divided into one or more groups, and each group can be disposed at a different position of the derrick floor20. In an optional embodiment of the present disclosure, the derrick floor20may include a first derrick floor20100, a second derrick floor20110, and a third derrick floor20120, the slip60, the oil field workover operation device70, and the derrick floor pipe handling manipulator90can be mounted on the first derrick floor20100, and the string storage portions20130can be located on the second derrick floor20110.

According to an embodiment shown in the present disclosure, the elevator40can be connected to the derrick10100, and the elevator40can be configured to move up and down along the derrick10100above the wellhead. In some exemplary embodiments, the elevator40can be configured to lift up and lower down the string along the derrick10100by clamping the string1000.

In an exemplary embodiment of the present disclosure, the monkey-board string automatic placement apparatus50can be mounted on the derrick10100and positioned above the derrick floor20. According to some embodiments of the present disclosure, the monkey-board string automatic placement apparatus50may include a fingerboard bank for receiving the second end portion of the string. The monkey-board string automatic placement apparatus50can be configured to push the second end portion of the string into the fingerboard bank or take the second end portion of the string from the fingerboard bank.

In an exemplary embodiment shown, the slip60can be mounted on the derrick floor20and positioned above the wellhead, the slip60can be configured to be switchable between a closed position where the slip60clamps the string so as to prevent the string1000from moving through, and an opened position where the slip60is opened so as to allow the string1000to move through.

In some exemplary embodiments of the present disclosure, the oil field workover operation device70can be mounted on the derrick floor20and positioned on one side of the wellhead in a left-right direction of the automated equipment1.

In an exemplary embodiment shown, the oil field workover operation device70can be connected to the power clamp700, and the power clamp700can be configured to screw on and off the string1000. It should be indicated that in some optional embodiments of the present disclosure, the power clamp700may be an integrated hydraulic clamp, but is not limited thereto, for example, the power clamp700can be electrically driven.

In an embodiment shown in the present disclosure, the derrick floor pipe handling manipulator90can be mounted on the derrick floor20, and the derrick floor pipe handling manipulator90and the oil field workover operation device70can be positioned on two opposite sides of the wellhead in a left-right direction of the automated equipment1. The derrick floor pipe handling manipulator90can be used to grab the string1000on which the lifting operation or the lowering operation is to be performed and convey the string1000.

According to an exemplary embodiment of the present disclosure, the automated equipment1further may include a buckling apparatus80, wherein the buckling apparatus80can be mounted on the derrick floor20and can be positioned around the wellhead, and the buckling apparatus80can be used to realize buckling of the strings1000. In some embodiments, the buckling apparatus80can be mounted on the first derrick floor20100.

According to the automated equipment1of an exemplary embodiment of the present disclosure, in the lowering operation of the string1000, the monkey-board string automatic placement apparatus50grabs the second end portion of the string1000on which the lowering operation is to be performed, and takes the string1000from the fingerboard bank by grasping the second end portion of the string1000and conveys the string to the elevator40; when the string1000is conveyed to the elevator40, the elevator40clamps the string1000and the monkey-board string automatic placement apparatus50releases the string1000; with the elevator40clamping the string1000, the derrick floor pipe handling manipulator90grabs the first end portion of the string1000; with the string1000being clamped by the elevator40and grasped by the derrick floor pipe handling manipulator90, the elevator40lifts up the string1000so that the first end portion of the string1000moves away from the string storage portion20130; the derrick floor pipe handling manipulator90conveys the string1000to the buckling apparatus; after the buckling apparatus80realizes the buckling of the strings1000, the elevator40lowers down the string1000so that the string1000comes into contact with a collar located at the slip60; the derrick floor pipe handling manipulator90releases the string1000, and the power clamp700connected to the oil field workover operation device70screws on the string1000; after the string1000is screwed on, the elevator40is lifted up for a certain distance, and then the slip60is opened, and the elevator40lowers down the string1000, so that the lowering operation of the string1000is realized.

According to the automated equipment1of an exemplary embodiment of the present disclosure, in the lifting operation of the string1000, the elevator40clamps the second end portion of the string1000on which the lifting operation is to be performed; the slip60is opened; the elevator40lifts up the string1000so as to expose the collar located at the slip60; after the collar is exposed, the slip60is closed, and the power clamp700connected to the oil field workover operation device70screws off the string1000; after the string1000is screwed off, the derrick floor pipe handling manipulator90grabs the first end portion of the string1000screwed off; with the string1000being clamped by the elevator40and grasped by the derrick floor pipe handling manipulator90, the elevator40lifts the string1000up so that the string1000is disengaged from the collar; the derrick floor pipe handling manipulator90conveys the disengaged string1000to above the string storage portion20130; the elevator40lowers the string1000down, until the first end portion of the string1000is placed in the string storage portion20130; the monkey-board string automatic placement apparatus50grabs the second end portion of the string1000and pushes the second end portion of the string1000into the fingerboard bank, so as to realizing the lifting operation of the string1000.

The automated equipment1for drilling and workover operations of oil field according to the exemplary embodiments of the present disclosure can at least partially realize unmanned drilling and workover operations, significantly improve operation efficiency of the drilling and workover operations, greatly reduce manual operation strength, and improve safety factor.

According to some exemplary embodiments of the present disclosure, the automated equipment1further may include a power catwalk30positioned on the ground. By way of example and not limitation, the power catwalk30and the workover rig10can be positioned on two opposite sides of the wellhead in the front-rear direction of the automated equipment1. In some embodiments, the power catwalk30can be used to transport the string from the ground to the derrick floor20and to transport the string from the derrick floor20to the ground.

In an optional embodiment of the present disclosure, the automated equipment1further may include a driller centralized control operating apparatus100. Exemplarily, the driller centralized control operating apparatus100can be fixed on the derrick floor20and positioned on the left of the derrick floor pipe handling manipulator90in the left-right direction of the automated equipment1. In an exemplary embodiment, the driller centralized control operating apparatus100can be configured to realize the lowering operation and the lifting operation of the automated equipment1on the string1000by sending instructions to the automated equipment1.

In some embodiments, the automated equipment1further may include a hydraulic station110, wherein the hydraulic station110can be mounted on the derrick floor20and located below the driller centralized control operating apparatus100, and the hydraulic station110can be used to provide power to the automated equipment1.

In an exemplary embodiment shown in the present disclosure, the driller centralized control operating apparatus100and the hydraulic station110can be mounted on the third derrick floor20120.

Next, some states of the automated equipment1for drilling and workover operations of oil field provided in embodiments of the present disclosure in processes of realizing the lifting operation and the lowering operation of the string1000will be described in detail with reference toFIG.3toFIG.4C.

FIG.3AandFIG.3Brespectively are structural schematic perspective diagrams of the automated equipment1for drilling and workover operations of oil field provided in an embodiment of the present disclosure in an initial state and a preparation state. InFIG.3A, the slip60is opened, the oil field workover operation device70and the power clamp700connected to the oil field workover operation device70are located below the derrick floor20, and the derrick floor pipe handling manipulator90is located in a position away from the slip60. InFIG.3B, the slip60is opened, the oil field workover operation device70is located above the derrick floor20, and the derrick floor pipe handling manipulator90is located in a position close to the slip60.

FIG.4AtoFIG.4Brespectively are structural schematic perspective diagrams of the automated equipment1for drilling and workover operations of oil field provided in an embodiment of the present disclosure in an operation state. InFIG.4A, the slip60is closed, the oil field workover operation device70and the power clamp700connected to the oil field workover operation device70are located above the derrick floor20, and the derrick floor pipe handling manipulator90is located in a position close to the slip60and grabs, in a position facing the slip60, the string1000located at the slip60. InFIG.4B, the slip60is closed, the oil field workover operation device70and the power clamp700connected to the oil field workover operation device70are located above the derrick floor20, and the derrick floor pipe handling manipulator90is located in a position close to the slip60and grabs, in a position facing back to the slip60, the string1000located at the string storage portion20130.

In some optional embodiments of the present disclosure, the oil field workover operation device70can be disposed on the derrick floor20in a manner of being movable between a raised position (e.g., as shown inFIG.3B) where the oil field workover operation device70extends out above the derrick floor20and a retreated position (e.g., as shown inFIG.3A) where the oil field workover operation device70retreats below the derrick floor20. In an exemplary embodiment, in the raised position of the oil field workover operation device70, the oil field workover operation device70can move between an extended state and a retracted state, wherein in the extended state of the oil field workover operation device70, the power clamp700connected to the oil field workover operation device70can be positioned close to the wellhead so as to screw on and off the string1000positioned at the wellhead, and in the retracted state of the oil field workover operation device70, the power clamp700connected to the oil field workover operation device70can be positioned away from the wellhead. In some embodiments, in the retreated position of the oil field workover operation device70, the oil field workover operation device70can be in the retracted state of the oil field workover operation device70.

In an exemplary embodiment of the present disclosure, the derrick floor pipe handling manipulator90can be configured to move between a first position away from the slip60and a second position close to the slip60, in the second position of the derrick floor pipe handling manipulator90, the derrick floor pipe handling manipulator90can be used to grab the string1000, and the derrick floor pipe handling manipulator90can rotate between a facing position facing the slip60and a back position facing back to the slip, and in the facing position of the derrick floor pipe handling manipulator90, the derrick floor pipe handling manipulator90can be used to grab the string1000located at the slip60, and in the back position of the derrick floor pipe handling manipulator90, the derrick floor pipe handling manipulator90can be used to grab the string located at the string storage portion20130.

Next, various apparatuses used in the automated equipment1for drilling and workover operations of oil field provided in embodiments of the present disclosure will be described in detail with reference toFIG.5toFIG.47.

Now, the power catwalk30provided in embodiments of the present disclosure will be described in detail with reference toFIG.5toFIG.9.

Referring first toFIG.5,FIG.5is a structural schematic perspective diagram of the power catwalk30provided in an embodiment of the present disclosure. In an exemplary embodiment shown in the present disclosure, the power catwalk30and the workover rig10are positioned on two opposite sides of the wellhead in the front-rear direction of the automated equipment1. In some embodiments of the present disclosure, the power catwalk30can be used to transport the string from the ground to the derrick floor20and transport the string from the derrick floor20to the ground. The power catwalk30may include a mechanical system30100, a hydraulic system30110, and an electrical system30120, wherein the mechanical system30100may include a base30101, a hoisting mechanism30102, a transporting mechanism30103, and a loading and unloading mechanism30104.

Referring now toFIG.6,FIG.6is a structural schematic perspective diagram of the base30101of the power catwalk30provided in an embodiment of the present disclosure. According to some exemplary embodiments of the present disclosure, the base30101may include a bracket assembly301010and a jack leg301011, wherein the bracket assembly301010is foundation of the whole set of device, for connecting and supporting moving parts above; the jack leg301011can be hinged with the bracket assembly301010, and by adjusting height of the jack leg301011, levelling of the base30101can be realized, ensuring that the device operates more steadily in the operation state, and meanwhile, the jack leg301011can be folded or disassembled in a transportation process, facilitating the transportation of the device.

Referring now toFIG.7,FIG.7is a structural schematic perspective diagram of the hoisting mechanism30102of the power catwalk30provided in an embodiment of the present disclosure. In some embodiments of the present disclosure, the hoisting mechanism30102may include a front rotating arm301020, a rear rotating arm301021, and a hoisting hydraulic cylinder301022, the hoisting mechanism30102can be driven hydraulically, and by controlling hoisting and lowering speeds of the hydraulic cylinder301022, quick rising and slow lowering of hoisting action can be realized, such that the apparatus moves more steadily, ensuring safe and reliable operations.

Referring now toFIG.8,FIG.8is a structural schematic perspective diagram of the transporting mechanism30103of the power catwalk30provided in an embodiment of the present disclosure. In an exemplary embodiment of the present disclosure, the transporting mechanism30103may include a bearing platform301030, a secondary (two-stage) telescoping mechanism301031, a turnover trough301032, a sliding shoe trough301033, a secondary telescoping hydraulic cylinder301034, a sliding shoe hydraulic cylinder301035, a turnover hydraulic cylinder301036, and so on, wherein the secondary telescoping hydraulic cylinder301034can drive the secondary telescoping mechanism301031to move back and forth along a guide track of the bearing platform301030, the sliding shoe hydraulic cylinder301035drives the sliding shoe trough301033to move back and forth along the turnover trough301032, and the turnover hydraulic cylinder301036can drive the turnover trough301032to tilt left and right, and the three act in sequence to realize horizontal transportation of the string.

Referring now toFIG.9,FIG.9is a structural schematic diagram of the loading and unloading mechanism30104of the power catwalk30provided in an embodiment of the present disclosure. According to some embodiments of the present disclosure, the loading and unloading mechanism30104may include a rotating arm assembly, a loading frame301040, and an unloading transition bridge, and the rotating arm assembly may include a rotating arm301041and a loading hydraulic cylinder301042. During loading, the loading hydraulic cylinder301042can fully extend out, and push the rotating arm301041to turn upwards to pick up the string, and the rotating arm301041then cooperates with the loading frame301040so that the string rolls along an upper surface down into the transporting mechanism30103, completing an action of the string entering the transporting mechanism30103. During unloading, the rotating arm301041is used in cooperation with the unloading transition bridge so that the string rolls along the upper surface down into a string handling frame.

In some exemplary embodiments, an action procedure of the power catwalk30provided in the embodiments of the present disclosure can be described as follows.

The string loading procedure is as follows:1) the turnover hydraulic cylinder301036acts, to push the turnover trough301032and the sliding shoe trough301033to turn from a middle position to a loading station, to prepare for receiving a string;2) the loading hydraulic cylinder301042acts, to make the rotating arm301041hoist and pick up the string, and the string rolls along the rotating arm301041and an upper surface of the loading frame to a transition rod of the turnover trough301032;3) the turnover hydraulic cylinder301036acts, to make the turnover trough301032to turn from the loading station to the middle position, and the string rolls from the turnover trough301032into the sliding shoe trough301033;4) the loading hydraulic cylinder301042acts, to lower the rotating arm301041to the lowest position, preparing for picking up the pipe next time;5) the hoisting hydraulic cylinder301022acts, to drive the hoisting mechanism30102to hoist the transporting mechanism30103to a predetermined height;6) the secondary telescoping hydraulic cylinder acts, to drive the secondary telescoping mechanism to move forwards along the guide track of the bearing platform to a predetermined position;7) the sliding shoe hydraulic cylinder acts, to drive the sliding shoe trough301033to move forwards along the turnover trough301032to a predetermined position (at this time, the string has been transported above the wellhead);8) after the string is lifted away from the sliding shoe trough301033by the elevator40, the sliding shoe hydraulic cylinder acts, to drive the sliding shoe trough301033to move backwards to return to an initial position;9) the secondary telescoping hydraulic cylinder acts, to drive the secondary telescoping mechanism to move backwards along the guide track of the bearing platform to an initial position; and10) the hoisting hydraulic cylinder301022acts, to drive the hoisting mechanism30102to lower the transporting mechanism30103down to a horizontal state.

So far, the whole string loading procedure is completed.

The string lowering procedure is as follows:1) the hoisting hydraulic cylinder301022acts, to drive the hoisting mechanism30102to hoist the transporting mechanism30103to a predetermined height;2) the secondary telescoping hydraulic cylinder acts, to drive the secondary telescoping mechanism to move forwards along the guide track of the bearing platform to a predetermined position;3) the sliding shoe hydraulic cylinder acts, to drive the sliding shoe trough301033to move forwards along the turnover trough301032to a predetermined position (at this time, the transporting mechanism30103has reached the front of the wellhead and waits for receiving a pipe);4) after the elevator40completely lowers the string down into the sliding shoe trough301033, the sliding shoe hydraulic cylinder acts to drive the sliding shoe trough301033to move backwards along the turnover trough301032to the initial position;5) the secondary telescoping hydraulic cylinder acts, to drive the secondary telescoping mechanism to move backwards along the guide track of the bearing platform to the initial position;6) the hoisting hydraulic cylinder301022acts, to drive the hoisting mechanism30102to lower the transporting mechanism30103down to a horizontal state;7) the loading hydraulic cylinder301042acts, to drive the rotating arm301041to a certain height, and the rotating arm301041cooperates with the unloading transition bridge to provide a rolling ramp for the string;8) the turnover hydraulic cylinder301036acts, to push the turnover trough301032to tilt to an unloading station, and the string rolls into the string handling frame from the sliding shoe trough301033along the rotating arm301041and the unloading transition bridge; and9) the loading hydraulic cylinder301042acts, to lower the rotating arm301041down to the lowest position, preparing for picking up the pipe next time.

So far, the string lowering procedure is completed.

Next, the elevator40provided in an embodiment of the present disclosure will be described in detail with reference toFIG.10toFIG.11.FIG.10is a structural schematic front view of the elevator40provided in an embodiment of the present disclosure.FIG.11is a structural schematic top view of the elevator40provided in an embodiment of the present disclosure.

In an exemplary embodiment shown, the elevator40may include an elevator main body40100and a bushing40130, and the elevator main body can be overturned. In some embodiments, the elevator40further may include a valve40110, a latch40120, and a turnover mechanism40140.

When the elevator40needs to clamp the string, the latch40120and the valve40110are opened in sequence, a hydraulic oil cylinder of the turnover mechanism acts, and the elevator main body40100is tilted. The string enters the bushing40130of the elevator40, the latch40120and the valve40110are closed in sequence, and the string is clamped in the elevator40and travels up with a traveling block hook.

Next, the monkey-board string automatic placement apparatus50provided in embodiments of the present disclosure will be described in detail with reference toFIG.12toFIG.15.

Referring first toFIG.12andFIG.13,FIG.12is a structural schematic diagram of the monkey-board string automatic placement apparatus50provided in an embodiment of the present disclosure, andFIG.13is a top view of the monkey-board string automatic placement apparatus50shown inFIG.12. In an exemplary embodiment shown in the present disclosure, the monkey-board string automatic placement apparatus50can be installed on the derrick10100and positioned above the derrick floor20. In some exemplary embodiments, the monkey-board string automatic placement apparatus50may include a monkey board and fingerboard mechanism50100, an electrical control box50110, a jaw opening mechanism501404, a traveling trolley, a gear and rack transmission mechanism, a rotation decelerating mechanism, and a double-stroke telescoping mechanism. The monkey board and fingerboard mechanism50100may include a fingerboard bank for receiving the second end portion of the string. There may be a plurality of fingerboard banks, and positions of the fingerboard banks are corresponding to the positions of the string storage portions20130on the derrick floor20, so that when the first end portion of the string is located in the string storage portion20130and the second end portion of the string is located in the corresponding fingerboard bank, the string is substantially vertically directed. A rack guide track is mounted on a monkey board of the monkey board and fingerboard mechanism50100, and an automatic baffle is provided at an end portion of the fingerboard. In some embodiments, the monkey board and fingerboard mechanism50100may include a monkey-board manipulator50140, and the monkey board manipulator50140can be used for pushing the second end portion of the string into the fingerboard bank or taking the second end portion of the string out from the fingerboard bank. A structure of the monkey-board manipulator50140is shown inFIG.14andFIG.15.

As shown inFIG.14, the monkey-board manipulator50140may include a clamping jaw arm501401, a middle guide track501402, a manipulator base501403, and a traveling trolley. As shown inFIG.15, the clamping jaw arm501401can be provided with the jaw opening mechanism501404, and the jaw opening mechanism501404can realize opening and closing of a clamping jaw of the manipulator through a servo motor and a decelerator-driven screw-nut mechanism. In an exemplary embodiment of the present disclosure, a push rod mechanism501405can be provided below the clamping jaw arm501401, and the push rod mechanism501405can detect whether a string exists in the clamping jaw by means of a rear-end induction sensor. An S-shaped guide track can be disposed on the middle guide track501402, and the clamping jaw arm501401and a roller on the manipulator base501403can slide in the S-shaped guide track. An electrical push cylinder can be mounted on the manipulator base501403, and the electrical push cylinder is a drive element configured to drive a telescoping movement of the manipulator. The traveling trolley may include a rotation decelerator and a traveling drive mechanism50160. In some embodiments, three parts, i.e., the clamping jaw arm501401, the middle guide track501402, and the manipulator base501403, can be connected by a double-stroke mechanism of chain and chain wheel. The manipulator base501403can be connected to a rotating mechanism50150of the monkey-board manipulator50140.

An action procedure of the monkey-board string automatic placement apparatus50can be divided into a lifting procedure and a lowering procedure.

In the string lifting procedure, the monkey-board manipulator50140waits at a rear end of the monkey board, and after the elevator40lifts up the string in place, the traveling drive mechanism50160on the manipulator50140can drive a gear to rotate, to be in meshing transmission with rack on the monkey board, and drive the manipulator50140to move to the front of the monkey board. After the manipulator50140reaches a target position, the electrical push cylinder pushes the manipulator50140to extend into the elevator40and grab the string, and after the push rod mechanism501405below the clamping jaw arm501401touches the string, the push rod is compressed and moves back, until the induction sensor at the rear of the push rod mechanism501405sends an in-place signal, the electrical push cylinder stops working, and the manipulator50140stops extending out. At this time, the clamping jaw is driven by the jaw opening mechanism501404to be closed. After the clamping jaw is closed, the manipulator50140can be driven by the electrical push cylinder to retract to a set position, after that, the rotating mechanism50150of the monkey-board manipulator, driven by the servo motor, drives an upper part of the manipulator to rotate by 90°, and after the manipulator rotates in place, the traveling trolley is driven by the traveling drive mechanism50160to travel backwards along the monkey board to a target fingerboard position. After the traveling trolley reaches the target fingerboard position, the automatic baffle of the fingerboard is opened, the manipulator50140extends out and pushes the string into the fingerboard bank, and meanwhile the automatic baffle is closed. After the manipulator50140pushes the string in place, the clamping jaw is opened, and after retracting, the manipulator rotates reversely by 90° to reset and wait for the next string.

In the string lowering procedure, the monkey-board manipulator50140waits at the rear end of the monkey board, and after the elevator40is in place, the manipulator50140can rotate by 90° (facing the target fingerboard bank), the electrical push cylinder drives the manipulator50140to extend out and take the string, and when the manipulator50140extends to a target string position, after the push rod mechanism501405below the clamping jaw arm501401touches the string, the push rod is compressed and moves back, until the induction sensor at the rear of the push rod mechanism501405sends an in-place signal, the electrical push cylinder stops working, and the manipulator50140stops extending out. At this time, the clamping jaw can be driven by the jaw opening mechanism501404to be closed. After the clamping jaw is closed, the manipulator50140is driven by the electrical push cylinder to retract to a set position, the traveling drive mechanism50160can drive the manipulator50140to travel forwards along the monkey board to a set position in a front section, and after the manipulator50140is in place, the rotating mechanism50150of the monkey-board manipulator drives the manipulator50140to rotate by 90°. After rotating in place, the manipulator50140extends out and puts the string into the elevator40, after the elevator40is closed, the clamping jaw of the manipulator is opened, after the clamping jaw is opened, the manipulator50140retracts, and after retracting in place, the manipulator50140travels backwards along the monkey board to a waiting position.

The slip60provided in an embodiment of the present disclosure will now be described in detail with reference toFIG.16andFIG.17.FIG.16is a structural schematic perspective view of the slip60provided in an embodiment of the present disclosure from a first viewing angle.FIG.17is a structural schematic perspective view of the slip60provided in an embodiment of the present disclosure from a second viewing angle.

According to an exemplary embodiment of the present disclosure, the slip60can be mounted on the derrick floor20and positioned above the wellhead, the slip60can be switched between a closed position where the slip60clamps the string so as to prevent the string from moving through, and an opened position where the slip60is opened so as to allow the string to move through.

As shown inFIG.16andFIG.17, in an embodiment shown in the present disclosure, the slip60may include a slip housing60100, a slip assembly60110, a slip front stop60120, a first transmission rod60130, a connecting shaft60140, a drive member60150, and a second transmission rod60160. In some embodiments of the present disclosure, the slip housing60100may include a slip body lug601001, and the slip body lug601001may have a hole for receiving the connecting shaft60140. The slip assembly60110may include a slip insert601101, a slip bowl601102, and a connecting lug601103, wherein the slip insert601101can be used to clamp the string, and the slip bowl601102is shrinkable and expandable.

In an exemplary embodiment shown, the slip front stop60120can be mounted on the slip housing60100, for example, fixed to the slip housing60100by a pin, for ease of disassembly. A cavity of the slip housing60100and an inner cavity of the slip front stop60120may jointly form a continuous tapered surface, to which the slip assembly60110is attached, an outer surface of the slip assembly60110can be shaped as a tapered surface matched with the tapered surface. The drive member60150can be connected to the slip assembly60110through the first transmission rod60130, the connecting shaft60140, the second transmission rod60160, and the connecting lug601103, so as to implement hoisting and lowering of the slip assembly60110through action of a piston rod of the drive member60150. The connecting shaft60140can pass through an inner hole of the first transmission rod60130and be fixed to the first transmission rod60130, and one end of the connecting shaft60140can be connected to the connecting lug601103through the second transmission rod60160. The drive member60150can be mounted on one side of the slip assembly60110and be placed at an angle to the horizontal plane. When the drive member60150acts, an action can be transmitted in sequence to the first transmission rod60130, the second transmission rod60160, the connecting shaft60140, and finally the slip assembly60110.

In cases where the slip60needs to be closed to clamp the string, after the string enters the slip assembly60110, the piston rod of the drive member60150can stretch so as to push the first transmission rod60130, so that the first transmission rod60130drives the slip insert601101in the slip assembly60110to clamp the string. As the string is being lowered down, the slip bowl601102can shrink towards center along the tapered surface inside the slip housing60100, thus realizing tight clamping of the string to prevent the string from moving through. In cases where the slip60needs to be opened to release the string, when the string is being lifted up, the piston rod of the drive member60150can be withdrawn, so that the first transmission rod60130and the second transmission rod60160drive the slip assembly60110to move, which makes the slip bowl601102to rise and open, and further causes the slip insert601101to release the string, thus realizing the release of the string to allow the string to move therethrough.

It should be indicated that the drive member60150in the embodiments of the present disclosure may be a hydraulic cylinder, but is not limited thereto.

Next, the oil field workover operation device70provided in embodiments of the present disclosure will be described in detail with reference toFIG.18toFIG.29.

Referring toFIG.18toFIG.20, the present embodiment provides an oil field workover operation device70, wherein the oil field workover operation device70may include the first derrick floor20100, a lifting apparatus70200, and a screwing on and off apparatus70400, wherein the first derrick floor20100may include a derrick floor panel70110, and an avoidance hole70111is formed in the derrick floor panel70110; the lifting apparatus70200can be mounted below the derrick floor panel70110, the lifting apparatus70200may include a platform base70210, a guide stand column group, a lifting platform70230, and a lifting drive mechanism, wherein the guide stand column group is fixedly connected between the platform base70210and the derrick floor panel70110; the lifting platform70230can be slidably connected to the guide stand column group; the lifting driving mechanism is in transmission connection with the lifting platform70230for driving the lifting platform70230to be lifted up and down along the guide stand column group; and the screwing on and off apparatus70400can be mounted on the lifting platform70230, and the lifting platform70230can drive the screwing on and off apparatus70400to extend out of or retreat to the avoidance hole70111.

For the oil field workover operation device70provided in the present embodiment, since the screwing on and off apparatus70400is mounted on the lifting platform70230, the lifting platform70230can drive the screwing on and off apparatus70400to be lifted up and down, so as to extend out of or retreat to the avoidance hole70111. Specifically, when in use, the screwing on and off apparatus70400can be made to extend out of the avoidance hole70111(specifically seeFIG.20) so as to facilitate use, and when not in use, the screwing on and off apparatus70400can be made to retreat to the avoidance hole70111(specifically seeFIG.18), facilitating storage and transportation. It can be seen that the oil field workover operation device70integrates the screwing on and off apparatus70400to the first derrick floor20100, then when in use, on-site installation is not required, and installation time is saved; meanwhile, overall transportation is realized, and the transportation is also relatively convenient.

Specifically, referring toFIG.18, the first derrick floor20100further may include a derrick floor bottom plate70120and a supporting column70130, wherein the supporting column70130is fixedly connected between the derrick floor panel70110and the derrick floor bottom plate70120, so that a space for mounting the lifting apparatus70200is formed therebetween.

In the present embodiment, referring toFIG.21, the lifting drive mechanism can be arranged in two groups and opposite to each other; the lifting drive mechanism may include a lifting motor70240, a transmission component, and a lead screw70250, wherein two groups of lead screws70250can be provided and arranged parallel to the guide stand column group, and the lifting motor70240can be connected to the two groups of lead screws70250respectively through the transmission component; the lifting platform70230can be in transmission connection with the lead screws70250, and the lifting motor70240can drive the lead screws70250to rotate through the transmission component, so as to make the lifting platform70230move along axes of the lead screws70250. With such configuration, the lifting platform70230can be allowed to be vertically lifted up and down, ensuring that the lifting platform70230moves steadily along the lead screws70250.

Specifically, referring toFIG.21andFIG.22, the transmission component may include an angular transmission box70260, a coupling70270, and a worm gear mechanism70280, wherein the angular transmission box70260can be in transmission connection with the lifting motor70240, and the angular transmission box70260is connected between two groups of couplings70270, and the couplings70270are arranged perpendicular to the lead screws70250; the worm gear mechanism70280can be provided in two groups, and each worm gear mechanism70280is in transmission connection between the coupling70270and the lead screw70250. With such configuration, synchronous rotation of the two groups of lead screws70250can be realized through one group of the angular transmission box70260and the lifting motor70240, which simplifies the overall structure, and meanwhile, converts the rotating movement in the horizontal direction into the rotating movement in the vertical direction through the worm gear mechanism70280, can effectively reduce overall height of the lifting apparatus70200(generally, by directly connecting the motor to a bottom end of the lead screw70250, the height can be made relatively high).

Optionally, referring toFIG.23, the guide stand column group may include four guide stand columns70220, and the four guide stand columns70220are arranged in a rectangular shape; the lifting platform70230may include two groups of guide cylinders70231and a track group fixedly connected between the two groups of guide cylinders70231; and the guide cylinders70231can be slidably sleeved on two guide stand columns70220located on the same side. In the above, the track group may include two tracks70232. With such configuration, a certain space can be reserved between the two groups of guide cylinders70231and the two tracks70232, so as to facilitate arrangement of a translation apparatus later.

Referring toFIG.20,FIG.23, andFIG.24, the translation apparatus can be provided between the lifting platform70230and the screwing on and off apparatus70400; the translation apparatus may include a translation drive cylinder70310and a movable trolley70320in transmission connection, the translation drive cylinder70310is mounted on a guide cylinder70231, the movable trolley70320is movably arranged on the track group, and the translation drive cylinder70310is used to drive the movable trolley70320to move between the two groups of guide cylinders70231; and the avoidance hole70111can be a long hole, and an extension direction of the long hole is the same as a moving direction of the movable trolley70320. In the above,FIG.20shows that the screwing on and off apparatus70400is vertically jacked up by the lifting apparatus70200, andFIG.24shows that the screwing on and off apparatus70400is driven by the movable trolley70320to move rightwards to an operation position.

Specifically, the movable trolley70320can be provided between the two tracks70232through a roller.

Referring toFIG.25, the screwing on and off apparatus70400may include a rotating mechanism70410, a lifting fine-tuning mechanism70420, a telescoping mechanism70430, and a screwing on and off mechanism70440, wherein the rotating mechanism70410can be mounted on the movable trolley70320; the lifting fine-tuning mechanism70420can be mounted on an output end of the rotating mechanism70410; the telescoping mechanism70430can be mounted on an output end of the lifting fine-tuning mechanism70420; and the screwing on and off mechanism70440can be mounted on an output end of the telescoping mechanism70430. It can be seen from the preceding that the screwing on and off mechanism70440can realize lifting, horizontal telescoping, and rotating movements, so that the screwing on and off mechanism70440operates more accurately.

Optionally, the rotating mechanism70410can use a rotation decelerator.

Referring toFIG.26, the lifting fine-tuning mechanism70420may include a lifting guide track70421, a lifting pulley70422, a rack70423, a gear70424, and a lifting motor70425, wherein the lifting guide track70421can be fixedly connected to the output end of the rotating mechanism70410; the lifting pulley70422can be slidably connected to the lifting guide track70421; the rack70423can be fixedly connected to the lifting guide track70421and be meshed with the gear70424; the gear70424can be pivotally connected to the lifting pulley70422and be in transmission connection with the lifting motor70425, the lifting motor70425can drive the lifting pulley70422to move along the lifting guide track70421; and the telescoping mechanism70430can be mounted on the lifting pulley70422.

In specific operations, the lifting motor70425can drive the gear70424to rotate, and as the gear70424is meshed with the rack70423, at this time, the gear70424can rotate along the rack70423, and drive the lifting pulley70422to perform lifting movement along the lifting guide track70421in the rotating process.

In the above, the lifting apparatus70200can drive the screwing on and off apparatus70400to extend out of the avoidance hole70111, and when operation is needed, the lifting motor70425drives the telescoping mechanism70430and the screwing on and off mechanism70440to be finely tuned in a vertical direction through the lifting pulley70422.

Referring toFIG.27, in a process that the screwing on and off apparatus70400extends out of the avoidance hole70111, a projection area thereof on the horizontal plane is not larger than a projection area of the avoidance hole70111, and the lifting guide track70421penetrates through the avoidance hole70111; a first cover plate70140and a second cover plate70150can be provided at the avoidance hole70111, and the first cover plate70140can cover a part of the avoidance hole70111at two sides of the lifting guide track70421; an area of plate surfaces of the first cover plate70140and the second cover plate70150can be adapted to an aperture area of the avoidance hole70111. Such configuration can make the first cover plate70140and the second cover plate70150completely cover the avoidance hole70111; meanwhile, in an operation state, the first cover plate70140can be made to cover a part of the avoidance hole70111at two sides of the lifting guide track70421, and the second cover plate70150is in an opened state.

In the above, the first cover plate70140and the second cover plate70150can be hinged to the derrick floor panel70110, so as to ensure that the screwing on and off apparatus70400can directly jack up the first cover plate70140and the second cover plate70150in a rising process, so that the first cover plate70140and the second cover plate70150are opened.

Referring toFIG.28andFIG.29, the telescoping mechanism70430may include a scissor-type cross component70431and a telescoping hydraulic cylinder70432, wherein the scissor-type cross component70431can be hinged between the lifting pulley70422and the screwing on and off mechanism70440, and the telescoping hydraulic cylinder70432can be in transmission connection with the scissor-type cross component70431, for driving the scissor-type cross component70431to extend and retract.

It should be noted that the scissor-type cross component70431may use relevant technologies, which will not be repeated in detail herein.

Optionally, the screwing on and off mechanism70440may include a bracket70441, a cantilever70442, a shifting mechanism70443, and a hydraulic clamp70444, wherein the bracket70441can be connected to one end of the scissor-type cross component70431away from the lifting pulley70422; the cantilever70442can be fixedly connected to a top end of the bracket70441; the shifting mechanism70443can be mounted on the hydraulic clamp70444; and the hydraulic clamp70444can be hinged to the cantilever70442.

In the above, the bracket70441further can be provided with a torque detection sensor for detecting a rotation angle of the hydraulic clamp70444, so as to control a rotation angle of the rotating mechanism70410.

To sum up, a process that the oil field workover operation device70moves to an operation angle is as follows:starting the lifting motor70240, to make the lifting platform70230drive the screwing on and off apparatus70400to extend out of the avoidance hole70111;starting the translation drive cylinder70310, to make it drive, through the movable trolley70320, the screwing on and off apparatus70400to move rightwards to a middle position along the extension direction of the avoidance hole70111; andstarting the rotating mechanism70410, to make it drive the lifting fine-tuning mechanism70420, the telescoping mechanism70430, and the screwing on and off apparatus70440to rotate by 90° to the operation angle, at which moment, the first cover plate70140can be covered.

Next, the integrated hydraulic clamp700provided in an embodiment of the present disclosure will be described in detail with reference toFIG.30toFIG.33.

As shown inFIG.30andFIG.31, the integrated hydraulic clamp700provided in an embodiment of the present disclosure may include: a hydraulic clamp body700100, a floating deflection device700200, and a movable bracket700300, whereinthe floating deflection device700200can be connected to the movable bracket700300, and the hydraulic clamp body700100is mounted on the floating deflection device700200.

Specifically, the movable bracket700300can drive the floating deflection device700200to move in position, and the hydraulic clamp body700100is driven by the floating deflection device700200to move. The floating deflection device700200has a floating margin, so that the hydraulic clamp body700100has an up-down floating amount relative to the movable bracket700300, and thus the hydraulic clamp body700100can be stably fitted to the string, further ensuring smooth progress of the workover operations.

As shown inFIG.30,FIG.31, andFIG.32, in an embodiment of the present disclosure, the floating deflection device700200may include: a floating mounting frame700210and a spring sleeve700220, wherein one end of the spring sleeve700220is connected to the movable bracket700300, the other end of the spring sleeve700220is connected to the floating mounting frame700210, and the hydraulic clamp body700100is mounted on the floating mounting frame700210.

Specifically, the spring sleeve700220can elastically extend and retract longitudinally, and the floating mounting frame700210can be made to float longitudinally relative to the movable bracket700300through the spring sleeve700220, further keeping the hydraulic clamp body700100stably fitted to the string.

Optionally, the floating deflection device700200further may include a floating barrel fixing seat700230, the floating barrel fixing seat700230is mounted on the movable bracket700300, and the floating mounting frame700210is slidably connected to the floating barrel fixing seat700230.

Specifically, the floating mounting frame700210can be fitted to the floating barrel fixing seat700230, and the floating mounting frame700210can slide along the floating barrel fixing seat700230. In a process that the floating mounting frame700210slides along the floating barrel fixing seat700230, the spring sleeve700220is elastically deformed between the floating mounting frame700210and the movable bracket700300, so that the spring sleeve700220has an elastic supporting effect on the floating mounting frame700210.

Optionally, a tackle700211can be mounted on the floating mounting frame700210, the tackle700211is fitted to the floating barrel fixing seat700230, and the tackle700211rolls along the floating barrel fixing seat700230.

Specifically, four tackles700211can be mounted on the floating mounting frame700210, wherein two tackles700211are located on one side of the floating barrel fixing seat700230, and the other two tackles700211are located on the other side of the floating barrel fixing seat700230, and in a sliding process of the floating mounting frame700210along the floating barrel fixing seat700230, the tackles700211roll along the floating barrel fixing seat700230, thus reducing sliding resistance of the floating mounting frame700210relative to the floating barrel fixing seat700230.

As shown inFIG.30,FIG.31, andFIG.33, a top portion of the hydraulic clamp body700100can be hinged with the floating mounting frame700210, and a tension spring700400can be disposed between the hydraulic clamp body700100and the floating barrel fixing seat700230.

Specifically, the hydraulic clamp body700100can swing around a hinge shaft relative to the floating mounting frame700210, the tension spring700400has a traction effect on the hydraulic clamp body700100, and in a process that the movable bracket700300drives the hydraulic clamp body700100to move, the tension spring700400can mitigate shaking of the hydraulic clamp body700100relative to the movable bracket700300.

As shown inFIG.32, the spring sleeve700220can be connected to the floating mounting frame700210through a pin shaft700240, and the pin shaft700240can be slidably connected to the floating barrel fixing seat700230.

Specifically, a sliding groove can be disposed on the floating barrel fixing seat700230, and the pin shaft700240passes through an end portion of the spring sleeve700220and the floating mounting frame700210, so that the spring sleeve700220is connected to the floating mounting frame700210.

As shown inFIG.30,FIG.31, andFIG.32, the floating barrel fixing seat700230may include: a sliding frame700231and a stand column700232, wherein the sliding frame700231is mounted in a top portion of the stand column700232, the floating mounting frame700210is slidably connected to the sliding frame700231, and the stand column700232is provided with a chamber for accommodating the spring sleeve700220.

Specifically, the sliding groove can be provided on the sliding frame700231, and the floating mounting frame700210can slide along the sliding frame700231. The spring sleeve700220can be mounted in the chamber of the stand column700232, and the spring sleeve700220and the stand column700232are connected to the movable bracket700300.

As shown inFIG.30,FIG.31,FIG.32, andFIG.33, the movable bracket700300can include a telescoping boom700310, and the floating deflection device700200is connected to the telescoping boom700310.

Specifically, a parallelogram boom can be used as the telescoping boom700310, and the parallelogram boom is driven by the hydraulic cylinder to extend, retract, and deform, so as to adjust the floating deflection device700200to move along the horizontal direction.

Optionally, the movable bracket700300further may include a lifting pulley700320, and the telescoping boom700310is mounted at a movable end of the lifting pulley700320.

Specifically, the lifting pulley700320may include a stand column and a lifting drive member, the lifting drive member slides along the stand column, and the lifting drive member can drive the telescoping boom700310to lift up and down.

Optionally, the movable bracket700300further may include a transportation base700330, and the lifting pulley700320is mounted on the transportation base700330. In the above, the stand column of the lifting pulley700320can be rotatably connected to the transportation base700330, and the lifting pulley700320rotates around a longitudinal rotating shaft, so that a position of the floating deflection device700200can be adjusted, further making the hydraulic clamp body700100move above the string. By driving the telescoping boom700310to be lowered down by the lifting pulley700320, the hydraulic clamp body700100can be fitted to the string.

Next, the buckling apparatus80provided in an embodiment of the present disclosure will be described in detail with reference toFIG.34toFIG.37.

The buckling apparatus80provided in the present embodiment may include a slip component80100, a drive member80200, and a pipe centralizing component80300, wherein the pipe centralizing component80300can be movably connected to the slip component80100, the drive member80200can be connected to the slip component80100and be in transmission connection with the pipe centralizing component80300, and the drive member80200can be used to drive the pipe centralizing component80300, so that an axis of the string in the pipe centralizing component80300coincides with an axis of the string fixed in the slip component80100.

In the present embodiment, referring toFIG.34, the drive member80200can be fixedly connected to the slip component80100, the pipe centralizing component80300can be movably connected to the slip component80100, and the three are integrated into one body. When the slip component80100has displacement changes with the derrick, the drive member80200and the pipe centralizing component80300connected thereto move synchronously therewith. Specifically, in operations of the buckling apparatus, the drive member80200is started, and the drive member80200drives the pipe centralizing component80300to move. After the drive member80200drives for a certain period of time, referring toFIG.35, an axis of a free end of the pipe centralizing component coincides with the axis of the string in the slip component, and at this time, a multi-functional manipulator of the derrick floor grabs the string and places the string into the free end of the pipe centralizing component, so that the axis of the string in the pipe centralizing component coincides with the axis of the string in the slip component, thus realizing accurate buckling of two strings. It can thus be seen that, when the buckling apparatus operates, relative positions of the pipe centralizing component80300and the slip component80100are unchanged, so that a problem of inaccurate buckling of the strings caused by the displacement change of the slip component80100is eliminated, and meanwhile, the buckling of the strings can be realized through cooperation of the slip component80100, the drive member80200, and the pipe centralizing component80300with each other, which simplifies the structure of the buckling apparatus, thus a space occupied by the buckling apparatus is reduced, and the buckling apparatus is easy to maintain and repair due to the simple structure.

It should be indicated that the drive member80200of the present disclosure can use a hydraulic cylinder, an air cylinder, an electric cylinder, a linear motor, and so on.

In an optional technical solution of the present embodiment, the pipe centralizing component80300may include a pipe centralizing arm80310and a pipe centralizing hand80320, wherein the pipe centralizing arm80310can be movably connected to the slip component80100and be in transmission connection with the drive member80200, and the pipe centralizing hand80320can be connected to one end of the pipe centralizing arm80310away from the drive member80200, for guiding buckling of the strings.

Specifically, referring toFIG.34, the pipe centralizing arm80310can be in transmission connection with the drive member80200, when the drive member80200drives the pipe centralizing arm80310to move on the slip component80100, and the pipe centralizing hand80320can move synchronously with the pipe centralizing arm80310. After the drive member80200drives for a certain period of time, referring toFIG.35, an axis of the pipe centralizing hand80320coincides with the axis of the string fixed in the slip component80100, and at this time, the multi-function manipulator of the derrick floor grabs the string and places the string into the pipe centralizing hand80320, so that two strings are aligned, thereby ensuring accuracy of buckling. Meanwhile, by applying the buckling apparatus of the present disclosure, the pipe is not needed to be manually held, such that work of workmen at the wellhead in a poor working environment is avoided, and occurrence of safety accidents is reduced to a certain extent.

In an optional technical solution of the present embodiment, the pipe centralizing arm80310can be rotatably connected to the slip component80100.

Optionally, the slip component80100may include a fixing seat80110, the slip60, and a positioning plate80130, wherein all of the fixing seat80110, the slip60, and the drive member80200can be connected to the positioning plate80130, the pipe centralizing arm80310can be rotatably connected to the fixing seat80110through a rotating shaft, and the drive member80200can drive the pipe centralizing arm80310to rotate around the axis of the rotating shaft.

Specifically, the fixing seat80110can be used to support the pipe centralizing arm80310, as shown inFIG.34, a lower end of the pipe centralizing arm80310can be hinged to the drive member80200, a top end of the pipe centralizing arm80310can be connected to the pipe centralizing hand80320, and a position of the pipe centralizing arm80310close to the lower end thereof is hinged with the fixing seat80110, so as to shorten an interval between the fixing seat80110and the slip60, that is, shortening a length of the positioning plate80130, and further reducing the space occupied by the buckling apparatus.

In the operations of the buckling apparatus of the present embodiment, a case that the drive member80200is a hydraulic cylinder, the string fixed in the slip60is a first string, and the string to be centralized by the pipe centralizing hand80320is a second string is taken as an example.

When the hydraulic cylinder is started, a drive end thereof extends out rightwards, and drives the pipe centralizing arm80310to rotate in the anti-clockwise direction, and the pipe centralizing hand80320also rotates in the anti-clockwise direction. When the drive end extends out rightwards for a certain stroke, referring toFIG.35, the axis of the pipe centralizing hand80320can be perpendicular to the positioning plate80130, in this case, the multi-functional manipulator of the derrick floor grabs the second string and places the second string into the pipe centralizing hand80320, so that an axis of the second string coincides with an axis of the first string, and the pipe centralizing hand80320centralizes the second string. When returning, the drive end drives the pipe centralizing arm80310to rotate in the clockwise direction, and the pipe centralizing hand80320gets out of the way in a direction away from the slip60.

In an optional technical solution of the present embodiment, the pipe centralizing arm80310may include a transmission arm80311and a supporting arm80312that are connected at an angle, the transmission arm80311can be rotatably connected to the fixing seat80110through the rotating shaft, the drive member80200can be in transmission connection with the transmission arm80311, one end of the transmission arm80311away from the drive member80200can be connected to one end of the supporting arm80312, and the other end of the supporting arm80312can be connected to the pipe centralizing hand80320.

Specifically, referring toFIG.35, a lower end of the transmission arm80311can be hinged with the drive member80200, an upper portion of the transmission arm80311can be hinged with the fixing seat80110, a top end of the transmission arm80311can be fixedly connected to a lower end of the supporting arm80312, an included angle between the transmission arm80311and the supporting arm80312is an obtuse angle, and an upper end of the supporting arm80312can be connected to the pipe centralizing hand80320. After the pipe centralizing hand80320centralizes the string, the axis of the transmission arm80311coincides with the axis of the fixing seat80110. A position where the transmission arm80311is located after the string is centralized is just boundary of the buckling apparatus where the fixing seat80110is located, and the part of the transmission arm80311below a position thereof hinged with the fixing seat80110never go beyond the boundary of the buckling apparatus, thus, the space occupied by the buckling apparatus is reduced, and meanwhile, the transmission arm80311is prevented from colliding with a person or an object on the right of the positioning plate80130during rotation.

The pipe centralizing arm80310can be designed as an integrated structure, that is, the transmission arm80311and the supporting arm80312are integrally formed, or designed as a connected structure, that is, the transmission arm80311and the supporting arm80312are separately formed, and the two are connected to form the pipe centralizing arm80310.

Optionally, the pipe centralizing hand80320can be detachably connected to the supporting arm80312.

In an optional technical solution of the present embodiment, the pipe centralizing hand80320is a half cylinder, an inner wall of the pipe centralizing hand80320is provided with a clamping platform80321, and the clamping platform80321is used to block the string fixed in the slip component80100.

Specifically, referring toFIG.35, a right side of the pipe centralizing hand80320can be connected to the supporting arm80312through a bolt, and referring toFIG.36, an inner diameter of the pipe centralizing hand80320is adapted to a diameter of an outer wall of a string connector. When the inner diameter of the pipe centralizing hand80320is not matched with specification of the string to be centralized, the pipe centralizing hand80320can be disassembled and replaced, so that the pipe centralizing hand80320is adapted to the string. The detachable connection between the pipe centralizing hand80320and the supporting arm80312guarantees practicability of the pipe centralizing hand80320, and meanwhile enables the buckling apparatus to buckle strings of different specifications.

In the following, the string fixed in the slip60being a first string and the string to be centralized by the pipe centralizing hand80320being a second string is taken as an example.

Referring toFIG.36, the clamping platform80321can be disposed along a semi-circumferential direction of the inner wall of the pipe centralizing hand80320, an inner diameter of the clamping platform80321can be greater than an outer diameter of the second string, so that the second string can pass through the clamping platform80321, an outer diameter of a first string connector can be greater than the inner diameter of the clamping platform80321, so that a part of an end surface of the first string connector is blocked at a lower end surface of the clamping platform80321all the time. It should be indicated that designing clamping platforms of different sizes respectively for the inner walls of a plurality of pipe centralizing hands80320with different inner diameters can satisfy the buckling of strings of different specifications.

In an optional technical solution of the present embodiment, the pipe centralizing hand80320may include a semi-cylindrical barrel80322and a semi-horn barrel80323, wherein a diameter of a first end of the semi-horn barrel80323can be smaller than a diameter of a second end of the semi-horn barrel80323, the first end of the semi-horn barrel80323can be connected to the semi-cylindrical barrel80322, and the clamping platform80321can be located at a joint of the semi-cylindrical barrel80322and the semi-horn barrel80323.

Specifically, referring toFIG.36, the first end can be a lower end of the semi-horn barrel80323, and the second end can be an upper end of the semi-horn barrel80323. From bottom to top, the diameter of the semi-horn barrel80323gradually increases; and the first end is connected to an upper end of the semi-cylindrical barrel80322, and the clamping platform80321can be located at the joint of the semi-cylindrical barrel80322and the semi-horn barrel80323. When the pipe centralizing hand80320centralizes the string, the existence of the semi-horn barrel80323increases a pipe centralizing range of the pipe centralizing hand80320, so that the string deviated from a rotation path of the pipe centralizing hand80320can be accommodated by the semi-horn barrel80323, and further move into the semi-cylindrical barrel80322to be adapted to the semi-cylindrical barrel80322.

In an optional technical solution of the present embodiment, the drive member80200is in transmission connection with the pipe centralizing arm80310through a connecting rod80400, and the connecting rod80400is vertically connected to the drive member80200and the pipe centralizing arm80310respectively.

Specifically, referring toFIG.37, the drive member80200can use a hydraulic cylinder, the hydraulic cylinder can be hinged with the positioning plate80130and located on the left of the slip60, a drive end of the hydraulic cylinder can be hinged with a left end of the connecting rod80400, a right end of the connecting rod80400can be hinged with the transmission arm80311, and the connecting rod80400is perpendicular to the hydraulic cylinder and the transmission arm80311respectively, wherein the transmission arm80311is located above the slip60.

In the present embodiment, when the hydraulic cylinder is started, the drive end thereof extends out and drives the connecting rod80400to move, and while the connecting rod80400is moving, the transmission arm80311is made to rotate around the axis of the rotating shaft, so that the pipe centralizing hand80320rotates towards the center of the slip60. With reference toFIG.35, it can be seen that when the string is in a centralized state, staggered design of the drive member80200and the pipe centralizing arm80310saves the space occupied by the buckling apparatus, and improves the utilization rate of the space at the wellhead.

A string automated operating apparatus provided in the present embodiment may include the buckling apparatus, thus, technical advantages achieved by the string automated operating apparatus include the technical advantages and effects achieved by the above buckling apparatus, which will not be repeated herein again.

Next, the derrick floor pipe handling manipulator90provided in embodiments of the present disclosure will be described in detail with reference toFIG.38toFIG.47.

As shown inFIG.38andFIG.39, the derrick floor pipe handling manipulator90provided in the present embodiment may include a trolley feeding mechanism90100, a base90200, a rotating mechanism90300, a boom mechanism90400, a clamping jaw mechanism90500, and a first drive member90600, wherein the trolley feeding mechanism90100can be slidably connected to the base90200, the base90200may include a first base90210and a second base90220, the first base90210and the second base90220can be detachably connected, the first drive member90600can be connected to the first base90210and be in transmission connection with the trolley feeding mechanism90100, a bottom end of the rotating mechanism90300can be connected to the trolley feeding mechanism90100, a top end of the rotating mechanism90300can be in transmission connection with the boom mechanism90400, and a free end of the boom mechanism90400can be connected with the clamping jaw mechanism90500.

Specifically, with reference toFIG.38toFIG.41, the first drive member90600can be used to drive the trolley feeding mechanism90100to slide from the first base90210to the second base90220or from the second base90220to the first base90210, the rotating mechanism90300can be used to drive the boom mechanism90400to rotate around a vertical line, and the clamping jaw mechanism90500can be used to clamp or release the string. When the derrick floor pipe handling manipulator90operates in an operation area, the first drive member90600can start and drive the trolley feeding mechanism90100to slide on the first base90210and the second base90220, the trolley feeding mechanism90100synchronously drives the rotating mechanism90300, the boom mechanism90400, and the clamping jaw mechanism90500to move, and the rotating mechanism90300can drive the clamping jaw mechanism90500to rotate through the boom mechanism90400, such that with the cooperation of the first drive member90600and the rotating mechanism90300, the clamping jaw mechanism90500can move to a position where the string is located, and then the string can be grabbed or released by the jaw mechanism90500. When the derrick floor pipe handling manipulator90fails, the trolley feeding mechanism90100can be driven by the first drive member90600to slide to the first base90210, then the second base90220is detached from the first base90210, so that a space occupied by the derrick floor pipe handling manipulator90in the operation area is reduced, a path is provided for the manual pipe handling, and meanwhile, potential safety risks underfoot during the manual pipe handling are also eliminated, so that the manual pipe handling can still be carried out in cases where the derrick floor pipe handling manipulator90fails, ensuring normal progress of the workover operations.

In an optional technical solution of the present embodiment, the first base90210can be provided with a first clamping member90211, the second base90220can be provided with a second clamping member90221adapted to the first clamping member90211, and the first base90210and the second base90220can be connected through a bolt.

In an optional technical solution of the present embodiment, the base90200can be provided thereon with a track90230, two ends of the track90230both can be provided with a limiting part, and the limiting part can be used to restrict a sliding range of the trolley feeding mechanism90100.

Specifically, referring toFIGS.41and42, the first base90210and the second base90220each may include pedestals and a framework, wherein the pedestals can be welded to four corners of the framework, and the track90230can be welded to an upper portion of the framework.

Referring toFIG.41, the first clamping member90211can be disposed at a left end of the first base90210and is an L-shaped limiting plate, an end surface of the first clamping member90211can be welded to an inner wall of the track90230on the first base90210, the first clamping member90211and the track90230form a clamping groove, the second clamping member90221can be disposed at a right end of the second base90220, and is an L-shaped insertion plate, a side surface of the second clamping member90221can be welded to the inner wall of the track90230on the second base90220, the second clamping member90221can be clamped with the clamping groove, and a first side wall of the second clamping member90221can be located at one side of the first clamping member90211away from the second base90220, so that the first base90210and the second base90220are clamped. In another embodiment, it also can be designed in such a manner that the first clamping member90211is an L-shaped limiting plate, and the second clamping member90221is an L-shaped insertion plate. Besides, the right pedestals of the second base90220may be vertically lapped with the left pedestals of the first base90210, and they are fixed together by bolts, so that the first base90210and the second base90220are bolted.

Referring toFIG.41, two ends of the track90230can be provided with pin holes, the limiting part can be a stop pin, and the stop pin can be provided in the pin holes. When the trolley feeding mechanism90100slides back and forth on the track90230, the stop pin prevents the trolley feeding mechanism90100from sliding out of the track90230. In addition, the limiting part can use a baffle plate, and the baffle plate can be provided at two ends of the base90200for limiting the sliding range of the trolley feeding mechanism90100.

In an optional technical solution of the present embodiment, the first drive member90600may use a hydraulic cylinder, a cylinder body of the hydraulic cylinder can be hinged with the first base90210, and a drive end of the hydraulic cylinder can be hinged with the trolley feeding mechanism90100.

Specifically, referring toFIG.40andFIG.41, the cylinder body of the hydraulic cylinder can be hinged with the first base90210, the drive end of the hydraulic cylinder can be hinged with the bottom of the trolley feeding mechanism90100, and when the hydraulic cylinder is operating, the drive end thereof can push the trolley feeding mechanism90100to move linearly on the track90230, and further drive the rotating mechanism90300, the boom mechanism90400, and the clamping jaw mechanism90500to move along a length direction of the track90230. When the derrick floor pipe handling manipulator90is not in operation or needs to give way, the drive end of the hydraulic cylinder returns and drives the trolley feeding mechanism90100back to the first base90210; when the derrick floor pipe handling manipulator90fails or the manual pipe handling is required for the operation, the hydraulic cylinder can drive the trolley feeding mechanism90100back to the first base90210, and then the second base90220is disassembled, so that the manual pipe handling can be carried out.

It should be supplemented that using the hydraulic cylinder as the drive member of the trolley feeding mechanism90100, a transmission mode thereof is simple, and it is easy to maintain when it fails.

In an optional technical solution of the present embodiment, the clamping jaw mechanism90500may include a second drive member90510, a first link rod90520, a second link rod90530, two third link rods90540, and two curved rods90550, wherein the curved rods90550can be in a bent shape, and openings of the two curved rods90550are disposed opposite to each other. The second drive member90510can be mounted on the boom mechanism90400and be in transmission connection with the first link rod90520. Two ends of the first link rod90520can be respectively hinged with one end of the two third link rods90540, and the other ends of the two third link rods90540can be correspondingly hinged to bent parts of the two curved rods90550respectively. The second link rod90530can be connected to the boom mechanism90400, two ends of the second link rod90530can be respectively hinged to one end of the two curved rods90550close to the first link rod90520, and the other ends of the two curved rods90550can move close to or away from each other under driving of the third link rods90540, so that the other ends of the two curved rods90550are in a fully opened state, a half opened and half closed state, or a fully closed state.

In the present embodiment, referring toFIG.43andFIG.44, the second drive member90510may use a hydraulic cylinder, a cylinder body of the hydraulic cylinder can be mounted on the boom mechanism90400, a drive end of the hydraulic cylinder can be hinged to a middle portion of the first link rod90520, and when the clamping jaw mechanism90500is in operation, a stroke of the drive end of the hydraulic cylinder can control an opened or closed state of the curved rods90550. Specifically, taking that the drive end of the hydraulic cylinder extends out as an example, referring toFIG.43, the second link rod90530can be fixed to the boom mechanism90400, and the first link rod90520can move upwards under the driving of the hydraulic cylinder, and synchronously drive the two third link rods90540to rotate to directions of approaching each other around a hinge axis at a lower end thereof, such that the two curved rods90550rotate around their hinge axes to directions of approaching each other, thus realizing that the upper ends of the two curved rods90550get close to each other.

During continued extension of the drive end of the hydraulic cylinder, component states of the two curved rods90550are gradually changed from fully opened to half opened and half closed and fully closed. In practical application, when the clamping jaw mechanism90500is ready to grab the string, the two curved rods90550are in the fully opened state; when the string is clamped or the string is driven to rotate, the two curved rods90550are in a half opened and half closed state; and when the strings are buckled, the two curved rods90550are in the fully closed state, so that the strings are tightly clamped, not easy to vibrate, and easy to buckle.

Optionally, a plurality of rollers90560can be provided on the curved rods90550, and when the curved rods90550clamp the string, the plurality of rollers90560can be in rolling fit with the string.

Specifically, referring toFIG.43, a first seat can be provided in an upper portion of a bent position of the curved rods90550, a second seat can be provided in a lower portion of the bent position of the curved rods90550, and the plurality of rollers90560can be rotatably connected to the first seat and the second seat respectively. When the upper ends of the two curved rods90550move close to or away from each other, the rollers90560move synchronously therewith; if the two curved rods90550are in the fully closed state and clamp the string, a circumferential surface of the string abuts against circumferential surfaces of the rollers90560; and when the string moves up and down, the rollers90560can slide relative to the string, thus effectively preventing the curved rods90550from scratching a surface of the string.

The trolley feeding mechanism90100may include a feeding trolley90110, a first holding plate90120, and a supporting framework90130, wherein the feeding trolley90110can be slidably connected to the base90200and be in transmission connection with the first drive member90600, a bottom surface of the first holding plate90120can be connected to the feeding trolley90110, an upper surface of the first holding plate90120can be connected to the supporting framework90130, and the rotating mechanism90300can be mounted on the supporting framework90130.

Referring toFIG.40, the feeding trolley90110can be slidably connected to the track90230, the first drive member90600can be in transmission connection with a bottom end of the feeding trolley90110, and the rotating mechanism90300can be connected to the feeding trolley90110through the first holding plate90120and the supporting framework90130. When the first drive member90600is started, the feeding trolley90110can slide on the track90230and drive the rotating mechanism90300to move in the horizontal direction.

In an optional technical solution of the present embodiment, the rotating mechanism90300may include a rotating base90310, a rotating component90320, a decelerator90330, and a fourth drive member90340, wherein the rotating base90310can be mounted on the trolley feeding mechanism90100, and be rotatably connected to the rotating component90320, and the rotating component90320can be connected to the boom mechanism90400, and be in transmission connection with the decelerator90330, and the decelerator90330can be connected to the rotating base90310, and be in transmission connection with the fourth drive member90340.

In the present embodiment, with reference toFIG.39,FIG.46, andFIG.47, the rotating mechanism90300further may include a hydraulic transducer90350, the hydraulic transducer90350may include a fixed flange and a rotary drum rotatably connected to each other, and the rotating component90320may include the supporting frame90321and the second holding plate90322fixedly connected to each other, wherein the fixed flange and the rotary drum can be disposed in the supporting frame90321, the fixed flange is fixedly connected to the rotating base90310, the rotary drum is connected to the supporting frame90321, the supporting frame90321and the rotating base90310can be rotatably connected and be in transmission connection with the decelerator90330, the boom mechanism90400can be connected to the second holding plate90322and the fourth drive member90340can use a hydraulic motor. Specifically, when the hydraulic motor is started, the hydraulic motor can drive the decelerator90330to move, the decelerator90330can drive the supporting frame90321to rotate, and further drive the rotary drum and the second holding plate90322to rotate, and the boom mechanism90400can synchronously rotate with the second holding plate90322.

In an optional technical solution of the present embodiment, the boom mechanism90400may include a supporting boom90410, a telescoping boom90420, and a third drive member90430, wherein one end of the supporting boom90410can be connected to the rotating mechanism90300, and the other end can be hinged with a first end of the telescoping boom90420, a second end of the telescoping boom90420can be connected to the clamping jaw mechanism90500, and the third drive member90430can be hinged with the supporting boom90410and be in transmission connection with the telescoping boom90420.

In the present embodiment, referring toFIG.38andFIG.46, the supporting boom90410can be mounted on the second holding plate90322, the third drive member90430can use a hydraulic cylinder, a cylinder body of the hydraulic cylinder can be hinged with the supporting boom90410, a drive end of the hydraulic cylinder can be hinged with the telescoping boom90420, when the hydraulic cylinder is started, the drive end thereof can drive the telescoping boom90420to rotate around a hinge axis of the telescoping boom90420, so as to mainly realize height change of the telescoping boom90420in a vertical direction.

To sum up, through the cooperation of the first drive member90600, the fourth drive member90340, and the third drive member90430, the clamping jaw mechanism90500can realize the movement in the horizontal direction, the rotation around the vertical axis, and the movement in the vertical direction respectively, ensuring that the clamping jaw mechanism90500can be adapted to strings at different positions.

In an optional technical solution of the present embodiment, referring toFIG.44, the second end of the telescoping boom90420can be provided with a buffer mechanism90700, the buffer mechanism90700can be located at an upper end of the clamping jaw mechanism90500, and the buffer mechanism90700may include a buffer rod90710, a supporting rod90720, a supporting base90730, and a buffer spring90740, wherein the buffer rod90710can be connected to one end of the supporting rod90720, and the supporting rod90720can be slidably connected to the supporting base90730, the supporting base90730can be connected to the telescoping boom90420, the buffer spring90740can be sleeved on the supporting rod90720, and two ends of the buffer spring90740abut against the buffer rod90710and the supporting base90730respectively. When the clamping jaw mechanism90500clamps the string, the buffer rod90710is impacted by the string, and the buffer spring90740has a tendency to make the string move in a direction away from the telescoping boom90420.

Specifically, referring toFIG.45, the supporting base90730may include a first supporting base90731and a second supporting base90732, a locking nut90770can be thread-fitted to the supporting rod90720and located between the first supporting base90731and the second supporting base90732, or located on the right of the second supporting base90732, the first supporting base90731can be bolted to the telescoping boom90420, and the second supporting base90732can be welded to the telescoping boom90420. After the clamping jaw mechanism90500grabs the string, the string impacts the buffer rod90710, so that the buffer rod90710moves rightwards, and drives the supporting rod90720to move rightwards. Meanwhile, the buffer rod90710compresses the buffer spring90740, so that an impact force of the string is borne by the compressed spring, thus relieving the impact force of the string on the boom mechanism90400to a certain extent. It should be noted that, when the supporting rod90720slides, the locking nut90770can move synchronously for preventing the supporting rod90720from being detached from the supporting base90730. In addition, a position of the threaded fit between the locking nut90770and the supporting rod90720determines compression degree of the buffer spring90740, and further affects a movement distance of the buffer rod90710when being impacted by the string. Therefore, by changing the position of the locking nut90770, the buffer mechanism90700can be adapted to strings of different specifications, so as to relieve an impact force thereof on the boom mechanism90400.

Optionally, an induction rod90750can be connected to the supporting rod90720, and the telescoping boom90420can be provided with a proximity switch90760, then when the buffer rod90710is impacted by the string, the proximity switch90760can be triggered due to contact with the induction rod90750.

Specifically, referring to what is shown inFIG.45, each supporting rod90720can be provided thereon with two locking nuts90770, and the two locking nuts90770can be arranged at intervals for clamping the induction rod90750. When a string is clamped in the clamping jaw mechanism90500, the string pushes the buffer rod90710to move rightwards, and drives the supporting rod90720to move rightwards, the induction rod90750synchronously moves therewith, and contacts the proximity switch90760, so as to trigger the proximity switch90760. In turn, trigger of the proximity switch90760also proves that a string is clamped within the clamping jaw mechanism90500.

Next, the driller centralized control operating apparatus100provided in an embodiment of the present disclosure will be described in detail.

In an exemplary embodiment of the present disclosure, the driller centralized control operating apparatus100can integrally design an automated operating system, a workover rig operating system, and a monitoring system into an operation panel, and internal layout can be divided, according to functions, into a workover rig operation region, an automated equipment operation region, a video monitoring and automated equipment parameter setting region.

In some embodiments of the present disclosure, the driller centralized control operating apparatus100can be highly integrated, remotely controlled, and operated in one key mode, to realize the operation process management of each unit. In some optional embodiments, the driller centralized control operating apparatus100may have a mechanism of multi-level safety emergency stop for unit body emergency stop and device total emergency stop and pause, and in a synchronous operation process of multiple devices, the driller centralized control operating apparatus100detects device position information in real time, and realizes motion anti-collision and interlocking protection of the devices. In addition, the driller centralized control operating apparatus100can have device status and parameter collection, storage, and fault alarm diagnosis functions. Preferably, the functions of the driller centralized control operating apparatus100can be flexibly switched remotely/locally, manually/automatically. The driller centralized control operating apparatus100is highly integrated, and one driller can complete the tripping operation.

Next, the hydraulic station110provided in an embodiment of the present disclosure will be described in detail.

The hydraulic station110may include a skid-mounted seat, a hydraulic oil tank, a pump set, connecting pipelines, various valve sets, a control system, and other auxiliary supporting measures. The hydraulic station110can be used to provide power to the derrick floor pipe handling manipulator90, the buckling apparatus80, the integrated hydraulic clamp700, the power catwalk30, the elevator40and so on.

The hydraulic station110can consist of two identical motors and two identical oil pumps, one group of “electric motor+oil pump” is for use, and the other for standby; the two pumps operate independently, with interlocked electrical control, are equipped with independent cooling system and heating system, and have temperature sensing and PLC automatic control.

The automated equipment1for drilling and workover operations of oil field in the exemplary embodiments of the present disclosure completes the lowering operation and the lifting operation of the string1000at the wellhead through cooperation of the workover rig10, the derrick floor20, the elevator40, the monkey-board string automatic placement apparatus50, the slip60, the oil field workover operation device70, the buckling apparatus80, and the derrick floor pipe handling manipulator90.

Next, a control procedure of the lifting process of the integrated hydraulic clamp700provided in an embodiment of the present disclosure will be described in detail with reference toFIG.48.FIG.48is a flowchart of the control procedure of the lifting process of the integrated hydraulic clamp700provided in an embodiment of the present disclosure.

As shown inFIG.48, in the lifting operation of the string1000, after the elevator40is started, the elevator40is fell down to an appropriate position of the wellhead so as to clamp the string1000on which the lifting operation is to be performed. After that, the slip60is opened, and the elevator40lifts up the string1000for a certain height, so as to lift up the string1000such that the collar is exposed from the derrick floor20for a certain height. At this time, the slip60can be closed. Next, the telescoping arm of the hydraulic clamp700extends out to the center of the wellhead, and the height of the hydraulic clamp700is adjusted to a height suitable for screwing off. Then the hydraulic clamp700screws off the string1000, and after the string1000is screwed off, the slip60and the hydraulic clamp700are interlocked so that the slip60cannot be opened for a period of time. Next, the telescoping arm of the hydraulic clamp700retracts to a waiting position.

Next, the control procedure of the lifting process of the derrick floor pipe handling manipulator90provided in an embodiment of the present disclosure will be described in detail with reference toFIG.49.FIG.49is a flowchart of the control procedure of the lifting process of the derrick floor pipe handling manipulator90provided in an embodiment of the present disclosure.

As shown inFIG.49, in the lifting operation of the string1000, after the string1000is screwed off, the derrick floor pipe handling manipulator90can travel to a wellhead position, i.e., the second position close to the slip60, and then the derrick floor pipe handling manipulator90can rotate to a drilling waiting position, i.e., the facing position facing the slip60. Next, the derrick floor pipe handling manipulator90extends out to the wellhead position so as to detect whether the string1000exists and grab the string1000. When a pipe sensor senses the string1000, the telescoping arm of the derrick floor pipe handling manipulator90stops, and when the telescoping arm of the derrick floor pipe handling manipulator90reaches a target position, the clamping jaw of the derrick floor pipe handling manipulator90is closed for a specified period of time. When the pipe sensor does not sense the string1000, a fault alarm is sent, and the derrick floor pipe handling manipulator90is shut down. During the closing of the clamping jaw, the elevator40lifts up the string1000so that the string1000is disengaged from the collar. Then, the telescoping arm of the derrick floor pipe handling manipulator90retracts, and the derrick floor pipe handling manipulator90rotates to the target position, i.e., the back position facing back to the slip60, so as to convey the disengaged string1000to above the string storage portion20130. Next, the elevator40can lower down the string1000until the first end portion of the string1000is placed into the string storage portion20130. After that, the clamping jaw of the derrick floor pipe handling manipulator90is opened, and when the clamping jaw is opened in place, the telescoping arm of the derrick floor pipe handling manipulator90retracts, and the derrick floor pipe handling manipulator90rotates to the drilling waiting position.

Next, a control procedure of a lifting process of the monkey-board manipulator50140of the monkey-board string automatic placement apparatus50provided in an embodiment of the present disclosure will be described in detail with reference toFIG.50.FIG.50is a flowchart of the control procedure of the lifting process of the monkey-board manipulator50140of the monkey-board string automatic placement apparatus50provided in an embodiment of the present disclosure.

As shown inFIG.50, during the lifting operation of the string1000, after the first end portion of the string1000is placed into the string storage portion20130, the telescoping arm of the monkey-board manipulator50140extends out (meanwhile, the rotating arm enters a traveling block operation area, a braking system of the traveling block works, and a position of the traveling block is locked) and makes a traveling apparatus to move for a certain distance towards the direction of the wellhead. After that, the sensor in the clamping jaw of the monkey-board manipulator50140detects whether the string1000exists, and when the string1000exists, the clamping jaw is closed. When the string1000does not exist, the telescoping arm of the monkey-board manipulator50140continues to extend out, and after the telescoping arm extends out for a distance, the sensor in the clamping jaw continues to detect whether the string1000exists, and if not, this action continues to be performed. When the telescoping arm of the monkey-board manipulator50140extends out, it is judged whether a telescoping cylinder is overloaded and whether the telescoping arm extends to a limit position, and if so, a fault alarm indication is sent. When the clamping claw is closed, it is detected whether a gripper is closed in place, and if the gripper is not closed in place, the gripper is opened to a set small angle, and the telescoping arm retracts to a set distance. If it is detected that the gripper is closed in place, the elevator40is opened. It is detected whether the elevator40is opened in place, if a sensor signal indicating that the elevator is opened in place is not received, it cannot enter the next automation procedure, if the signal is received, the telescoping arm of the monkey-board manipulator50140retracts, and then the telescoping arm rotates by 90° (meanwhile, after a monkey-board robot enters a safe range, an air cylinder in a brake starts to act, and the traveling block hook returns to a free state). Then, a traveling mechanism moves to travel to a pre-set fingerboard position, and after the traveling mechanism reaches the pre-set fingerboard position, the fingerboard baffle is opened, and at this time, whether the baffle is opened in place is detected, if a sensor signal that the baffle is opened in place is not received, a fault alarm is sent out after pre-set N seconds, and if the signal is received, the telescoping arm of the monkey-board manipulator50140extends out to a pre-set pipe arranging position. When the telescoping arm reaches the pre-set pipe arranging position, the clamping jaw is opened to a half opened position so as to release the string1000. After that, the telescoping arm retracts to 0 position, and the robot travels to an initial waiting position.

Next, a control procedure of the lowering operation of the string1000realized by the automated equipment1for drilling and workover operations of oil field provided in an embodiment of the present disclosure will be described in detail with reference toFIG.51A,FIG.51B,FIG.51CandFIG.51D.FIG.51A,FIG.51B,FIG.51CandFIG.51Dshow flowcharts of realizing the lowering operation of the string1000by the automated equipment for drilling and workover operations of oil field provided in an embodiment of the present disclosure.

As shown inFIG.51A,FIG.51B,FIG.51CandFIG.51D, the lowering operation of the string1000may include the following steps.

Preparation (FIG.51A): preparation before drill-down is performed (operation can be performed through a control panel, a switch “panel” is selected, “drill down” is selected for procedure switch, “corresponding specification selection” is selected for specification switch) to initialize the automated equipment1into a preparation state as shown inFIG.3B, so that the monkey-board manipulator50140is initialized, wherein the telescoping arm retracts to 0 position, the telescoping arm rotates to 0 position, the clamping jaw is closed and then half opened, and the robot moves to the initial waiting position; the clamping jaw of the derrick floor pipe handling manipulator90is opened in place, the mechanical arm of the derrick floor pipe handling manipulator90retracts in place, the derrick floor pipe handling manipulator90rotates back to zero, and meanwhile a traveling shaft travels to an operation position; and the integrated hydraulic clamp700is reset in place, the telescoping arm of the integrated hydraulic clamp700retracts in place, and the automatic screwing on and off apparatus70400rotates to the wellhead position for waiting (jaw plate and clamp teeth corresponding to the specification of the string1000are replaced for the screwing on and off apparatus70400; manual “screw on/screw off” switch for clamp head is turned to “screw on”; and parameters corresponding to the specification of the string are selected).

Taking out the string (FIG.51B): after the initialization of the automated equipment1is completed, the elevator40is opened and is lifted up to an appropriate height from the monkey board (indicator light is turned on when the elevator is opened in place), the telescoping arm rotates by 90° towards the target fingerboard bank, and a servo motor of manipulator traveling shaft drives the trolley to travel to a set target fingerboard position, a telescoping-shaft electric servo cylinder drives the telescoping arm to extend out to a set target position in the fingerboard, and the sensor in the clamping jaw detects whether a string exists, which detection process is similar to that described above with reference toFIG.50and will not be repeated again. When the clamping jaw is closed in place, the fingerboard baffle is opened, and it is detected whether the fingerboard baffle remains opened within pre-set time, if not, a fault alarm is sent and machine is stopped, and if so, the telescoping arm retracts to a fingerboard opening position, and the trolley travels to the waiting position, after that, the rotating arm returns to 0 position and enters the traveling block operation area, the telescoping arm extends out, and the elevator40is closed to clamp the string1000, then the clamping jaw is fully opened, the telescoping arm returns to 0 position and a traveling structure moves to the initial waiting position, and the clamping jaw is closed and then half opened.

Conveying the string (FIG.51C): the derrick floor pipe handling manipulator90rotates to a target angle to reach the back position facing back to the slip60, the derrick floor pipe handling manipulator90extends out to a target position, and at this time, it is detected whether a string exists, which detection process is similar to that described above with reference toFIG.49, and will not be repeated again. When it is detected that a string exists, the clamping jaw is closed for a specified period of time, during which time the elevator40lifts up the string1000for a certain height so as to make the first end portion of the string1000move away from the string storage portion20130, after that the mechanical arm of the derrick floor pipe handling manipulator90retracts in place and rotates to the wellhead position, i.e., the facing position facing the slip60, the mechanical arm extends out so as to convey the string1000to the buckling apparatus80, after that, the clamping jaw is opened so as to release the string1000, the mechanical arm retracts in place and rotates to a drill-down waiting position, after the strings1000are buckled by the buckling apparatus80, the elevator40lowers down the string1000, so that the string1000comes into contact with the collar at the slip60.

Screwing on the string (FIG.51D): after the string1000is located at the slip60, the integrated hydraulic clamp700is started, the telescoping arm of the integrated hydraulic clamp700extends out to the center of the wellhead, the height of the integrated hydraulic clamp700is adjusted to a height suitable for screwing on, then the integrated hydraulic clamp700screws on the string1000to set torque, and after the screwing on is completed, the integrated hydraulic clamp700is reset.

Lowering down the string (FIG.51D): after the string1000is screwed on, the slip60is opened, and the elevator40lowers the string1000down into the well, completing the lowering operation of the string1000.

Finally, it should be indicated that the various embodiments above are merely used for illustrating the technical solutions of the present disclosure, rather than limiting the present disclosure; while the detailed description is made to the present disclosure with reference to various preceding embodiments, those ordinarily skilled in the art should understand that they still could modify the technical solutions recited in various preceding embodiments, or make equivalent substitutions to some or all of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the various embodiments of the present disclosure.

INDUSTRIAL APPLICABILITY

The present disclosure discloses the automated equipment for drilling and workover operations of oil field, and the oil field workover operation device, the integrated hydraulic clamp, the buckling apparatus and the string automated operating apparatus, and the derrick floor pipe handling manipulator for use in the automated equipment. The automated equipment includes the workover rig, the derrick floor, the elevator, the monkey-board string automatic placement apparatus, the slip, the oil field workover operation device, the power clamp, and the derrick floor pipe handling manipulator, and the lifting operation and the lowering operation of the string at the wellhead is realized through the cooperation of the workover rig, the derrick floor, the elevator, the monkey-board string automatic placement apparatus, the slip, the oil field workover operation device, the power clamp, and the derrick floor pipe handling manipulator. The workover rig has the derrick, the workover rig is arranged along the front-rear direction of the automated equipment, and the derrick is provided at the rear end portion of the workover rig and is aligned with the wellhead. The derrick floor is disposed on the ground and at the wellhead, and the derrick floor is provided adjacent to the derrick. The oil field workover operation device is positioned on one side of the wellhead in the left-right direction of the automated equipment, and the oil field workover operation device is provided on the derrick floor in such a manner of being movable between the raised position where the oil field workover operation device extends out above the derrick floor and the retreated position where the oil field workover operation device retreats below the derrick floor. The automated equipment in the present disclosure significantly improves the operation efficiency of the drilling and workover operations, greatly reduces the manual operation strength, and improves the safety factor.

In addition, it should be understood that, the automated equipment for drilling and workover operations of oil field, and the oil field workover operation device, the integrated hydraulic clamp, the buckling apparatus and the string automated operating apparatus, and the derrick floor pipe handling manipulator for use in the automated equipment in the present disclosure are reproducible, and can be applied in a variety of industrial applications. For example, the automated equipment for drilling and workover operations of oil field, and the oil field workover operation device, the integrated hydraulic clamp, the buckling apparatus and the string automated operating apparatus, and the derrick floor pipe handling manipulator for use in the automated equipment can be used in the technical field of drilling and workover operations of oil field.