折叠式油管扶正机械手的设计与分析  

Design and Analysis of Folding Tubing Centralizing Manipulator

作　　者：符仁杰 郭登明[1] 张建军 张鹏宇 梁晨[3] 邓康 Fu Renjie;Guo Dengming;Zhang Jianjun;Zhang Pengyu;Liang Chen;Deng Kang(School of Mechanical Engineering,Yangtze University;Jiangsu Sairui Robot Equipment Co.,Ltd.;PetroChina Xinjiang Oilfield Company;The Tenth Oil Production Plant,PetroChina Changqing Oilfield Company)

机构地区：[1]长江大学机械工程学院 [2]江苏赛瑞机器人装备有限公司 [3]中国石油新疆油田分公司 [4]中国石油长庆油田分公司第十采油厂

出　　处：《石油机械》2022年第2期74-79,共6页China Petroleum Machinery

基　　金：国家科技重大专项“钻井协同自动控制系统研发”(2016ZX05022006-004)。

摘　　要：在油田修井作业中,为了有效提高修井作业效率,降低人工操作的安全风险,同时还为了符合自动化修井机高集成度、模块化的设计理念,减小油管扶正机械手的安装体积,设计了折叠式油管扶正机械手。分析了油管抓手、油管定位机械臂和折叠机械臂等主要结构,阐述了定位机械臂的校正并实现油管对中功能的原理。选用合适的液压缸并设计了同步分流单向阀锁紧液压回路,保证了机械手工作的安全与稳定。该机械手可以远程操控以完成对油管的抓放、推送、扶正和井口对中等操作,实现了井口无人化作业。现场应用结果表明,油管扶正机械手对中精准,快速稳定,减轻了工人的劳动强度,同时也提高了安全性。In the workover operation of oilfields,in order to effectively improve the workover operation efficiency and reduce the safety risk of manual operation,as well as to meet the design concept of high integration and modularization of automatic workover rig and reduce the installation volume of tubing centralizing manipulator,a folding tubing centralizing manipulator was designed.In this paper,the main structures such as tubing gripper,tubing positioning arm and folding arm were analyzed,and expounded the correction of positioning arm and the principle of realizing tubing alignment function.Combined with actual working conditions of the manipulator,appropriate hydraulic cylinder and designed locking hydraulic circuit of synchronous diversion check valve were selected,which ensures the working safety and stability of the manipulator.The manipulator can be remotely controlled to complete the grasping,pushing,centralizing and wellhead alignment of the tubing,and thus realizes unmanned operation at wellhead.Field application results show that the tubing centralizing manipulator is accurate,fast and stable in centering,which reduces the labor intensity of workers and improves the safety of operation.

关 键 词：修井作业 折叠式 机械手 油管扶正 井口对中 液压系统 

分 类 号：TE358[石油与天然气工程—油气田开发工程]