摘要
面向油田井口起下油管作业任务,设计一种移动式、智能化井口作业机器人系统,具有系统底盘、检传排管系统、抓放管机械臂和井口作业系统等多个功能模块。通过样机实际测试,该系统能够自动实现油管的拉送、排放、抓取、扶正、对中及上卸扣操作,提高了修井作业效率。
A mobile and intelligent wellhead operation robot system is designed for the task of wellhead lifting and unloading tubing in oilfield. The system has many functional modules,such as chassis,pipeline inspection and unloading system,manipulator for catching and unloading tubing and wellhead operation system. Through the actual test of the prototype,the system can automatically realize the operation of tubing pulling,discharging,grasping,centering,and up-and-down unloading,and improve the workover efficiency.
作者
李倩
赵宏杰
LI Qian;ZHAO Hong-jie(Qilu University of Technology(Shandong Academy of Sciences),Jinan Shandong 250014,China;Institute of Automation,Shandong Academy of Sciences,Jinan Shandong 250014,China;Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Shandong Jinan 250014,China;Jinan Tongri Numerical Control Equipment Co.,Ltd.,Jinan Shandong 250014,China)
出处
《装备制造技术》
2018年第11期14-17,共4页
Equipment Manufacturing Technology
基金
山东省重点研发计划(2016ZDJS02A14)
关键词
油田
井口作业
机器人
起下油管
oilfield
wellhead operation
robot
tubing lifting and unloading operation
