Design And Development Of Skid-mounted Mechanized Racking Device

Traditional workover is characterized by low automation,high labor intensity,low work efficiency and high operational risk.Especially when running pipes,workers have to lift and rack tubing,which 1s completely completed by manpower,and is no longer suitable for modern workover.At present,the domestic research on automatic racking device 1s still in initial stage,and because of problems,such as poor operability,the formed automatic racking devices have not been put into field application.In order to solve the problems,mentioned above,a skid-mounted mechanical racking device is developed,which consists of a tubing racking system,tubing conveying system,tubing length measurement system and control system.The innovative design of grooved tubing crossbeam can realize precise positioning and discharge of tubing.The system has three moving tracks in three directions,which equipped with power devices,can make the manipulator move up and down,left and right,front and back in six directions to reach the predetermined position accurately and realize accurate positioning of tubing.The manipulator uses the electromagnetic principle to grasp and release the oil pipe by power-on and power-off.The tubing length measurement system can measure the length of the tubing by principle of displacement sensing.And the measured data are transmitted to the computer through signal elements for recording and saving.The tubing conveying system consists of conveying part and lifting part.The lifting part moves up and down to match different wellhead and rack height.The conveyor arm and trolley of the conveying system can move forward and backward to deliver tubing back and forth between racking device and wellhead.Flipping device can make V-shaped shdeway turn over or return to position.When running pipes into well,the tubing conveying system can move the tubing which has been measured to the conveying arm and convey the tubing to the wellhead through the conveying arm so that the worker can put pipe elevator onto tubing.When running pipes out of well,The tubing conveyor arm can pull the lifted tubing onto the conveyor arm and run the tubing on the measuring stand for measuring the length of the tubing.In order to improve the automation level of the skid-mounted pipe racking device,various types of sensors are used for position detection,and the detection data are fed back to the data acquisition system.The coordinated control of the action is carried out by the PLC controller,so as to realize the automation of the operation.Field test and application prove that the skid-mounted automated racking device realizes the automation of tubing length measurement,transportation and racking of pipe,and can match with different wellhead heights.The device covers a small area and has a good field adaptability.The racking speed reaches 60 pipes per hour(1 pipe per minute)and the measuring accuracy of the length of the pipe reaches 0.2‰,which effectively solves the problem of manual racking pipes and greatly reduces the labor intensity of workers.