CN102141033A - Method and system for automatically measuring pump cylinder parameter of oil-well pump and pipeline robot - Google Patents
Method and system for automatically measuring pump cylinder parameter of oil-well pump and pipeline robot Download PDFInfo
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- CN102141033A CN102141033A CN 201010591125 CN201010591125A CN102141033A CN 102141033 A CN102141033 A CN 102141033A CN 201010591125 CN201010591125 CN 201010591125 CN 201010591125 A CN201010591125 A CN 201010591125A CN 102141033 A CN102141033 A CN 102141033A
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Abstract
The invention relates to an automatic measuring pipeline robot and an automatic measuring method of pump cylinder parameters of an oil-well pump. The robot comprises a pump cylinder inner diameter measuring device, a pump cylinder inner surface roughness measuring device, a pump cylinder inner surface hardness measuring device, a driving device, a locking device and a controlling device, wherein the pump cylinder inner diameter measuring device is used for measuring the inner diameter parameter of a pump cylinder of the oil-well pump and feeding back the measured inner diameter parameter to the controlling device; the pump cylinder inner surface roughness measuring device is used for measuring the inner surface roughness parameter of the pump cylinder of the oil-well pump and feeding back the measured surface roughness parameter to the controlling device; the pump cylinder inner surface hardness measuring device is used for measuring the inner surface hardness parameter of the pump cylinder of the oil-well pump and feeding back the inner surface hardness parameter to the controlling device; the driving device is used for driving the robot to go forwards and backwards; the locking device is used for locking the position of the robot in the running process of the robot; the controlling device is used for receiving an instruction of an external computer and then controlling the working state of the devices; and then the inner diameter value, the inner surface roughness value and the inner surface hardness value of the pump cylinder are generated according to parameter values.
Description
Technical field
The present invention relates to the petroleum drilling technology field, particularly a kind of oil well pump pump barrel parameter auto-testing method, system and pipeline robot are to realize the automatic measurement of oil field with oil well pump pump barrel internal diameter, pump barrel internal surface hardness, pump barrel inside surface roughness.
Background technique
The oil field is the visual plant of field produces with oil well pump, the whether up-to-standard quality that directly determines oil well pump of pump barrel.Oil well pump pump barrel measurement parameter mainly comprises pump barrel internal diameter, pump barrel internal surface hardness, pump barrel inside surface roughness.Existing inner diameter measurement method adopts air gauge mostly; Pump barrel internal surface hardness can only be measured pump barrel two ends certain depth hardness, does not still have the total length surveying; The pump barrel inside surface roughness is energy measurement hardly.
Summary of the invention
The embodiment of the invention provides a kind of oil well pump pump barrel parameter auto-testing method, system and pipeline robot, to fill up the blank of oil well pump pump barrel population parameter test technique automatic, guarantee the oil well pump quality, reduce the massive losses that defective oil well pump causes field produces, guarantee the ordinary production of oil well and improve the economic benefit in oil field.
One of purpose of the embodiment of the invention is, a kind of oil well pump pump barrel parameter auto-testing pipeline robot is provided, and described robot comprises: control gear and the pump barrel inner diameter measuring device that is connected with described control gear, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device; Described pump barrel inner diameter measuring device is used for the internal diameter parameter of described oil well pump pump barrel is measured, and feeds back the internal diameter parameter of measuring to described control gear; Described pump barrel inside surface roughness measuring device is used for the inside surface roughness parameter of described oil well pump pump barrel is measured, and feeds back the inside surface roughness parameter of measuring to described control gear; Described pump barrel internal surface hardness measuring device is used for the internal surface hardness parameter of described oil well pump pump barrel is measured, and feeds back the internal surface hardness parameter of measuring to described control gear; Described drive unit is used to drive described robot and moves forward and backward; Described locking device is used for the moving process in described robot, and the position of described robot is locked; Described control gear is used to receive external command, and the working state of described pump barrel inner diameter measuring device, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device is controlled; According to the internal diameter parameter, inside surface roughness parameter and the internal surface hardness parameter that receive, generate inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
Described pump barrel inner diameter measuring device is positioned at the pipeline robot front end, comprising: electronic length detector and pump barrel inner diameter measurement oil hydraulic cylinder; When not needing to carry out parameter measurement, described electronic length detector is hidden in robot interior; When needs carried out parameter measurement, described electronic length detector was stretched out from the robot front end by pump barrel inner diameter measurement Driven by Hydraulic Cylinder, carries out the measurement of pump barrel internal diameter parameter, and measured parameter value is fed back to described control gear.
Described pump barrel inside surface roughness measuring device comprises: pump barrel roughness concentration oil hydraulic cylinder, pump barrel roughness concentration motor, transmission shaft, guide rail and roughness probe; Described pump barrel roughness concentration oil hydraulic cylinder is used to drive described pump barrel roughness concentration motor, transmission shaft, guide rail and roughness probe and stretches out from described robot interior, and contacts with the pump barrel internal surface; Described roughness concentration motor is used for driving the roughness probe along the guide rail segment distance of walking by transmission shaft on the pump barrel inwall; Described roughness probe is used for obtaining oscillating signal in the process of walking, and described oscillating signal is fed back to described control gear; Described control gear specifically is used for the inside surface roughness value according to described oscillating signal acquisition test point.
Described pump barrel internal surface hardness measuring device comprises: diamond nose cone and pump barrel hardness measurement oil hydraulic cylinder; Described pump barrel hardness measurement oil hydraulic cylinder is used to drive described diamond nose cone and carries out the pressure testing operation at described pump barrel internal surface; Described diamond nose cone is used for the depth of indentation of pressure testing gained is fed back to described control gear; Described control gear specifically is used for the Rockwell hardness number according to described depth of indentation acquisition test point.
Described drive unit comprises: forward drive unit and retreat driver element is respectively applied for and drives described robot and move forward and backward; Each driver element comprises: worm screw, worm gear, tire, crank-connecting rod, wheel drive motors and spring; Described motor is given worm and worm wheel by crank-connecting rod with transmission of power, to realize the rotation of tire; Described crank-connecting rod is provided with spring, is used to make the contact force of automatic adjusting of tire and pump barrel inwall.
Ratchet unit also is installed on the described worm screw, is used for avoiding the phenomenon that pulls that traveling process front and back wheels gait of march difference causes.
Described locking device comprises: preceding lock cell and back lock cell are respectively applied for that the position to described robot locks when moving forward and backward in described robot; Each lock cell comprises: slips and locking oil hydraulic cylinder; Described locking oil hydraulic cylinder is used to promote slips and contacts with the pump barrel inwall, and robot is fixed on the specified measurement position.
Two of the purpose of the embodiment of the invention is, a kind of oil well pump pump barrel parameter automatic measurement system is provided, and described system comprises the described oil well pump pump barrel of previous embodiment parameter auto-testing pipeline robot, and the outer computer that is connected with described pipeline robot; Described pipeline robot, be used to receive the operational order of described outer computer, the working state of the pump barrel inner diameter measuring device in the described pipeline robot, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device is controlled; According to measuring inner diameter values, inside surface roughness value and the internal surface hardness number that the internal diameter parameter, inside surface roughness parameter and the internal surface hardness that obtain generate described test point; And the described inner diameter values that will generate, inside surface roughness value and internal surface hardness number feed back to described outer computer; Described outer computer is used for controlling the working state of described pipeline robot to described pipeline robot transmit operation instruction; Receive inner diameter values, inside surface roughness value and the internal surface hardness number of the test point of described pipeline robot transmission; Inner diameter values, inside surface roughness value and the internal surface hardness number of a plurality of test points are averaged, obtain inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
Described outer computer, also be used for a plurality of Control Parameter of described pipeline robot are provided with, described Control Parameter comprises one or more combinations of following parameter: pump barrel length, step distance, measurement are counted, the measurement project, and described measurement project comprises: at least one item in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness.
Three of the purpose of the embodiment of the invention, provide a kind of method for automatic measurement of oil well pump pump barrel parameter, described method is used for the described oil well pump pump barrel of previous embodiment parameter auto-testing pipeline robot is controlled, to realize the automatic measurement of oil well pump pump barrel parameter; Described method comprises: the measurement project of described robot is set, and described measurement project comprises: at least one item in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness; Step distance and measurement that described robot is set are counted, every section corresponding measuring point of step distance; Control described robot and in described pump barrel, move, and on each position of moving, described robot is locked according to the step distance that is provided with; Control described robot and on each measuring point, measure the measurement parameter of set measurement project respectively, generate the measurement result of this measurement project according to described measurement parameter; Judge whether that the measurement that reaches default counts,, then continue to move next step distance, and control described robot and measure in next test point if do not reach; Count if reach default measurement, then control described robot and shift out described oil pumping pump barrel; Corresponding to each measurement project, the measurement result of a plurality of measuring points is averaged, obtain the measurement result of each measurement project of described oil well pump pump barrel, described measurement result comprises: at least one item in pump barrel internal surface hardness number, pump barrel inner diameter values and the pump barrel inside surface roughness value.
The technological scheme of the embodiment of the invention can be measured internal diameter, inside surface roughness and the internal surface hardness of oil well pump pump barrel simultaneously, filled up the blank that oil well pump pump barrel parameter automatization detects, improved the degree of accuracy that detects, eliminated artificial factor, controlled the quality of oil well pump effectively, improved the working life of the oil well pump of going into the well, improved the sense cycle of oil well pump greatly, for the production in oil field provides assurance, avoid defective oil well pump to produce the massive losses that brings to the oil field to a certain extent.
Description of drawings
Fig. 1 is the functional block diagram of embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot;
Fig. 2 is the refinement functional block diagram of pump barrel inner diameter measuring device 20 among Fig. 1;
Fig. 3 is the refinement functional block diagram of pump barrel inside surface roughness measuring device 30 among Fig. 1;
Fig. 4 is the refinement functional block diagram of pump barrel internal surface hardness measuring device 40 among Fig. 1;
Fig. 5 is the refinement functional block diagram of drive unit 50 among Fig. 1;
Fig. 6 is the refinement functional block diagram of locking device 60 among Fig. 1;
The master of a kind of oil well pump pump barrel parameter auto-testing pipeline robot that Fig. 7 provides for the embodiment of the invention looks and partly cuts open figure;
The right elevation of a kind of oil well pump pump barrel parameter auto-testing pipeline robot that Fig. 7 a provides for the embodiment of the invention;
Fig. 8 is the overall flow figure of the method for automatic measurement of embodiment of the invention oil well pump pump barrel parameter;
Fig. 9 is the implementing procedure figure of embodiment of the invention oil well pump pump barrel parameter auto-testing method;
Figure 10 is an embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot DSP manner of execution flow chart;
Figure 11 is an embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot external control method flow diagram.
Embodiment
For the purpose, technological scheme and the advantage that make the embodiment of the invention clearer, below in conjunction with the accompanying drawing in the embodiment of the invention, technological scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiments.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment who is obtained under the creative work prerequisite.
The embodiment of the invention at first provides a kind of oil well pump pump barrel parameter auto-testing pipeline robot, and Fig. 1 is the functional block diagram of embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot.As shown in Figure 1, this robot comprises: control gear 10 and the pump barrel inner diameter measuring device 20 that is connected with control gear 10, pump barrel inside surface roughness measuring device 30, pump barrel internal surface hardness measuring device 40, drive unit 50 and locking device 60.This control gear 10 can be microprocessor DSP.
Wherein: pump barrel inner diameter measuring device 20 is used for the internal diameter parameter of oil well pump pump barrel is measured, and feeds back the internal diameter parameter of measuring to control gear 10; Pump barrel inside surface roughness measuring device 30 is used for the inside surface roughness parameter of oil well pump pump barrel is measured, and feeds back the inside surface roughness parameter of measuring to control gear 10; Pump barrel internal surface hardness measuring device 40 is used for the internal surface hardness parameter of oil well pump pump barrel is measured, and feeds back the internal surface hardness parameter of measuring to control gear 10; Drive unit 50 is used for the drive machines people and moves forward and backward; Locking device 60 is used for the moving process in robot, and the position of robot is locked; Control gear 10 is used to receive external command, and the working state of pump barrel inner diameter measuring device 20, pump barrel inside surface roughness measuring device 30, pump barrel internal surface hardness measuring device 40, drive unit 50, locking device 60 is controlled; According to the internal diameter parameter, inside surface roughness parameter and the internal surface hardness parameter that receive, generate inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
Fig. 2 is the refinement functional block diagram of pump barrel inner diameter measuring device 20 among Fig. 1, and the pump barrel inner diameter measuring device 20 of present embodiment is positioned at the pipeline robot front end, comprising: electronic length detector 1 and pump barrel inner diameter measurement oil hydraulic cylinder 2.When not needing to carry out parameter measurement, electronic length detector 1 is hidden in robot interior; When needs carried out parameter measurement, electronic length detector 1 was driven by pump barrel inner diameter measurement oil hydraulic cylinder 2, stretches out from the robot front end, carries out the measurement of pump barrel internal diameter parameter, and measured parameter value is fed back to control gear 10.Alternatively, in order to obtain higher measuring accuracy, the preferred electronic length detector of present embodiment is a raster pattern electronic length detector.
Fig. 3 is the refinement functional block diagram of pump barrel inside surface roughness measuring device 30 among Fig. 1, and the pump barrel inside surface roughness measuring device 30 of present embodiment comprises: pump barrel roughness concentration oil hydraulic cylinder 12, pump barrel roughness concentration motor 13, transmission shaft 14, guide rail 15 and roughness probe 16.Pump barrel roughness concentration oil hydraulic cylinder 12 is used to drive pump barrel roughness concentration motor 13, transmission shaft 14, guide rail 15 and roughness probe 16 and stretches out robot interior, and contacts with the pump barrel internal surface; Pump barrel roughness concentration motor 13 is used for driving roughness probe 16 along guide rail 15 segment distance of walking by transmission shaft 14 on the pump barrel inwall; Roughness probe 16 is used for obtaining oscillating signal in the process of walking, and this oscillating signal is fed back to control gear 10.The control gear 10 of present embodiment specifically is used for the inside surface roughness value according to described oscillating signal acquisition test point.
Fig. 4 is the refinement functional block diagram of pump barrel internal surface hardness measuring device 40 among Fig. 1, and the pump barrel internal surface hardness measuring device 40 of present embodiment comprises: diamond nose cone 18 and pump barrel hardness measurement oil hydraulic cylinder 19; Described diamond nose cone rear end is connected to displacement measurement element (not shown); Pump barrel hardness measurement oil hydraulic cylinder 19 is used to drive diamond nose cone 18 and carries out the pressure testing operation at the pump barrel internal surface; The displacement measurement element is used for and will measures the depth of indentation of pressure testing gained, and this depth of indentation is fed back to control gear 10.The control gear 10 of present embodiment specifically is used for the Rockwell hardness number according to this depth of indentation acquisition test point.
Fig. 5 is the refinement functional block diagram of drive unit 50 among Fig. 1, and the drive unit 50 of present embodiment comprises: forward drive unit 501 and retreat driver element 502 is respectively applied for the drive machines people and moves forward and backward; Each driver element comprises: worm screw, worm gear, tire, crank-connecting rod, wheel drive motors and spring; Motor is given worm and worm wheel by crank-connecting rod with transmission of power, to realize the rotation of tire; Crank-connecting rod is provided with spring, is used to make the contact force of automatic adjusting of tire and pump barrel inwall.
Alternatively, ratchet unit is installed also on the worm screw, is used for avoiding the phenomenon that pulls that traveling process front and back wheels gait of march difference causes.
Fig. 6 is the refinement functional block diagram of locking device 60 among Fig. 1, and the locking device 60 of present embodiment comprises: preceding lock cell 601 and back lock cell 602 are respectively applied for that the position to robot locks when moving forward and backward in robot; Each lock cell comprises: slips and locking oil hydraulic cylinder.The locking oil hydraulic cylinder is used to promote slips and contacts with the pump barrel inwall, and robot is fixed on the specified measurement position.
The robot of present embodiment also comprises hydraulic oil inlet 22, power interface 23, hydraulic oil outlet 24, to realize the power supply and the hydraulic driving of robot; The robot of present embodiment also carries out data transmission by RS232 interface 25 and outer computer, by outer computer the operation of robot is controlled.
The concrete structure sectional view of a kind of oil well pump pump barrel parameter auto-testing pipeline robot that Fig. 7 provides for the embodiment of the invention.Below in conjunction with Fig. 7 robot architecture's principle of present embodiment is described in detail.
As shown in Figure 7, pump barrel parameter auto-testing pipeline robot of the present invention comprises: grating electronic length detector 1, pump barrel inner diameter measurement oil hydraulic cylinder 2, worm screw 3, worm gear 4, tire 5, crank-connecting rod 6, wheel drive motors 7, spring 8, slips 9, locking oil hydraulic cylinder 10, locking oil hydraulic cylinder pedestal 11, pump barrel roughness concentration oil hydraulic cylinder 12, pump barrel roughness concentration motor 13, transmission shaft 14, guide rail 15, roughness probe 16, pump barrel inner diameter measurement oil hydraulic cylinder pedestal 17, diamond nose cone 18, pump barrel hardness measurement oil hydraulic cylinder 19, back lock section 20, retreat drive part 21, hydraulic oil inlet 22, power interface 23, hydraulic oil outlet 24 and RS232 interface 25.
This pipeline robot is mainly by forming as the bottom: pump barrel inner diameter measuring device 20, forward drive unit 501, preceding lock cell 601, pump barrel inside surface roughness measuring device 30, pump barrel internal surface hardness measuring device 40, back lock cell 602, retreat driver element 501 and control gear 10.Present embodiment adopts ABAP Adapter, hydraulic power, external computer mode, realizes power supply, hydraulic driving and the control of robot.The walking manner of robot adopts motor-driven wheeled construction.The pump barrel parameter auto-testing pipeline robot one of present embodiment has 8 driving wheels, forward drive and retreat driving 4 driving wheels are respectively arranged.Retreat to drive and realize that principle is identical, finish advancing and backward movement of robot synchronously with forward drive.When arriving the measuring position of setting, robot need carry out locking position to robot.The locking position action is together finished by preceding lock cell 601 and back lock cell 602.The forward and backward lock cell of present embodiment all has four locking module, is circumference and evenly distributes for 90 °.
The pump barrel inner diameter measuring device 20 of present embodiment is installed in the pipeline robot front end, comprising: raster pattern electronic length detector 1 and pump barrel inner diameter measurement module oil hydraulic cylinder 2.When not carrying out the pump barrel inner diameter measurement, raster pattern electronic length detector 1 is hidden in robot interior; When carrying out geometric parameter measurement, raster pattern electronic length detector 1 is driven by pump barrel inner diameter measurement oil hydraulic cylinder 2, stretches out from the robot front end, carries out the measurement of pump barrel internal diameter.Raster pattern electronic length detector 1 precision is high, can reach 1 μ m, can reach the required precision of GB/T 18607-2010 fully.
Before lock cell 601 comprise: slips 9, locking oil hydraulic cylinder 10 and locking oil hydraulic cylinder pedestal 11, the location of pipeline robot when mainly finishing robot and in pump barrel, carrying out parameter measurement.In the present embodiment, the power unit of preceding lock cell 501 is 4 slips, and when pipeline robot arrived the specified measurement position, locking oil hydraulic cylinder 10 promoted slips 9 and contacts with the pump barrel inwall, and robot is fixed on the specified measurement position.Back lock cell 602 is identical with preceding lock cell 601 structures and working principle, finishes robot location's lock out action synchronously.
Pump barrel inside surface roughness measuring device 30 is made up of pump barrel roughness concentration oil hydraulic cylinder 12, pump barrel roughness concentration motor 13, transmission shaft 14, guide rail 15, roughness probe 16 and pump barrel roughness concentration oil hydraulic cylinder pedestal 17.Pump barrel inside surface roughness measuring device 30 drives pump barrel roughness concentration motor 13 by pump barrel roughness concentration oil hydraulic cylinder 12, transmission shaft 14, guide rail 15, roughness probe 16 stretches out pump barrel and contacts with the pump barrel internal surface, drive roughness probe 16 along guide rail 15 segment distance of on the pump barrel inwall, walking by roughness concentration motor 13 by transmission shaft 14 then, in the process of walking, roughness probe 16 can obtain oscillating signal, and give control gear 10 with this signal feed back, 10 pairs of oscillating signals of control gear amplify with Shelving after, adopt the roughness algorithm to draw pump barrel inside surface roughness numerical value.
Roughness adopts the contact type measurement mode in the present embodiment, in fact oscillating signal derives from the microcosmic injustice of pump barrel internal surface, the microcosmic injustice has caused moving back and forth of displacement transducer in the roughness probe, microcosmic displacement amount just, so measure in the roughness in contact method, vibration just is perpendicular to the reciprocal by a small margin displacement of workpiece surface.
The roughness algorithm principle that present embodiment adopted is: the inside at the roughness probe is equipped with displacement transducer, is used to monitor the vibration of roughness probe, just a kind of interior among a small circle displacement; Then this oscillating signal is transferred to control gear DSP, after amplification circuit amplifies, records the displacement of roughness probe; The oscillating signal that amplifies is launched, and the mean of obtaining displacement amount is tried to achieve the displacement difference of each displacement spike and center line as center line, in conjunction with existing roughness calculating method calculate the pump barrel inside surface roughness.At present the contact method roughness concentration equipment of main flow all adopts this kind principle, and this principle become the standard content in the textbook, can directly use for reference.
Pump barrel inwall hardness measuring device 40 comprises: diamond nose cone 18 and pump barrel hardness measurement oil hydraulic cylinder 19, also be connected to the displacement measurement element at diamond nose cone rear portion, and be used to measure the depth of indentation of pressure testing gained.Standard HRC (Rockwell hardness) method of measurement is adopted in hardness measurement, driving drift angles by pump barrel hardness measurement oil hydraulic cylinder 19 is 120 ° diamond nose cone 18 pressure testings, obtain depth of indentation, calculate the Rockwell hardness of test point according to HRC formula HR=(K-H)/C then, wherein K and C are constant, and H is a depth of indentation.Because the method for measurement of Rockwell hardness is a content known in those skilled in the art, no longer launch to describe herein.
A plurality of oil hydraulic cylinders of present embodiment adopt external hydraulic power mode, for pump barrel inner diameter measuring device 20, preceding lock cell 601, pump barrel inside surface roughness measuring device 30, pump barrel internal surface hardness measuring device 40 and back lock cell 602 provide hydraulic power to finish corresponding actions.
The embodiment of the invention also provides a kind of oil well pump pump barrel parameter automatic measurement system, and this system comprises the oil well pump pump barrel parameter auto-testing pipeline robot described in the previous embodiment, and the outer computer that is connected with this pipeline robot.
Wherein, pipeline robot, be used to receive the operational order of outer computer, the working state of the pump barrel inner diameter measuring device 20 in the pipeline robot, pump barrel inside surface roughness measuring device 30, pump barrel internal surface hardness measuring device 40, drive unit 50 and locking device 60 is controlled; According to measuring inner diameter values, inside surface roughness value and the internal surface hardness number that the internal diameter parameter, inside surface roughness parameter and the internal surface hardness that obtain generate described test point; And the described inner diameter values that will generate, inside surface roughness value and internal surface hardness number feed back to outer computer.
Outer computer is used for to pipeline robot transmit operation instruction, the working state of controlling plumbing fixtures robot; Inner diameter values, inside surface roughness value and the internal surface hardness number of the test point that the receiving pipeline robot sends; Inner diameter values, inside surface roughness value and the internal surface hardness number of a plurality of test points are averaged, obtain inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
Alternatively, the outer computer of present embodiment also is used for a plurality of Control Parameter of pipeline robot are provided with, and Control Parameter comprises one or more combinations of following parameter: pump barrel length, step distance, measurement are counted and the measurement project.Wherein, measurement project comprises: at least one item in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness.
The pipeline robot and the automatic measuring system that provide corresponding to previous embodiment, present embodiment also provides a kind of method for automatic measurement of oil well pump pump barrel parameter, this method is used for the oil well pump pump barrel parameter auto-testing pipeline robot of previous embodiment is controlled, to realize the automatic measurement of oil well pump pump barrel parameter.Fig. 8 is the overall flow figure of the method for automatic measurement of present embodiment oil well pump pump barrel parameter.As shown in Figure 8, this method comprises:
S801, the measurement project of robot is set, described measurement project comprises: in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness at least one;
S802, the step distance that robot is set and measurement are counted, every section corresponding measuring point of step distance;
S803, control robot move in described pump barrel according to the step distance that is provided with, and on each position of moving robot are locked;
The measurement parameter of set measurement project measured respectively by S804, control robot on each measuring point, generate the measurement result of this measurement project according to measurement parameter;
S805, judge whether that the measurement that reaches default counts,, then continue to move next step distance, and control described robot and measure in next test point if do not reach; Count if reach default measurement, then control described robot and shift out described oil pumping pump barrel;
S806, corresponding to each measurement project, the measurement result of a plurality of measuring points is averaged, obtain the measurement result of each measurement project of described oil well pump pump barrel, described measurement result comprises: at least one item in pump barrel internal surface hardness number, pump barrel inner diameter values and the pump barrel inside surface roughness value.
Fig. 9 is the implementing procedure figure of present embodiment oil well pump pump barrel parameter auto-testing method.As shown in Figure 9, the specific implementation process of present embodiment comprises following several stages:
1. preparatory work before measuring
1.1 wiring work
Before using pipeline robot that the pump barrel parameter is measured, the power interface 23 of robot need be connected with the externally fed cable; The RS232 interface 25 of robot is connected with outer computer and the hydraulic oil inlet 22 of robot and hydraulic oil outlet 24 are connected with external hydraulic system.
Alternatively, the power cable of the employing of present embodiment is 24V, and 5V four-core cable patches to power interface 23 places, for robot provides electric power.
Optionally, the signal transmission cable of present embodiment is nine core RS232 Serial Data Transfer Mode lines, patch to RS232 interface 25 places, make robot and outer computer carry out data interaction, realize transmission, the transmission of feedback signal and the transmission of abnormal signal etc. of control signal.
Alternatively, the external hydraulic system of present embodiment adopts No. 0 light diesel as hydraulic medium, external hydraulic pump is connected with hydraulic oil outlet 24 with robot hydraulic oil inlet 22, for robot provides the actions such as locking and measurement of advancing, fix a point to finish of hydraulic driving power.
1.2 robotary inspection
All External cable and hydraulic system connect finish after, operation external control software on the computer externally, the notice robot carries out self check work.At this moment, observe the external control software interface, behind software prompt " robotary is normal ", begin to prepare to measure; As the prompting of breaking down, need after robotary is normal, can measure according to fault prompting removing fault.
1.3 pump is gone into by robot
After preparatory work is finished, robot is put into tested pump barrel.When putting into robot, should make robot front end (near an end of grating electronic length detector 1) at first enter pump barrel, the process of putting into needs operator slowly to carry out.After the robot tail end all entered pump barrel, operator stopped to push, and robot goes into pump and finishes.
2. parameter measurement
When using robot that the pump barrel parameter is measured, need externally that the control software end of computer is provided with relevant parameter, the parameter that needs to be provided with comprises: pump barrel length, whether measure pump barrel internal surface hardness, whether measure the pump barrel internal diameter, whether measure the pump barrel inside surface roughness.After setting is finished, click " measuring automatically " button, robot will walk in pump barrel automatically, and finish measurement.
According to GB/T 18607-2010 regulation, need each parameter of pump barrel is carried out measuring to average for 4 times being measurement result.When carrying out the pump barrel parameter measurement, can select even measurement pattern or self-defined pattern.Evenly measurement pattern is that robot evenly seeks in pump barrel automatically and gets 4 points, carry out pump barrel internal diameter, pump barrel inside surface roughness, the hardness measurement of pump barrel internal surface respectively and with measurement feedback to outer computer, outer computer will calculate the most last measurement result of average value measured; Self-defined pattern is the position that the user can arbitrarily formulate 4 of measurements.
3. measure and finish
After measuring end, robot will be retracted into starting point automatically, and when outer computer control software end prompting " measurement is finished, and can take out robot ", operator need manually robot slowly to be taken out from pump barrel, remove connection cable and hydraulic line.Robot is placed to specified position.
Figure 10 is an embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot DSP manner of execution flow chart.This flowchart text DSP assign instruction how for each power unit, and finish overall work." the hardness measurement Electric Actuated Stop Valves " that wherein occurs among Figure 10, " inner diameter measurement Electric Actuated Stop Valves " and " roughness concentration Electric Actuated Stop Valves " is a kind of standard hydraulic element, the general designation Electric Actuated Stop Valves, its effect is the switch of control hydraulic pipe line, also is called switch valve; This Electric Actuated Stop Valves is used to control the action of hardness measurement fluid cylinder, inner diameter measurement fluid cylinder, coarse measurement fluid cylinder.
Be described in detail as follows below in conjunction with Figure 10 to the internal work process of the DSP of present embodiment robot:
If the parameter that has outer computer to assign in step 3 232 buffer memorys then is written to parameter among the RAM of DSP,, then continues the wait upper-position unit and assign instruction as not having;
Step 4, self-check program real time execution if any any unusual, then carry out Interrupt Process, promptly finish this measurement;
Step 5, judge whether the hardness measurement instruction is arranged in the instruction that outer computer assigns, if any the Electric Actuated Stop Valves of then opening hardness measurement, drive the fluid cylinder action of hardness measuring device rear end, hardness measurement module and workpiece inwall are fitted, finish preload, loading, unloading action, and measure hardness number, the hardness number that records is write the hardness storage unit, as do not have the hardness measurement instruction, then go to next parameter measurement step;
Figure 11 is an embodiment of the invention oil well pump pump barrel parameter auto-testing pipeline robot external control method flow diagram.Be described in detail as follows below in conjunction with Figure 11 to the working procedure of present embodiment outer computer:
After step 2, parameter setting were finished, operator need click the button of finishing on the software interface, and program is preserved parameter automatically, and content will be set be sent to 232 (being serial ports of computers) interface.According to the windows running principle, the data that are sent to serial ports will be kept in the serial ports buffer memory.And a flag bit is arranged in the serial data entry, and when serial data was read, this flag bit was 0, when not being read, this flag bit is 1.And this moment, in a single day robotic end DSP is scanning always and is instructing in the serial ports, that is to say, director data is arranged in the serial ports buffer memory, be bound to be read by DSP, and flag bit can be put 0;
After step 4, host computer procedure have been assigned instruction, just scan the data buffer memory of DSP end always, data storage method has imitated the storage mode of windows serial ports buffer memory in this data buffer memory, be data are arranged in the buffer memory and not to be read, and mark position 1, if data were read in the buffer memory, then the mark position 0.Host computer procedure is just known the data whether measurement parameter is arranged in the DSP end buffer memory by reading the flag bit state, if any, then with the data read in the DSP buffer memory in upper-position unit, and show at software interface, the backstage record, and remove existing data among the DSP.As not having, scanning flag position state always then.Each has removed DSP end buffer memory after, judge DSP end step number whether with step number be set equate, as equal, represent that then all measurements all to finish, hold step number to be less than predetermined step number as DSP, then repeat said process, finish until measurement.
From top description as can be seen, outer computer is that host computer procedure is simple in structure, the code coding amount is less, why be provided with and consider when this program is that robot just is fixed to the operation of band cable form at the beginning of design, can alleviate the pressure that the DSP end calculates like this, in the later stage improved products, especially not in the product with the cable type, can finish all calculating and program control with the DSP of robot interior fully.
The technological scheme of the embodiment of the invention has realized the measurement of oil well pump pump barrel internal diameter, internal surface hardness and inside surface roughness, filled up the blank that oil well pump pump barrel parameter automatization detects, improved the degree of accuracy that detects, eliminated artificial factor, controlled the quality of oil well pump effectively, improved the working life of the oil well pump of going into the well, improved the sense cycle of oil well pump greatly, for the production in oil field provides assurance, avoid defective oil well pump to produce the massive losses that brings to the oil field to a certain extent.
Oil well pump parameter auto-testing pipeline robot can be realized the automatic measurement of oil well pump pump barrel population parameter, and the pump barrel extreme length of measurement is 12 meters, and the pump barrel inside diameter ranges is Φ 32-Φ 140mm (dimension seriesization), measures the requirement of satisfying GB/T 18607-2010; Can reach 40 minutes/platform, 10/day detectability.
Pump barrel parameter auto-testing pipeline robot is the program control type pipeline robot, realized the integrated design of pump barrel parameter auto-testing instrument and robot, adopt externally fed, outer computer control mode to realize program control execution walking, fixed point locking, measure actions such as pump barrel internal diameter, inside surface roughness, internal surface hardness, pump barrel parameter auto-testing pipeline robot is advanced coordination freely, automatically measure action accurately, measurement result precision height.
The technological scheme of the embodiment of the invention has following advantage:
1. can realize from walking function;
2. can realize the automatic measurement action of oil well pump pump barrel internal diameter, internal surface hardness and inside surface roughness;
3. walking and measure action and not limited by the pump barrel location status, promptly pump barrel horizontal positioned or place perpendicular to ground all can;
4. the pump barrel inner diameter measurement partly adopts raster pattern electronic length detector, and precision is high;
5. the requirement of GB/T 18607-2010 is satisfied in the measurement of pump barrel internal diameter, internal surface hardness and inside surface roughness.
One of ordinary skill in the art will appreciate that all or part of flow process that realizes in the foregoing description method, be to instruct relevant hardware to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
Above embodiment only in order to the technological scheme of the explanation embodiment of the invention, is not intended to limit; Although the embodiment of the invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technological scheme that aforementioned each embodiment put down in writing, and perhaps part technical characteristics wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of embodiment of the invention technological scheme.
Claims (10)
1. oil well pump pump barrel parameter auto-testing pipeline robot, it is characterized in that described robot comprises: control gear and the pump barrel inner diameter measuring device that is connected with described control gear, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device;
Described pump barrel inner diameter measuring device is used for the internal diameter parameter of described oil well pump pump barrel is measured, and feeds back the internal diameter parameter of measuring to described control gear;
Described pump barrel inside surface roughness measuring device is used for the inside surface roughness parameter of described oil well pump pump barrel is measured, and feeds back the inside surface roughness parameter of measuring to described control gear;
Described pump barrel internal surface hardness measuring device is used for the internal surface hardness parameter of described oil well pump pump barrel is measured, and feeds back the internal surface hardness parameter of measuring to described control gear;
Described drive unit is used to drive described robot and moves forward and backward;
Described locking device is used for the moving process in described robot, and the position of described robot is locked;
Described control gear is used to receive external command, and the working state of described pump barrel inner diameter measuring device, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device is controlled; According to the internal diameter parameter, inside surface roughness parameter and the internal surface hardness parameter that receive, generate inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
2. robot according to claim 1 is characterized in that, described pump barrel inner diameter measuring device is positioned at the pipeline robot front end, comprising: electronic length detector and pump barrel inner diameter measurement oil hydraulic cylinder;
When not needing to carry out parameter measurement, described electronic length detector is hidden in robot interior; When needs carried out parameter measurement, described electronic length detector was stretched out from the robot front end by pump barrel inner diameter measurement Driven by Hydraulic Cylinder, carries out the measurement of pump barrel internal diameter parameter, and measured parameter value is fed back to described control gear.
3. robot according to claim 1 is characterized in that, described pump barrel inside surface roughness measuring device comprises: pump barrel roughness concentration oil hydraulic cylinder, pump barrel roughness concentration motor, transmission shaft, guide rail and roughness probe;
Described pump barrel roughness concentration oil hydraulic cylinder is used to drive described pump barrel roughness concentration motor, transmission shaft, guide rail and roughness probe and stretches out from described robot interior, and contacts with the pump barrel internal surface;
Described roughness concentration motor is used for driving the roughness probe along the guide rail segment distance of walking by transmission shaft on the pump barrel inwall;
Described roughness probe is used for obtaining oscillating signal in the process of walking, and described oscillating signal is fed back to described control gear;
Described control gear specifically is used for the inside surface roughness value according to described oscillating signal acquisition test point.
4. robot according to claim 1 is characterized in that, described pump barrel internal surface hardness measuring device comprises: diamond nose cone and pump barrel hardness measurement oil hydraulic cylinder; Described diamond nose cone rear end is connected to the displacement measurement element;
Described pump barrel hardness measurement oil hydraulic cylinder is used to drive described diamond nose cone and carries out the pressure testing operation at described pump barrel internal surface;
Described displacement measurement element is used to measure the depth of indentation of pressure testing gained, and described depth of indentation is fed back to described control gear;
Described control gear specifically is used for the Rockwell hardness number according to described depth of indentation acquisition test point.
5. robot according to claim 1 is characterized in that, described drive unit comprises: forward drive unit and retreat driver element is respectively applied for and drives described robot and move forward and backward; Each driver element comprises: worm screw, worm gear, tire, crank-connecting rod, wheel drive motors and spring;
Described motor is given worm and worm wheel by crank-connecting rod with transmission of power, to realize the rotation of tire;
Described crank-connecting rod is provided with spring, is used to make the contact force of automatic adjusting of tire and pump barrel inwall.
6. robot according to claim 5 is characterized in that, ratchet unit also is installed on the described worm screw, is used for avoiding the phenomenon that pulls that traveling process front and back wheels gait of march difference causes.
7. robot according to claim 1 is characterized in that, described locking device comprises: preceding lock cell and back lock cell are respectively applied for that the position to described robot locks when moving forward and backward in described robot; Each lock cell comprises: slips and locking oil hydraulic cylinder;
Described locking oil hydraulic cylinder is used to promote slips and contacts with the pump barrel inwall, and robot is fixed on the specified measurement position.
8. oil well pump pump barrel parameter automatic measurement system, it is characterized in that, described system comprises any described oil well pump pump barrel of claim parameter auto-testing pipeline robot among the claim 1-7, and the outer computer that is connected with described pipeline robot;
Described pipeline robot, be used to receive the operational order of described outer computer, the working state of the pump barrel inner diameter measuring device in the described pipeline robot, pump barrel inside surface roughness measuring device, pump barrel internal surface hardness measuring device, drive unit and locking device is controlled; According to measuring inner diameter values, inside surface roughness value and the internal surface hardness number that the internal diameter parameter, inside surface roughness parameter and the internal surface hardness that obtain generate described test point; And the described inner diameter values that will generate, inside surface roughness value and internal surface hardness number feed back to described outer computer;
Described outer computer is used for controlling the working state of described pipeline robot to described pipeline robot transmit operation instruction; Receive inner diameter values, inside surface roughness value and the internal surface hardness number of the test point of described pipeline robot transmission; Inner diameter values, inside surface roughness value and the internal surface hardness number of a plurality of test points are averaged, obtain inner diameter values, inside surface roughness value and the internal surface hardness number of described pump barrel.
9. system according to claim 8 is characterized in that,
Described outer computer, also be used for a plurality of Control Parameter of described pipeline robot are provided with, described Control Parameter comprises one or more combinations of following parameter: pump barrel length, step distance, measurement are counted, the measurement project, and described measurement project comprises: at least one item in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness.
10. the method for automatic measurement of an oil well pump pump barrel parameter, it is characterized in that, described method is used for any described oil well pump pump barrel of the claim parameter auto-testing pipeline robot of claim 1-7 is controlled, to realize the automatic measurement of oil well pump pump barrel parameter; Described method comprises:
The measurement project of described robot is set, and described measurement project comprises: at least one item in pump barrel internal surface hardness, pump barrel internal diameter and the pump barrel inside surface roughness;
Step distance and measurement that described robot is set are counted, every section corresponding measuring point of step distance;
Control described robot and in described pump barrel, move, and on each position of moving, described robot is locked according to the step distance that is provided with;
Control described robot and on each measuring point, measure the measurement parameter of set measurement project respectively, generate the measurement result of this measurement project according to described measurement parameter;
Judge whether that the measurement that reaches default counts,, then continue to move next step distance, and control described robot and measure in next test point if do not reach; Count if reach default measurement, then control described robot and shift out described oil pumping pump barrel;
Corresponding to each measurement project, the measurement result of a plurality of measuring points is averaged, obtain the measurement result of each measurement project of described oil well pump pump barrel, described measurement result comprises: at least one item in pump barrel internal surface hardness number, pump barrel inner diameter values and the pump barrel inside surface roughness value.
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| CN 201010591125 CN102141033B (en) | 2010-12-15 | 2010-12-15 | Method and system for automatically measuring pump cylinder parameter of oil-well pump and pipeline robot |
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| CN 201010591125 CN102141033B (en) | 2010-12-15 | 2010-12-15 | Method and system for automatically measuring pump cylinder parameter of oil-well pump and pipeline robot |
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| CN102141033B CN102141033B (en) | 2013-06-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107727522A (en) * | 2017-09-27 | 2018-02-23 | 健研检测集团有限公司 | A kind of device based on hardness method measurement steel strength |
| CN108680126A (en) * | 2018-04-27 | 2018-10-19 | 上海集成电路研发中心有限公司 | A kind of device and method of detection pipeline inner wall roughness |
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| CN102141033B (en) | 2013-06-05 |
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