CN111452020A - Unattended robot between metering room and valve group room and control method thereof - Google Patents

Abstract

The invention discloses an unattended robot between a metering room and a valve bank and a control method thereof, belonging to the technical field of gathering and transportation petroleum production automation. The method comprises the following steps: the device comprises a first guide rail, a base, a second guide rail, a third guide rail, detection equipment, a valve opening and closing device and a controller; the third guide rail is provided with a valve opening and closing device, and the third guide rail is provided with a valve opening and closing driving device for driving the valve opening and closing device to rotate and a fourth driving device for driving the third guide rail to stretch and retract; the detection equipment is dispersedly arranged on the base, one end of the second guide rail, which is far away from the base, and the third guide rail; the detection equipment, the first driving device, the second driving device, the third driving device and the valve opening and closing driving device are all electrically connected with the controller. Aiming at the technical problem of manual oil measuring and production measuring, the automatic oil gathering and transportation production can be realized, and the process parameter data of water mixing, oil measuring and routing inspection can be accurately detected and controlled.

Description

Unattended robot between metering room and valve group room and control method thereof

Technical Field

The invention relates to the technical field of gathering and transportation petroleum production automation, in particular to an unattended robot between a metering room and a valve bank and a control method thereof.

Background

The petrochemical industry maintains national economic life. In the current production of oil production and transportation, pipelines of a plurality of oil wells are usually converged into a metering room (also called as a valve group because the space is filled with various instruments, valve switches and the like), single-well separator inlet gate pipes, hot washing pipelines and the like of oil passages of the oil wells are converged together in the metering room, each single well is usually provided with about 4 valves, namely a single-well oil return gate for controlling oil, a single-well hot washing gate for controlling a hot water pipeline and a single-well water mixing gate; the single-well separator inlet gate is used for controlling the flow direction on-off of the oil well effluent to the separator; the single-well oil return gate is used for controlling the on-off of the flow direction of the oil well effluent to the oil collecting pipe, and the single-well hot washing gate is used for controlling the on-off of the flow direction of hot water flowing to a well head sleeve; the single-well water mixing gate is used for controlling and adjusting the flow and the connection and disconnection of single-well water mixing.

The measuring room is usually provided with one to three separators and matched pipelines, the pipelines can independently guide the liquid output of each oil well in the measuring room into the separators, usually, glass tube type liquid level meters are installed on the separators, the oil extraction workers carry out combined operation of matching with valves of the pipelines, and the liquid output of a single well, namely, the oil measurement and production can be calculated out by fixing the relation between the liquid level height and the liquid level accumulation time. At present, oil measurement and production measurement are mainly manually completed by an oil extraction worker, meanwhile, in order to ensure the accuracy of oil measurement, the liquid level of oil measurement needs to reach more than two thirds of the total amount of a separator liquid level meter, and under the condition that the liquid output of a single well is low, the liquid level needs to reach 40 minutes to several hours; the efficiency is low, or certain potential safety hazards may exist, and the controllability is poor, so that the oil yield and the quality are influenced.

The water mixing is a process that hot water input from the outside of the measuring room is input into a well head through a water mixing valve, is mixed with outlet liquid of the well head and then flows back to the measuring room, the temperature of the mixture of the hot water and the liquid discharged from the well head is increased by the heat in the hot water and is higher than the condensation point (wax deposition) temperature of the liquid (oil) discharged from the well head, the wax precipitation is prevented, the normal gathering and transportation of the oil liquid are ensured, because the amount of the collected and transported liquid is larger, the water adding amount is controlled to keep the temperature of the mixed liquid higher than the condensation point (wax deposition) of the liquid (oil) discharged from the well head not too high, so as to achieve the balance of keeping (controlling) yield and saving energy, reasonably controlling the water blending amount is a key energy-saving means in oil extraction and gathering production, the main means for controlling the water blending amount is the production experience of oil producers, the method for controlling the water mixing amount by adjusting the opening degree of the water mixing valve has obvious subjective factors and can not be quantized and standardized.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention provides an unattended robot between a metering room and a valve bank and a control method thereof, aiming at the technical problem of low working efficiency of manual oil measurement and production measurement. The automatic oil measuring, production measuring and automatic water mixing can be realized, and the process parameter data of the oil gathering and transportation production can be accurately detected and controlled.

2. Technical scheme

In order to solve the technical problems, the invention adopts the following technical scheme:

an unattended robot between a metering room and a valve group room, comprising: the device comprises a first guide rail, a base, a second guide rail, a third guide rail, detection equipment, a valve opening and closing device and a controller; the first guide rail is movably connected with the base, and a first driving device for driving the base to move along the first guide rail is arranged on the base; a second guide rail and second driving equipment are arranged on the base; the second driving device is used for driving the third guide rail to move on the second guide rail; the third guide rail is provided with a valve opening and closing device, and the third guide rail is provided with a valve opening and closing driving device for driving the valve opening and closing device to rotate and a third driving device for driving the third guide rail to stretch and retract; the detection equipment is dispersedly arranged on the base, one end of the second guide rail, which is far away from the base, and the third guide rail; the detection equipment, the first driving device, the second driving device, the third driving device and the valve opening and closing driving device are all electrically connected with the controller.

Optionally, the first driving device includes a driving pulley, more than one pressing wheel, more than one guide wheel, a first driving belt and a pulley driving motor; the first driving belt penetrates through a gap formed by the pressing wheel and the driving belt wheel, and a belt wheel driving motor is connected with the driving belt wheel through a belt wheel speed reducer; the belt wheel driving motor is electrically connected with the controller; the guide wheel is matched with the first guide rail.

Optionally, the second driving device includes a second guide rail driving motor, an endless belt located on the second guide rail, and a slider located on the endless belt and connected to the third guide rail, the second guide rail driving motor drives the endless belt to rotate through a second guide rail driving reducer, so that the third guide rail located on the slider moves on the second guide rail, and the second guide rail driving motor and the second guide rail driving reducer are both located on the base; the second guide rail driving motor is electrically connected with the controller.

Optionally, the third guide rail includes a ball screw spline shaft and a guide post; and two ends of the ball screw spline shaft penetrate through the bearings, and the bearings and two ends of the guide pillar are positioned on the fixing plate.

Optionally, the third driving device includes a ball screw nut and a ball screw motor sleeved on the guide post; the ball screw spline shaft penetrates through the ball screw nut and the ball screw motor, and the ball screw spline shaft is matched with the ball screw nut; the ball screw motor is connected with the ball screw nut; the ends at the two ends of the ball screw spline shaft are provided with the valve opening and closing devices; the ball screw motor is electrically connected with the controller.

Optionally, the valve opening and closing driving device includes a spline nut, a spline motor and a spline reducer, which are sleeved on the guide pillar; the ball screw spline shaft penetrates through the spline nut, the spline motor and the spline speed reducer, and is matched with the spline nut; the spline motor is connected with the spline nut through a spline speed reducer; the ends at the two ends of the ball screw spline shaft are provided with the valve opening and closing devices; the spline motor is electrically connected with the controller.

Optionally, the camera device and the camera device supplementary light source which are arranged on the third guide rail and electrically connected with the controller.

Optionally, the detection device disposed on the third guide rail includes a limit compensator, both ends of the third guide rail are connected to the valve opening and closing device through the limit compensator, and the limit compensator is electrically connected to the controller.

Optionally, the detection device includes a gas sensor electrically connected to the controller, and the gas sensor is disposed on the first guide rail, the second guide rail, the third guide rail or the base; the gas sensor is used for detecting at least methane and hydrogen sulfide gas.

Optionally, the detection device disposed on the base further includes a collision sensor and an anti-collision switch electrically connected to the controller, and the collision sensor and the anti-collision switch are disposed on an outer side surface of the base.

Optionally, a collision detection sensor connected with the controller is arranged on a flange plate connected with the ball screw spline shaft of the third guide rail and the limiting compensator, and the collision detection sensor is located outside the valve opening and closing device.

Optionally, the electrical connection is wireless or wired.

Optionally, the detection apparatus includes an infrared camera electrically connected to the controller, and the infrared camera is disposed at an end of the second guide rail far away from the base, or on the third guide rail.

A method of controlling an unattended robot between a metering room and a valve group, the unattended robot between a metering room and a valve group according to the above, comprising:

the parameter indexes in the detection and measurement room of the detection equipment are fed back to the controller; the controller controls the first driving device, the second driving device, the third driving device and the fourth driving device to move according to the parameter indexes, so that after the valve opening and closing device is connected with the valve to be adjusted, the controller controls the valve opening and closing driving device to move, the valve opening and closing device is rotated, and the opening state of the valve to be adjusted is changed to be in a preset opening state; the parameter indexes comprise valve opening, oil temperature, gas content and pointer reading of instruments in the valve group.

The working state of the robot system in the measuring room comprises the work of polling, oil measuring and production measuring of valve operation, automatic water mixing and the like, wherein the polling comprises the polling of the states of all instruments and equipment, the detection of leakage and leakage, unauthorized invasion and the like, and the work is mainly completed through the combination of a visual system and a gas sensor, wherein the visual system detects the states of all instruments and the apparent state of a pipeline, the gas sensor monitors the concentration of dangerous gas in the measuring room, and optionally monitors the temperature field condition in the measuring room through an infrared thermal imaging system,

the water mixing scheme comprises the following steps: reading an instrument, particularly the oil return temperature, in the metering room through a camera system of the robot system, properly reducing the opening degree of a water mixing valve by combining the wellhead pressure and the outdoor temperature through the comparison of the oil return temperature and the standard oil return temperature of the well when the oil return temperature is higher than the standard oil return temperature, and repeating the process for multiple times through robot inspection until the oil return temperature is equal to the standard oil return temperature of the well; when the oil return temperature of the inspection is lower than the standard temperature of the well, the oil return temperature is usually the disease of the wax freezing well, the control system informs well repair operators to intervene in a wired and wireless message mode, and particularly in the north in winter, the inspection of the robot has extremely high-efficiency significance for the normal play of a metering room.

The oil measuring process includes closing the single well water mixing valve, opening the separator inlet valve, closing the separator outlet valve, closing the single well oil return valve, leading the liquid outlet of the oil well into the separator, opening the gas balance valve to exhaust excessive gas from well mouth to lower the gas pressure inside the separator without affecting the liquid level and exhaust the oil in the equivalent oil, and opening the single well oil return valve, closing the separator inlet valve, opening the single well water mixing valve, closing the gas balance valve to exhaust the oil in the equivalent oil well, all valves are operated according to the principle of first opening and then closing, namely the main process of oil metering.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

(1) the embodiment of the invention aims at the defects of low working efficiency and easy error of manual oil measurement and production measurement in the prior art, can automatically complete oil measurement and production measurement and automatic water mixing, and is completed by an unattended robot to replace manpower, thereby improving the working efficiency and liberating the manpower.

(2) The control of oil (liquid) return is achieved through the automatic water mixing flow control, the energy conservation and emission reduction are realized to the maximum extent while the normal production is ensured, and the method has important significance for reducing the production cost.

(3) Through patrolling and examining of robot, the warning of interfering is carried out to the abnormal conditions between the measurement that can be quick, has effectually guaranteed the high-efficient operation of gathering and transportation oil production.

(2) According to the technical scheme of the embodiment of the invention, the state and the data of the instrument in the metering room are read through the camera device, an oil extraction worker is not required to monitor the liquid level all the time, and the working efficiency is improved.

(3) According to the technical scheme of the embodiment of the invention, the base and the first guide rail slide in a matched manner, so that the robot can move conveniently, and the collision probability of the robot is reduced.

Drawings

Fig. 1 is a schematic structural diagram of an unattended robot between a metering room and a valve group room according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a first driving device of a base of an unattended robot between a metering room and a valve bank according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a valve opening/closing driving device of an unattended robot between a metering room and a valve bank according to an embodiment of the present invention.

Detailed Description

For a further understanding of the present invention, reference will now be made in detail to the embodiments illustrated in the drawings.

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The terms first, second, and the like in the present invention are provided for convenience of describing the technical solution of the present invention, and have no specific limiting effect, but are all generic terms, and do not limit the technical solution of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1

This embodiment provides a robot between unmanned on duty's measurement, valves, includes: the device comprises a first guide rail 1, a base 4, a second guide rail 2, a third guide rail 3, detection equipment, a valve opening and closing device 6 and a controller; the first guide rail 1 is movably connected with the base 4, and a first driving device for driving the base 4 to move along the first guide rail 1 is arranged on the base 4; the base 4 is provided with a second guide rail 2 which is movably connected and a second driving device which is used for driving the second guide rail 2 to rotate; the second guide rail 2 is movably connected with the third guide rail 3, and the third guide rail 3 is provided with a third driving device for driving the third guide rail 3 to move along the second guide rail 2; the third guide rail 3 is provided with a valve opening and closing device 6, and the third guide rail 3 is provided with a valve opening and closing driving device for driving the valve opening and closing device 6 to rotate and a fourth driving device for driving the third guide rail 3 to stretch and retract; the detection equipment is dispersedly arranged on the base 4, one end of the second guide rail 2 far away from the base 4 and the third guide rail 3; the detection equipment, the first driving device, the second driving device, the third driving device, the fourth driving device and the valve opening and closing driving device are all electrically connected with the controller.

As shown in fig. 1, the detection device is configured to detect various parameter indexes during metering, such as an opening state of a valve, a position where the valve is opened, and a concentration and a content of a specific gas (including but not limited to methane, hydrogen sulfide, and other gases), and feed back the detected result to the controller, and after receiving a detection result of the detection device, the controller performs a judgment and comparison to judge an opening/closing state and an opening degree that the valve to be adjusted is expected to reach; through the action of the controller, the metering robot is moved, the valve opening and closing device 6 is finally aligned and connected with the valve to be adjusted, the valve to be adjusted is set to reach the preset valve state obtained by the controller according to various parameter indexes, and the specific operation flow is as follows:

the base 4 can move along the first guide rail 1 by controlling the operation state of the first driving device so as to change the relative position of the first guide rail 1 in the metering room, and the second guide rail 2 rotates along the base 4 by controlling the operation state of the second driving device so as to change the included angle of the second guide rail 2 relative to the horizontal plane of the base 4; the third guide rail 3 moves along the second guide rail 2 by controlling the running state of a third driving device so as to change the relative position of the third guide rail 3 and the second guide rail 2, and the position of the third guide rail 3 is changed by controlling a fourth driving device so as to align and connect a valve opening and closing device 6 with the valve to be adjusted; the valve opening and closing device 6 is rotated by controlling the running state of the valve opening and closing driving device, so that the corresponding valve to be adjusted in the metering room is opened and closed, and the degree of the closing degree is operated and set.

The position of the robot in the metering room is changed by controlling the first driving device, the second driving device, the third driving device and the fourth driving device, and the position of the valve opening and closing device 6 (which is equivalent to an actuator) is further changed, so that the opening or closing state and the opening degree of corresponding valves (including but not limited to a single-well oil return gate, a single-well hot washing gate, a single-well water mixing gate, a single-well separator inlet gate and the like) in the metering room can be accurately controlled and executed, the gas environment in the metering room is changed, and the safety and the reliability of the gas environment in the metering room are ensured; accurately measuring oil yield parameter indexes such as water mixing amount, oil yield and the like of each single well; the flow direction and the on-off of the liquid outlet and the hot water of the oil well are accurately controlled; so as to realize the work flow and work content of the automatic control measurement room; ensure safe and reliable, reduce the cost of labor.

Example 2

The embodiment provides an unattended robot between a metering room and a valve group, and on the basis of the technical scheme of the embodiment 1, the robot can be improved as follows: the first driving device comprises a driving belt wheel 104, more than one pressing wheel 103, more than one guide wheel 106, a first driving belt 102 and a belt wheel driving motor 105; the pinch rollers 103 are positioned on two sides of the driving belt wheel 104, the first driving belt 102 penetrates through a gap formed by the pinch rollers 103 and the driving belt wheel 104, and the belt wheel driving motor 105 is connected with the driving belt wheel 104 through a belt wheel speed reducer; the belt wheel driving motor 105 is electrically connected with the controller; the guide wheel 106 is engaged with the first guide rail 1.

The number of the pressing wheels 103 may be 1 or 2, the guide wheel 106 includes a first guide wheel 1061 and a second guide wheel 1062, guide wheel shafts of the first guide wheel 1061 and the second guide wheel 1062 are fixedly connected to the base 4, and guide wheel bodies of the first guide wheel 1061 and the second guide wheel 1062 are adapted to the first guide rail 1, so that the base 4 moves on the first guide rail 1 along the first drive belt 102 by engaging or meshing the drive pulley 104 with the first drive belt 102 under the driving of the pulley drive motor 105. Implementations of the drive pulley 104 cooperating with the first drive belt 102 include, but are not limited to, three ways:

1. the driving pulley 104 and the first driving belt 102 are respectively provided with a tooth shape and a groove meshed with the tooth shape, specifically, the driving pulley 104 may be provided with the tooth shape; the first driving belt 102 is provided with a groove meshed with the tooth shape; or the driving pulley 104 may be provided with a groove engaged with the tooth shape; the first driving belt 102 is provided with a tooth shape; so that the driving pulley 104 is engaged with the first driving belt 102, and the base 4 moves on the first guide rail 1 along the first driving belt 102 under the driving of the pulley driving motor 105.

2. The driving pulley 104 and the first driving belt 102 are respectively provided with a groove and a protrusion engaged with or matched with the groove, specifically, the driving pulley 104 may be provided with a groove; the first driving belt 102 is provided with a protrusion engaged with or matched with the groove; or the drive pulley 104 may be provided with a projection that engages or mates with a recess; the first driving belt 102 is provided with a groove; so that the driving pulley 104 is engaged with the first driving belt 102, and the base 4 moves on the first guide rail 1 along the first driving belt 102 under the driving of the pulley driving motor 105.

3. The driving pulley 104 may be a toothed wheel cooperating with a chain, and the first driving belt 102 may be a chain; so that the driving pulley 104 is engaged with the first driving belt 102, and the base 4 moves on the first guide rail 1 along the first driving belt 102 under the driving of the pulley driving motor 105.

4. The driving pulley 104 may be a wheel for winding up a rope, that is, a circle of grooves for winding up a rope is annularly arranged on the driving pulley 104, and the corresponding first driving belt 102 may be a rope; so that the driving pulley 104 is engaged with the first driving belt 102, and the base 4 moves on the first guide rail 1 along the first driving belt 102 under the driving of the pulley driving motor 105.

Example 3

The embodiment provides an unattended robot between a metering room and a valve group, and on the basis of the technical scheme of the embodiment 1 or 2, the robot can be improved as follows: the second driving device comprises a second guide rail driving motor 201, an annular belt located on the second guide rail 2 and a sliding block arranged on the annular belt and connected with the third guide rail 3, the second guide rail driving motor 201 drives a speed reducer through the second guide rail 2 to drive the annular belt to rotate so as to enable the third guide rail 3 arranged on the sliding block to move on the second guide rail 2, and the second guide rail driving motor 201 and the second guide rail driving speed reducer are both located on the base 4; the second rail driving motor 201 is electrically connected to the controller.

The controller controls the second guide rail driving motor 201 to rotate, drives the annular belt to rotate, so as to drive the sliding block to slide on the annular belt in a reciprocating mode through the second guide rail 2, controls the third guide rail 3 connected with the sliding block to slide in a reciprocating mode through the second guide rail 2, and controls the third guide rail 3 to move to a specified height through the controller, so that the valve opening and closing device 6 arranged on the third guide rail 3 can operate a valve switch with a corresponding height.

Example 4

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any technical scheme of the embodiments 1-3 as follows: the third driving device comprises a ball screw nut 401 and a ball screw motor 402 which are sleeved on the guide post 311; the ball screw spline shaft 310 passes through the ball screw nut 401 and the ball screw motor 402, and the ball screw spline shaft 310 is matched with the ball screw nut 401; the ball screw motor 402 is connected with the ball screw nut 401; the ends of the two ends of the ball screw spline shaft 310 are provided with the valve opening and closing devices 6; the ball screw motor 402 is electrically connected to the controller.

The ball screw motor 402 comprises a brake 4021, a driver 4022 and an encoder 4023 which are electrically connected with a controller, a motor rotor of the ball screw motor 402 is coaxially connected with the brake 4021 and the encoder 4023 in series, namely, the motor rotor of the ball screw motor 402 is rigidly and coaxially connected with a brake disc of the brake 4021, the brake 4021 is an electromagnetic brake which is under the action of power failure, when the power failure occurs, electromagnetism is synchronously released to drive a friction material to clamp or clasp the motor rotor, so that the motor rotor is kept stationary when the power failure occurs, wherein a rotating part of the encoder 4023 is coaxially and rigidly connected with the motor rotor, a relative rotation angle between the motor stator and the motor rotor is converted into a coding signal to be supplied to the driver 4022 and the controller of the ball screw motor 402, the driver 4022 is used for providing modulated current for the stator of the ball screw motor 402 to drive the rotor of the ball screw motor 402 to rotate, the actuator 4022 is coaxially mounted to the encoder 4023, and receives a controller command in addition to controlling the rotation of the ball screw motor 402. By adopting the structure, the external wiring of the robot is reduced, the reliability of the equipment is improved, and the device is more suitable for the equipment connection condition of the working environment of dangerous gas between metering rooms (valve groups).

The ball screw motor 402 drives the ball screw nut 401 to rotate, and the ball screw spline shaft 310 is matched with the ball screw nut 401, so that the ball screw spline shaft 310 is displaced relative to the ball screw nut 401 to change the position of the valve opening and closing device 6, and the opening of the corresponding valve is conveniently adjusted. As shown in fig. 3, the guide post 311 plays a role in guiding and fixing, and the ball screw motor 402 drives the ball screw nut 401 to rotate, so as to drive the ball screw spline shaft 310 to make a linear motion along its axis, and adjust the abutting distance and position between the valve opening and closing device 6 located at the ends of the two ends of the ball screw spline shaft 310 and the valve to be regulated, so that the valve opening and closing device 6 is engaged with the valve to be regulated.

Example 5

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 4 as follows: the third guide rail 3 includes a ball screw spline shaft 310 and a guide post 311; both ends of the ball screw spline shaft 310 penetrate through bearings, and both the bearings and both ends of the guide post 311 are located on the fixing plate 312.

As shown in fig. 3, the guide post 311 plays a guiding role, and optionally, two ends of the guide post 311 are respectively and fixedly connected with bearings sleeved at two ends of the ball screw spline shaft 310 through fixing plates 312; the fixing plate 312 is used to keep the guide post 311 and the ball screw spline shaft 310 at a certain distance, so that the device sleeved on the guide post 311 can keep a reasonable distance from the ball screw spline shaft 310, and the ball screw spline shaft 310 can conveniently pass through the device. The ball screw spline shaft 310 can rotate in the bearing, and the ends of the two ends of the ball screw spline shaft 310 are provided with the valve opening and closing devices 6.

Example 6

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 5 as follows: the valve opening and closing driving device comprises a spline nut 411, a spline motor 412 and a spline speed reducer 413 which are sleeved on the guide post 311; the ball screw spline shaft 310 passes through the spline nut 411, the spline motor 412 and the spline reducer 413, and the ball screw spline shaft 310 is matched with the spline nut 411; the spline motor 412 is connected with the spline nut 411 through a spline reducer 413; the ends of the two ends of the ball screw spline shaft 310 are provided with the valve opening and closing devices 6; the spline motor 412 is electrically connected to the controller.

The spline motor 412 is similar to the ball screw motor 402, the spline motor 412 includes a first brake, a first driver and a first encoder (not shown in the figures, and the first driver 4021, the first driver 4022 and the first encoder 4023 are installed in a similar position and manner) electrically connected to the controller, and the motor rotor of the spline motor 412 is coaxially connected in series with the first brake and the first encoder, that is, the first motor rotor of the spline motor 412 is rigidly and coaxially connected to the brake disc of the first brake, the first brake is an electromagnetic brake that is de-energized, and when de-energized, the electromagnetic brake is electromagnetically and synchronously released to drive the friction material to clamp or clasp the first motor rotor, so that the first motor rotor is kept stationary when de-energized, wherein the rotating part of the first encoder is rigidly connected to the motor rotor coaxially, and converts the relative rotation angle between the first motor stator and the first motor rotor into an encoding signal, the first driver is used for providing modulated current for the first motor stator to drive the first motor rotor to rotate, and the first driver is coaxially arranged behind the first encoder and receives a controller command besides controlling the rotation of the motor. By adopting the structure, the external wiring of the robot is reduced, the reliability of the equipment is improved, and the device is more suitable for the equipment connection condition of the working environment of dangerous gas between metering rooms (valve groups).

Example 7

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 6 as follows: the valve opening and closing driving device comprises a spline nut 411, a spline motor 412 and a spline speed reducer 413 which are sleeved on the guide post 311; the ball screw spline shaft 310 passes through the spline nut 411, the spline motor 412 and the spline reducer 413, and the ball screw spline shaft 310 is matched with the spline nut 411; the spline motor 412 is connected with the spline nut 411 through a spline reducer 413; the ends of the two ends of the ball screw spline shaft 310 are provided with the valve opening and closing devices 6; the spline motor 412 is electrically connected to the controller.

The valve opening and closing device 6 may be a jaw type wrench or other types of wrenches, and is configured to rotate the valve to be adjusted to change the opening and closing state and the opening and closing degree of the valve to be adjusted after engaging the valve to be adjusted.

As shown in fig. 3, the guide post 311 plays a role in guiding and fixing, the spline motor 412 drives the spline nut 411 to rotate through the spline reducer 413, and drives the ball screw spline shaft 310 to rotate along the axis where the ball screw spline shaft is located, so as to drive the valve opening and closing device 6 to rotate, and perform opening and closing or valve element rotation angle adjustment operation on the valve to be adjusted engaged with the valve opening and closing device 6.

Example 8

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 7 as follows: and the camera 701 and the camera supplementary light source 7011 which are arranged on the third guide rail 3 and electrically connected with the controller.

The camera device 701 and the camera device supplementary light source 7011 are both sleeved on the guide post 311, and when the brightness of the metering room is low, the camera device supplementary light source is used for supplementing a light source for the metering robot, so that the brightness in the metering room is improved, and the camera device is ensured to obtain a stable and clear image. The controller is convenient to prepare and recognize images shot by the camera device, so that the states of each instrument and each valve in the metering room can be accurately judged.

Example 9

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 8 as follows: the detection device arranged on the third guide rail 3 comprises a limit compensator 703, both ends of the third guide rail 3 are connected with a valve opening and closing device 6 through the limit compensator 703, and the limit compensator 703 is electrically connected with the controller.

One side of the limiting compensator 703 is connected with the ball screw spline shaft 310 through a flange plate, the other side of the limiting compensator 703 is connected with the valve opening and closing device 6, and the axial direction of the limiting compensator 703 and the vertical axis direction of the flange plate have a 5-degree swing adjusting range, so that the non-axial additional torque existing between the axial direction of the valve rod of the valve to be adjusted and the axial direction of the valve opening and closing device 6 is eliminated, and the safe operation of the robot system between the valve groups is protected.

Example 10

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 9 as follows: and a collision detection sensor connected with the controller is arranged on a flange plate of the limit compensator 703 connected with the ball screw spline shaft 310 of the third guide rail 3, and the collision detection sensor is positioned outside the valve opening and closing device 6.

The outside of the valve opening and closing device 6 corresponding to the two ends of the ball screw spline shaft 310 is provided with the collision detection sensors, the collision detection sensors at 2 positions are arranged on the mounting flange plates of the two side limit compensators 703 and extend out towards the direction of the valve opening and closing device 6, and the positions of the outside of the valve opening and closing device 6 (which can be a wrench) are larger than the diameter of the valve opening and closing device 6, so that the accidental collision of the wrench and an unknown target can be detected, the robot system is protected, when the collision detection sensors output, the robot system is subjected to emergency stop protection, and the collision damage can be prevented.

The detection device comprises a gas sensor 702 electrically connected with the controller, wherein the gas sensor 702 is arranged on the first guide rail 1, the second guide rail 2, the third guide rail 3 or the base 4; the gas sensor 702 is used to detect a gas containing at least methane and hydrogen sulfide.

The position of the gas sensor 702 is not limited, and the gas sensor may be attached to or disposed on the robot.

Example 11

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 10 as follows: the detection equipment arranged on the base 4 further comprises a collision sensor and an anti-collision switch which are electrically connected with the controller, and the collision sensor and the anti-collision switch are arranged on the outer side surface of the base 4.

The collision sensor is used for detecting whether the mobile chassis collides with an object when moving, and the collision prevention switch is used for stopping the robot to move when the mobile value of the collision sent by the robot is larger than a preset value.

Example 12

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 11 as follows: the electrical connection is wireless or wired.

If a wireless electric connection mode is adopted, wireless signal sending and receiving equipment is arranged on the controller and the detection equipment and is used for sending and receiving electric signals.

And if a wired electric connection mode is adopted, the output end of the detection equipment is connected with the I/O port of the controller through a signal cable.

Example 13

The embodiment provides an unattended robot between a metering room and a valve group room, which can be improved on the basis of any one of the technical schemes of the embodiments 1 to 12 as follows: the detection equipment comprises an infrared camera device electrically connected with the controller, and the infrared camera device is arranged at one end of the second guide rail 2 far away from the base 4 or on the third guide rail 3.

If the infrared camera device is arranged on the third guide rail 3, namely, sleeved on the guide post 311, the infrared camera device is used for shooting images of objects in the metering room to obtain the temperature gradient of a target object in the images, so that the monitoring of the temperature in the pipeline in the metering room is completed, and the temperature in the metering room is ensured to be in a safe and stable range.

Example 14

The present embodiment provides a method for controlling an unattended robot between a metering chamber and a valve group chamber, where the unattended robot between a metering chamber and a valve group chamber according to any of technical solutions of embodiments 1 to 13 includes:

the parameter indexes in the detection and measurement room of the detection equipment are fed back to the controller; the controller controls the first driving device, the second driving device, the third driving device and the fourth driving device to move according to the parameter indexes, so that after the valve opening and closing device 6 is connected with the valve to be adjusted, the controller controls the valve opening and closing driving device to move, the valve opening and closing device 6 is rotated, and the opening state of the valve to be adjusted is changed to be in a preset opening state;

the parameter indexes comprise valve opening, oil temperature, gas content and pointer reading of instruments in the valve group.

The control method of the robot among the valve groups comprises three parts, namely water mixing, oil measuring and inspection. The water mixing part is a process that hot water input from the outside of the measuring room is input into a well head through a water mixing valve, is mixed with outlet liquid of the well head and then flows back to the measuring room, the temperature of the mixture of the hot water and the liquid discharged from the well head is increased by the heat in the hot water and is higher than the condensation point (wax deposition) temperature of the liquid (oil) discharged from the well head, the wax precipitation is prevented, the normal gathering and transportation of the oil liquid are ensured, because the amount of the collected and transported liquid is larger, the water adding amount is controlled to keep the temperature of the mixed liquid higher than the condensation point (wax deposition) of the liquid (oil) discharged from the well head not too high, so as to achieve the balance of keeping (controlling) yield and saving energy, reasonably controlling the water blending amount is a key energy-saving means in oil extraction and gathering production, the main means for controlling the water blending amount is the production experience of oil producers, the method for controlling the water mixing amount by adjusting the opening degree of the water mixing valve has obvious subjective factors and can not be quantized and standardized. The robot is adopted in the application, the camera device 701 is closely matched with the camera device supplementary light source 7011, data of an oil return thermometer is collected, the opening of the water mixing amount valve is controlled and sent to the controller to be subjected to image processing and recognition, the opening of the water mixing amount valve is obtained, thermal imaging pictures of a metering room are shot through the infrared camera device and transmitted to the controller, after recognition and judgment are carried out by the controller, the temperature of oil can be obtained, normal gathering and transmission of the oil are guaranteed for preventing wax precipitation, the temperature of the oil is controlled by adjusting the opening of hot water mixing amount, the change of the hot water mixing amount is determined by the opening of the water mixing valve, the controller controls the valve to open and close the driving device to act, and the opening of the water mixing amount valve is changed, so that the flow of hot water and the hot water mixing amount are accurately controlled. Thereby it is achieved that: 1. the oil cannot be condensed, and the normal delivery of the oil is ensured; 2. the quantity of the hot water supplied is determined according to the requirement, so that the hot water is not wasted, and the energy conservation is realized.

To the oil metering part, including the separator, the separator is imported and exported and all is equipped with the valve, camera device 701 and camera device supply light source 7011 and cooperate closely, gather separator import and export valve state picture, transmit for the controller, the controller passes through image processing, discerns the separator import and export valve's aperture size, through the action of control valve headstock gear 6, accurate control separator import and export valve aperture size, can realize: 1. the accuracy of oil measurement; 2. ensuring safe production; 3. the yield and quality of oil are ensured.

For the inspection part, the oil temperature, the opening of each valve, and the content of abnormal or dangerous gas in the measurement room (also called as valve group because the space is filled with various instruments, valve switches, etc.) need to be checked. The gas sensor 702 detects the gas content in the valve groups and feeds the gas content back to the controller in real time, and relevant safety measures are started once abnormal conditions are found; the infrared camera device can set a shooting time interval, and the latest temperature of oil in each pipeline between the valve groups and the latest temperature between the valve groups are timely fed back to the controller, so that the safe operation between the valve groups can be accurately controlled. The camera device 701 is matched with the camera device supplementary light source 7011, image information between the valve groups is collected and transmitted to the controller in time, and after the controller performs image processing, the reading of each instrument and meter and the opening of the valve in the valve group, including the reading of a pointer of each instrument and meter, the opening of a valve at an inlet and an outlet of a separator, the opening of a valve of a water mixing amount valve of hot water and the like, among the valve groups can be identified, so that the valve groups can be accurately controlled to operate safely and efficiently.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the present application. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (14)

1. The utility model provides a robot between unmanned on duty measurement, valves which characterized in that includes: the device comprises a first guide rail, a base, a second guide rail, a third guide rail, detection equipment, a valve opening and closing device and a controller; wherein the content of the first and second substances,

the first guide rail is movably connected with the base, and a first driving device for driving the base to move along the first guide rail is arranged on the base;

a second guide rail and second driving equipment are arranged on the base; the second driving device is used for driving the third guide rail to move on the second guide rail;

the third guide rail is provided with a valve opening and closing device, and the third guide rail is provided with a valve opening and closing driving device for driving the valve opening and closing device to rotate and a third driving device for driving the third guide rail to stretch and retract;

the detection equipment is dispersedly arranged on the base, one end of the second guide rail, which is far away from the base, and the third guide rail;

the detection equipment, the first driving device, the second driving device, the third driving device and the valve opening and closing driving device are all electrically connected with the controller.

2. The unmanned robot for the metering room and the valve bank room as claimed in claim 1, wherein the first driving device comprises a driving pulley, more than one pressing wheel, more than one guide wheel, a first driving belt and a pulley driving motor; the first driving belt penetrates through a gap formed by the pressing wheel and the driving belt wheel, and a belt wheel driving motor is connected with the driving belt wheel through a belt wheel speed reducer; the belt wheel driving motor is electrically connected with the controller; the guide wheel is matched with the first guide rail.

3. The unattended robot between the metering room and the valve group room as claimed in claim 1, wherein the second driving device comprises a second guide rail driving motor, an endless belt located on the second guide rail, and a sliding block arranged on the endless belt and connected with the third guide rail, the second guide rail driving motor drives the endless belt to rotate through a second guide rail driving reducer so that the third guide rail arranged on the sliding block moves on the second guide rail, and the second guide rail driving motor and the second guide rail driving reducer are both located on the base; the second guide rail driving motor is electrically connected with the controller.

4. An unmanned on duty metering room, valve group room robot as recited in claim 1, wherein said third guide rail comprises a ball screw spline shaft and a guide post; and two ends of the ball screw spline shaft penetrate through the bearings, and the bearings and two ends of the guide pillar are positioned on the fixing plate.

5. The robot for the unattended operation room, the valve group room, and the like according to claim 4, wherein the third driving means comprises a ball screw nut and a ball screw motor which are sleeved on the guide post; the ball screw spline shaft penetrates through the ball screw nut and the ball screw motor, and the ball screw spline shaft is matched with the ball screw nut; the ball screw motor is connected with the ball screw nut; the ends at the two ends of the ball screw spline shaft are provided with the valve opening and closing devices; the ball screw motor is electrically connected with the controller.

6. The robot between the unattended metering room and the unattended valve group room as claimed in claim 4, wherein the valve opening and closing driving device comprises a spline nut, a spline motor and a spline reducer, wherein the spline nut, the spline motor and the spline reducer are sleeved on the guide post; the ball screw spline shaft penetrates through the spline nut, the spline motor and the spline speed reducer, and is matched with the spline nut; the spline motor is connected with the spline nut through a spline speed reducer; the ends at the two ends of the ball screw spline shaft are provided with the valve opening and closing devices; the spline motor is electrically connected with the controller.

7. An unmanned robot for a metering room and a valve bank room according to any one of claims 1 to 6, wherein the camera device and the camera device supplement light source which are electrically connected with the controller are arranged on the third guide rail.

8. The robot between the unattended metering room and the unattended valve group according to any one of claims 1 to 6, wherein the detection device arranged on the third guide rail comprises a limit compensator, both ends of the third guide rail are connected with a valve opening and closing device through the limit compensator, and the limit compensator is electrically connected with the controller.

9. An unmanned robot as claimed in any one of claims 1 to 6, wherein the detection means comprises a gas sensor electrically connected to the controller, the gas sensor being located on the first rail, the second rail, the third rail or the base; the gas sensor is used for detecting at least methane and hydrogen sulfide gas.

10. The robot of any one of claims 1 to 6, wherein the detection device disposed on the base further comprises a collision sensor and an anti-collision switch electrically connected to the controller, and the collision sensor and the anti-collision switch are disposed on an outer side surface of the base.

11. The robot of claim 8, wherein the flange plate connected with the ball screw spline shaft of the third guide rail and the limiting compensator is provided with a collision detection sensor connected with the controller, and the collision detection sensor is positioned outside the valve opening and closing device.

12. An unmanned meter room, valve group room robot as claimed in any one of claims 1 to 6 wherein said electrical connection is wireless or wired.

13. An unmanned robot for a metering room and a valve group room according to any one of claims 1 to 6, wherein the detection device comprises an infrared camera electrically connected with the controller, and the infrared camera is arranged at one end of the second guide rail far away from the base or arranged on the third guide rail.

14. A method of controlling an unmanned inter-metering, inter-valve bank robot, according to claim 1, comprising:

the parameter indexes in the detection and measurement room of the detection equipment are fed back to the controller; the controller controls the first driving device, the second driving device, the third driving device and the fourth driving device to move according to the parameter indexes, so that after the valve opening and closing device is connected with the valve to be adjusted, the controller controls the valve opening and closing driving device to move, the valve opening and closing device is rotated, and the opening state of the valve to be adjusted is changed to be in a preset opening state; the parameter indexes comprise valve opening, oil temperature, gas content and pointer reading of instruments in the valve group.

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