CN111536366A - Remote-controllable intelligent drift diameter robot - Google Patents
Remote-controllable intelligent drift diameter robot Download PDFInfo
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- CN111536366A CN111536366A CN202010429652.2A CN202010429652A CN111536366A CN 111536366 A CN111536366 A CN 111536366A CN 202010429652 A CN202010429652 A CN 202010429652A CN 111536366 A CN111536366 A CN 111536366A
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- Prior art keywords
- shell
- wheel
- driving
- control system
- drift diameter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a remote-controllable intelligent drift diameter robot which comprises a shell, a driving system, an induction system and a control system, wherein the driving system, the induction system and the control system are all arranged in the shell; the sensing system comprises a touch mechanism, a photoelectric sensor and a pressure relay; the trigger mechanism comprises a torsion spring, a centering wheel and a ratchet wheel, the centering wheel is installed on the shell and is partially positioned outside the shell, a central rod is vertically arranged at the center of the ratchet wheel in a penetrating and fixing mode, the centering wheel is connected with one end of the central rod of the ratchet wheel in a limiting and rotating mode, the torsion spring is sleeved on the central rod at the other end of the ratchet wheel, the centering wheel can be pressed into the shell when rotating, the centering wheel compresses the torsion spring through the ratchet wheel, the torsion spring transmits pressure to the pressure relay, and the pressure relay and the photoelectric sensor are both connected with a control system circuit; the invention reduces the labor intensity of operators.
Description
Technical Field
The invention belongs to the technical field of drift diameter devices, and particularly relates to a remote-controllable intelligent drift diameter robot.
Background
The drift diameter of the casing is an important process which is indispensable to preparation work before casing setting, and the common modes of the current drift diameter operation of the casing are mainly two types: the manpower pulls drift diameter gauge drift diameter, compressed air promotion drift diameter gauge drift diameter to whether the inspection sleeve pipe internal diameter accords with the standard, whether have the plug in the sleeve pipe, following short slab exists in this two kinds of modes: firstly, intensity of labour is big: the manual traction steel wire rope is connected with the drift diameter gauge for drift diameter, and the labor intensity is high when personnel need to run back and forth; secondly, the danger coefficient is high: compressed air pushes the drift diameter gauge to perform sleeve drift diameter, and due to the fact that the impact force is large after air compression, control is difficult, risks exist after the drift diameter gauge is flushed out, and personal injury incidents are prone to being caused; thirdly, the automation level is low: with the development of science and technology and the continuous development of intelligent tools, the existing tools are still in the original state, and the automation level is low. The automatic tool aims to solve the problems that an existing tool is high in labor intensity, high in operation risk and low in automation level. The conventional casing drift diameter operation tool and method need to be improved, so that the labor intensity of casing drift diameter operation is reduced, the risk coefficient is reduced, the automation level is improved, and the safety and smoothness of construction are ensured.
Therefore, based on the problems, the remote-controllable intelligent drift diameter robot can effectively improve the working efficiency of the drift diameter operation of the casing, reduce the labor intensity of operators and reduce the potential safety hazard in the work, and has important practical significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a remote-controllable intelligent drift diameter robot which can effectively improve the working efficiency of casing drift diameter operation, reduce the labor intensity of operators and reduce the potential safety hazard in the working process.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the remotely-controllable intelligent drift diameter robot comprises a shell, a driving system, an induction system and a control system, wherein the driving system, the induction system and the control system are all arranged in the shell, the control system can transmit and receive instructions to the driving system according to received induction system signals, and the driving system acts by receiving the instructions of the control system;
the induction system comprises a touch mechanism, a photoelectric sensor and a pressure relay; the trigger mechanism comprises a torsion spring, a centering wheel and a ratchet wheel, the centering wheel is installed on the shell and is partially positioned outside the shell, a central rod is vertically and fixedly arranged at the center of the ratchet wheel in a penetrating mode, the centering wheel is connected with one end of the central rod of the ratchet wheel in a limiting and rotating mode, the torsion spring is sleeved on the central rod at the other end of the ratchet wheel, the centering wheel can be pressed into the shell when rotating, the centering wheel compresses the torsion spring through the ratchet wheel, the torsion spring transmits pressure to the pressure relay, and the pressure relay and the photoelectric sensor are both connected with the control system circuit;
the driving system comprises a battery pack, a driving motor and a driving wheel, the driving wheel is installed on the shell, part of the driving wheel is exposed out of the shell, the battery pack is connected with a circuit of the driving motor and supplies power to the driving motor, and the driving motor can drive the driving wheel to rotate so as to drive the shell to move.
The remote control device is characterized by further comprising a wireless remote controller and a remote control receiver, wherein the remote control receiver is arranged in the shell and is in circuit connection with the control system, and the remote control receiver receives signals of the wireless remote controller and transmits the signals to the control system.
Further, the gauge ring is fixedly arranged on the outer wall of the shell in a surrounding mode.
Further, the thickness of the gauge ring is smaller than the size of the centralizing wheel and the driving wheel exposed outside the shell.
Further, the gauge ring is of a split structure, and an annular structure is formed by fixing the split part on the outer wall of the shell.
Furthermore, the induction system is 2 sets and is symmetrically distributed on two sides of the shell.
Furthermore, the shell is cylindrical, and end covers are fixedly arranged on the front end and the rear end face of the shell.
The invention has the advantages and positive effects that:
the invention has the characteristics of simple structure, wide application range, strong practicability, firmness, durability, convenient operation and the like, has wide popularization value, solves the practical problems for the production line, greatly improves the working efficiency, reduces the labor intensity, improves the safety of production and operation, can effectively prevent personal injury generated during the drift diameter operation of the casing, and plays a role in safe production.
Drawings
The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a structural sectional view of a remotely controllable intelligent drift diameter robot provided in an embodiment of the present invention;
fig. 2 is a circuit connection structure diagram of a remotely controllable intelligent drift diameter robot provided in the embodiment of the present invention;
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting 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 invention will be described in detail with reference to fig. 1-2.
Fig. 1 is a structural sectional view of a remotely controllable intelligent drift diameter robot provided in an embodiment of the present invention; fig. 2 is a circuit connection structure diagram of a remotely controllable intelligent drift diameter robot provided in the embodiment of the present invention; as shown in fig. 1 and 2, the remotely controllable intelligent drift diameter robot provided in this embodiment includes a housing 1, a driving system, an induction system, and a control system 12, where the driving system, the induction system, and the control system are all installed in the housing 1, the control system 12 can send and receive commands to the driving system according to received induction system signals, and the driving system acts by receiving commands from the control system 12;
the induction system comprises a touch mechanism, a photoelectric sensor 2 and a pressure relay 3; the trigger mechanism comprises a torsion spring 4, a centering wheel 5 and a ratchet wheel 6, the centering wheel 5 is mounted on the shell 1, part of the centering wheel is positioned outside the shell 1, the centering wheel 5 is connected with a central rod of the ratchet wheel 6 in a limiting and rotating manner, the torsion spring 4 is sleeved on the central rod of the ratchet wheel 6, the centering wheel 5 can be pressed into the shell 1 when rotating, the centering wheel 5 compresses the torsion spring 4 through the ratchet wheel 6, the torsion spring 4 transmits pressure to a pressure relay 3 (not shown in fig. 1), and the pressure relay 3 and the photoelectric sensor 2 are both in circuit connection with the control system;
the driving system comprises a battery pack 7, a driving motor 8 and a driving wheel 9, wherein the driving wheel 9 is installed on the shell 1, part of the driving wheel is exposed out of the shell 1, the battery pack 7 is in circuit connection with the driving motor 8 and supplies power to the driving motor 8, and the driving motor 8 can drive the driving wheel 9 to rotate so as to drive the shell 1 to move.
Specifically, a central rod is vertically and fixedly arranged at the center of the ratchet wheel 6 in a penetrating manner, when one end of the ratchet wheel central rod connected with the righting wheel of the remote-controlled intelligent drift diameter robot is pressed, the pressure is transmitted to a pressure relay through a torsion spring, when the torsion spring is pressed to a certain degree, the pressure relay is opened to transmit a signal to a control system, the control system sends a forward instruction to a driving system, the driving system controls a driving wheel to walk forwards, when the control system detects that the load current of a motor is too large in the case of resistance, the control system automatically sends an instruction to the driving system, and the driving wheel is controlled to walk backwards to complete the return action; when the remote-controllable intelligent drift diameter robot walks to the front end of the sleeve and senses light at an outlet, the photoelectric sensor senses the light and transmits a deceleration signal to the control system, and the control system controls the driving system to decelerate by adjusting the power supply current of the motor.
The remote control device is characterized by further comprising a wireless remote controller 13 and a remote control receiver 10, wherein the remote control receiver 10 is installed in the shell 1 and is in circuit connection with the control system, and the remote control receiver 10 receives signals of the wireless remote controller and transmits the signals to the control system; when the remotely-controllable intelligent drift diameter robot walks in the sleeve and needs to move forwards and backwards for various reasons (under the conditions of no blockage and the like), the wireless remote controller can be operated to transmit a remote control signal to the control system, the control system sends forward and backward commands to the driving system, and the driving wheel performs forward and backward movements.
In this embodiment, it can be further considered that: the gauge ring 14 is fixedly arranged on the outer wall of the shell 1 in a surrounding manner, and in order to not hinder the expansion and contraction of the centralizing wheel 5 and the walking of the driving wheel 9, the thickness of the gauge ring 14 is smaller than the size of the centralizing wheel 5 and the driving wheel 9 exposed outside the shell 1;
further, it is possible to consider: the gauge ring 14 is of a split structure, and a ring structure is formed by fixing a split part on the outer wall of the shell 1; specifically, in this embodiment, the gauge rings 14 may be made into a two-piece structure, and the two gauge rings 14 are respectively fixed on the outer wall of the housing 1 by screws, so as to form an annular structure; the gauge ring is used for meeting the requirements of casings with different wall thicknesses on the drift diameter, and the drift diameter requirements of different diameters can be met by replacing the gauge ring.
It should be noted that the number of the induction systems is 2, and the induction systems are symmetrically distributed on two sides of the shell 1; therefore, the two sets of induction systems can work simultaneously, and the condition that the righting wheel of one set of induction system falls into the pressure relay to fail due to the fact that a concave structure is arranged in the sleeve is avoided.
The shell 1 is cylindrical, and end covers 11 are fixedly arranged at the front end and the rear end face of the shell.
It should be noted that the photoelectric sensor, the pressure relay, the torsion spring, the ratchet wheel, the battery pack, the driving motor and the control system are all installed in the shell, and a corresponding supporting and fixing structure can be added as required during installation, so long as the functions of the invention are realized; the parts of the centralizing wheel and the driving wheel required to be exposed out of the shell during installation can rotate, and corresponding supporting and fixing structures can be added according to needs during installation, so that the centralizing wheel and the driving wheel belong to the technology known by the technical personnel in the field, and are not described again.
By way of example, in the embodiment, when the drift diameter is needed, two persons stand at one side of two ends of the casing respectively, after one person puts one end of the remote-control intelligent drift diameter robot into the position of the female buckle end of the casing, the working power switch on the power supply is turned on, the remotely-controllable intelligent drift diameter robot is completely placed into the sleeve, the righting wheel 5 of the remotely-controllable intelligent drift diameter robot is pressed into the shell 1 when rotating, the righting wheel 5 compresses the torsion spring 4 through the ratchet wheel 6, the torsion spring 4 transmits the pressure to the pressure relay 3, the pressure relay is connected with the control system circuit, the control system receives a signal and then controls the driving system to drive the remotely-controllable intelligent drift diameter robot to automatically move forwards, when the working power switch reaches the male buckle end at the other end of the sleeve, the remote-controllable intelligent drift diameter robot appears, the other person catches the remote-controllable intelligent drift diameter robot from the male buckle end, and drift diameter of one sleeve is finished; when foreign matters exist in the sleeve or the inner diameter of the sleeve deforms, the motor is reversed through a control system under the limitation of set driving current, and at the moment, the drift diameter gauge automatically returns.
It should be noted that the control system, the wireless remote controller, the remote control receiver, the battery pack, the driving motor, the pressure relay and the photoelectric sensor in the invention all adopt the existing products, as long as the effect of the invention is realized, and the invention is not limited by the specific model or specification, for example, the driving motor can select the outer rotor brushless motor to drive more directly, and the driving efficiency is high; the control system can adopt a smart core controller SPCE 061A; furthermore, the circuit connection between the electronic devices in the present invention belongs to the prior art known to those skilled in the art, and does not hinder the technical reproduction of the present invention.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (7)
1. But remote control intelligence latus rectum robot, its characterized in that: the induction heating device comprises a shell with a circular cross section, a driving system, an induction system and a control system, wherein the driving system, the induction system and the control system are all arranged in the shell, the control system can receive and send instructions to the driving system according to received induction system signals, and the driving system acts by receiving the instructions of the control system;
the induction system comprises a touch mechanism, a photoelectric sensor and a pressure relay; the trigger mechanism comprises a torsion spring, a centering wheel and a ratchet wheel, the centering wheel is installed on the shell and is partially positioned outside the shell, a central rod is vertically and fixedly arranged at the center of the ratchet wheel in a penetrating mode, the centering wheel is connected with one end of the central rod of the ratchet wheel in a limiting and rotating mode, the torsion spring is sleeved on the central rod at the other end of the ratchet wheel, the centering wheel can be pressed into the shell when rotating, the centering wheel compresses the torsion spring through the ratchet wheel, the torsion spring transmits pressure to the pressure relay, and the pressure relay and the photoelectric sensor are both connected with the control system circuit;
the driving system comprises a battery pack, a driving motor and a driving wheel, the driving wheel is installed on the shell, part of the driving wheel is exposed out of the shell, the battery pack is connected with a circuit of the driving motor and supplies power to the driving motor, and the driving motor can drive the driving wheel to rotate so as to drive the shell to move.
2. The remotely controllable intelligent drift diameter robot as claimed in claim 1, wherein: the remote control device is characterized by further comprising a wireless remote controller and a remote control receiver, wherein the remote control receiver is installed in the shell and is in circuit connection with the control system, and the remote control receiver receives signals of the wireless remote controller and transmits the signals to the control system.
3. The remotely controllable intelligent drift diameter robot as claimed in claim 1, wherein: the gauge ring is fixedly arranged on the outer wall of the shell in a surrounding mode.
4. The remotely controllable intelligent drift diameter robot as claimed in claim 3, wherein: the thickness of the gauge ring is smaller than the size of the centralizing wheel and the driving wheel exposed outside the shell.
5. The remotely controllable intelligent drift robot of claim 3 or 4, wherein: the gauge ring is of a split structure, and a split part is fixed on the outer wall of the shell to form an annular structure.
6. The remotely controllable intelligent drift diameter robot as claimed in claim 5, wherein: the induction system is 2 sets and is symmetrically distributed on two sides of the shell.
7. The remotely controllable intelligent drift diameter robot as claimed in claim 1, wherein: and end covers are fixedly arranged on the front end and the rear end face of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429652.2A CN111536366A (en) | 2020-05-20 | 2020-05-20 | Remote-controllable intelligent drift diameter robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429652.2A CN111536366A (en) | 2020-05-20 | 2020-05-20 | Remote-controllable intelligent drift diameter robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111536366A true CN111536366A (en) | 2020-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010429652.2A Pending CN111536366A (en) | 2020-05-20 | 2020-05-20 | Remote-controllable intelligent drift diameter robot |
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| CN (1) | CN111536366A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215508A (en) * | 2022-02-21 | 2022-03-22 | 东营市兆鑫工贸有限责任公司 | Oil pipe drift diameter gauge |
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| CN110307370A (en) * | 2019-05-27 | 2019-10-08 | 中国石油天然气集团有限公司 | A kind of fluid pipeline dead oil section pressure releasing method |
| CN210371404U (en) * | 2019-11-20 | 2020-04-21 | 西南石油大学 | Hydraulic control system of intelligent pipeline plugging robot |
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2020
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| CN207298395U (en) * | 2017-09-08 | 2018-05-01 | 北京亚欧震达科技发展有限公司 | A kind of pipeline leakage detection device |
| CN110307370A (en) * | 2019-05-27 | 2019-10-08 | 中国石油天然气集团有限公司 | A kind of fluid pipeline dead oil section pressure releasing method |
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| 许明等: "《液压与气压传动》，许明等，第108页，西安电子科技大学出版社，2018年9月", 《液压与气压传动》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215508A (en) * | 2022-02-21 | 2022-03-22 | 东营市兆鑫工贸有限责任公司 | Oil pipe drift diameter gauge |
| CN114215508B (en) * | 2022-02-21 | 2022-04-29 | 东营市兆鑫工贸有限责任公司 | Oil pipe drift diameter gauge |
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