CN114607353A - Wellhead dismounting robot used after out-of-control fire of blowout of oil and gas well and use method - Google Patents

Abstract

The invention discloses a well mouth dismounting robot and a using method used after the out-of-control fire of the blowout of an oil gas well, relating to the technical field of the out-of-control rescue of the blowout of the oil gas well, wherein the robot comprises a walking device, a crawler chassis, a main control box, a mechanical arm component, a remote control terminal, a protective cover and a storage battery, the main control box, the mechanical arm control box and the mechanical arm component are arranged on the crawler chassis, the protective cover is fixed with the crawler chassis, the mechanical arm component is connected with a clamping device, the other end of the clamping device is connected with a tool head, the walking device drives a structure on the crawler chassis to move, the mechanical arm control box is in control connection with the mechanical arm component, the main control box is in control connection with the walking device, the mechanical arm control box, the remote control terminal and the storage battery, thus solving the problem that the existing equipment can finely finish the replacement operation of new and old well mouths such as bolt cutting and installation and the like after the out-of-control fire of the blowout, and the dismounting robot replaces personnel to carry out near-wellhead operation, and the safety of the operating personnel is ensured to the greatest extent.

Description

Wellhead dismounting robot used after ignition caused by out-of-control blowout of oil and gas well and use method

Technical Field

The invention relates to the technical field of rescue for out-of-control blowout of oil and gas wells, in particular to a well mouth dismounting robot used after out-of-control blowout of the oil and gas wells catches fire and a using method.

Background

The ignition caused by the out-of-control blowout is the largest risk accident in the field of oil and gas exploration and development, and is the first of eight safety risks of the oil and gas group company in China. Once the blowout is out of control and catches fire, disastrous damage can be caused on the aspects of personnel, environment, ecology, resources and the like, extremely bad social influence and huge economic loss are brought to oil and gas enterprises, and the control must be carried out rapidly.

At present, after a blowout is out of control and catches fire, an old wellhead needs to be dismantled and a new wellhead needs to be installed, the existing wellhead dismantling device is usually dismantled by adopting a remote hydraulic sand blasting cutting device, but the problem of non-fine cutting exists by adopting the equipment and the existing dismantling mode, and the dismantling mode is suitable for cutting large devices such as a lifting short section and a blowout preventer, but is not suitable for fine operation of cutting bolts. When the old wellhead bolt is removed, an emergency worker needs to hold the cutting device to remove the bolt close to the wellhead, gas and fire possibly coexist around the wellhead, transverse fire breaks through randomly, the operation risk of the emergency worker is extremely high, the operation time is long, the worker can be burnt if the worker does not pay attention to the fire, and the emergency worker faces great psychological pressure and safety risk; in addition, after the existing new well mouth is installed through a large device to complete centering of new and old flanges, the bolts still need to be installed by emergency personnel close to the well mouth, residual air or residual fire is often sprayed out around the well mouth, the operation environment is extremely severe, and the safety risk of the personnel is extremely high.

The national intellectual property office discloses a utility model patent with the application number of "cn201822108314. x", named "a six-degree-of-freedom mechanical arm for blowout rescue work" on 19.6.2020, and discloses a six-degree-of-freedom mechanical arm for blowout rescue work, which is characterized in that: comprises a pair of pliers, a first middle connecting joint (2), a second middle connecting joint (3), a third middle connecting joint (4), a fourth middle connecting joint (5), a fixed base, a first single-shaft steering engine (7), a second single-shaft steering engine (11), a third single-shaft steering engine (12), a first double-shaft steering engine (8), a second double-shaft steering engine (9) and a third double-shaft steering engine (10), wherein the fixed base is connected with a machine body main body through screws, the first single-shaft steering engine is connected with the fixed base through screws and is positioned in the fixed base, the fourth middle connecting joint is connected with the fixed base through screws, the first double-shaft steering engine, the second double-shaft steering engine, the third middle connecting joint, the second middle connecting joint and the first middle connecting joint are connected through screws, and the second single-shaft steering engine is connected with the first middle connecting joint through screws, the third single-axis rudder is connected with the pliers through screws and is positioned on the pliers so as to control the opening and closing of the pliers. Among the aforementioned scheme, provide a arm for blowout rescue work, solved some current arms flexibility poor can not deal with the problem that the corresponding complicated work in scene needs, compare with traditional arm, its quality is lighter, and the cost is lower, and the flexibility improves greatly.

The mechanical arm is used in the environment that the blowout is out of control and catches fire, and still has many problems, such as the unstable problem of centre gripping superhigh pressure water conservancy sandblast cutting device. Therefore, the rescue work of out-of-control blowout is always an important research subject of oil and gas exploration.

Therefore, need to design a well head dismouting robot suitable for after oil gas well blowout is out of control and catches fire, can meticulously accomplish operations such as bolt cutting, new well head flange fastening and installation, realize cutting old well head device bolt, fastening operations such as new well head device flange, satisfy the needs of demolising old well head device, the new well head device of installation under the extreme environment of speedily carrying out rescue work, the fungible personnel carry out near well head operation, maximum assurance operating personnel safety.

Disclosure of Invention

The invention aims to provide a wellhead dismounting robot and a using method for ignition after out-of-control blowout of an oil and gas well, which solve the problem that in the prior art, after the out-of-control blowout of the oil and gas well is ignited, an old wellhead is safely dismounted and a new wellhead is mounted, meet the obstacle clearing requirement in an extreme emergency environment, replace personnel to carry out near-wellhead operation, and ensure the safety of operating personnel to the maximum extent.

The invention is realized by the following technical scheme:

the utility model provides a well head dismouting robot that is used for oil gas well blowout after ignition out of control, includes running gear, track chassis, main control box, mechanical arm control case, robotic arm subassembly, remote control terminal, guard shield and battery, main control box and mechanical arm control case are installed on track chassis, and the guard shield is fixed with track chassis, the robotic arm subassembly distal end is connected with clamping device, and the clamping device other end connecting tool head, robotic arm subassembly install in track chassis top, the mechanical arm subassembly is used for adjusting clamping device's height and inclination, and running gear drives the structure removal on the track chassis, the mechanical arm control case is connected with mechanical arm subassembly control, and main control box and running gear, mechanical arm control case, remote control terminal and battery control are connected.

Furthermore, an infrared pan-tilt camera, a visible light camera, a gas detector and a temperature sensor are further installed above the protective cover, spraying devices are further arranged on the protective cover and the mechanical arm assembly, and the main control box is respectively in control connection with the infrared pan-tilt camera, the visible light camera, the gas detector, the temperature sensor and the spraying devices.

Furthermore, still install the dc-to-ac converter on the track chassis, the dc-to-ac converter is connected with main control box and arm control box for provide the alternating current for the arm subassembly.

Further, the tool head is one of a C-shaped fastening mechanism, a breaking hammer, a hydraulic saw and a clamp, and the C-shaped fastening mechanism is a mechanical locking structure.

Furthermore, running gear includes track, drive wheel, bearing wheel, tow sprocket, leading wheel, straining device, track frame and motor.

Furthermore, the walking device comprises two tracks, two motors and two driving wheels, and walking and turning actions of the robot are realized in a differential driving mode.

Furthermore, the ground clearance of the crawler chassis is 300-500mm, the link plate material of the crawler is high-strength manganese steel more than 40Mn, the crawler chassis is welded by using a material more than Q345, and the aging treatment is performed after the welding.

Furthermore, the bearing wheel is made of a high-strength manganese steel material with the Mn content of more than 40Mn 2; the driving wheel and the guide wheel are made of ZGSiMn alloy steel, the supporting chain wheel is made of high-strength manganese steel with the strength of more than 50Mn, and the shaft part is made of 45-grade steel or 40Cr alloy steel after modulation and blackening.

Furthermore, the robot is also provided with an obstacle avoidance radar.

The utility model provides a method for using of well head dismouting robot, uses like aforementioned be used for well head dismouting robot after oil gas well blowout is out of control to catch fire, and concrete operating procedure is:

a. installing a wellhead dismounting robot, and selecting and assembling a proper tool head according to actual requirements;

b. the remote control terminal is used for operating the wellhead dismounting robot to walk, and the infrared pan-tilt camera, the visible light camera and the gas detector are used for detecting/collecting a heat radiation source, visible light information and toxic and harmful gas in the environment and feeding back the heat radiation source, the visible light information and the toxic and harmful gas to the remote control terminal through a main controller in the main control cabinet;

c. when the temperature sensor of the wellhead disassembly and assembly robot detects that the temperature of the body exceeds a preset value, the main controller controls the spraying device to work to cool the wellhead disassembly and assembly robot body.

Compared with the prior art, the invention has the following advantages and beneficial effects:

one, in this is clear, adopt this well head dismouting robot and application method thereof, after the blowout takes place of catching fire out of control, the dismouting robot can be at the water cannon, the old well head of completion is demolishd and new well head installation operation under the protection of snow cannon, compare present existing conventional device, the dismouting robot of design can realize remote control, the operating arm is long, the water conservancy sandblast cutting device of ability centre gripping superhigh pressure is quick, the bolt that damages on the meticulous cutting well head flange, the substitute personnel carry out nearly well head operation, furthest's assurance operating personnel safety.

In the invention, an infrared pan-tilt camera, a visible light camera, a gas detector and a temperature sensor are further mounted above the protective cover, the infrared pan-tilt camera, the visible light camera and the gas detector are used for detecting/collecting environmental information of the dismounting robot, and the collected information such as images is fed back to a remote control terminal through a live controller in a main control box, so that reliable information is provided for an operator, and the dismounting robot is assisted to remotely control. Still be provided with spray set and temperature-sensing ware on the dismouting robot, the temperature-sensing ware feeds back the information such as the dismouting robot body or the operation environment's that gather to main control unit, and main control unit control starts spray set, sprays cooling or local operation environment to the dismouting robot body and sprays cooling, guarantees the normal operation of dismouting robot.

In the invention, an inverter is further installed on the crawler chassis, and the inverter is connected with the main control box and the mechanical arm control box and used for providing alternating current for the mechanical arm assembly and ensuring stable operation of the mechanical arm assembly.

In the invention, the tool head is one of a C-shaped fastening mechanism, a breaking hammer, a hydraulic saw and a clamp, so that the dismounting requirements under different working conditions in the environment are met, the C-shaped fastening mechanism is preferably a mechanical locking structure, an electric control or pneumatic control mechanism is not required to be added, the failure rate of a pneumatic control or electric control device used in the high-temperature and water flow environment after the well blowout is out of control and catches fire is high, the normal operation is easily influenced, the operation tool has impact in the operation process, and after long-time operation, if mechanical locking is not carried out, the position of the operation tool is easily changed, and the remote control operation precision control is influenced.

Fifthly, in the method, the walking device comprises two tracks, two motors and two driving wheels, the two motors are provided with independent control channels, the motors are connected with the driving wheels to control the two tracks to roll, the forward and backward rotation of the motors controls the crawler to advance and retreat, the crawler turns to the direction through the speed difference of the tracks on the two sides, for example, the track on one side turns to fast, the track on the other side turns to slow (or reversely), thereby the steering of the crawler is realized through the difference of the formed tracks, the stable walking of the whole wellhead dismounting robot under the severe road environment is ensured, and the dismounting robot is ensured to stably collect key information.

Sixth, in the invention, the robot is also provided with an obstacle avoidance radar, so that the robot is prevented from being damaged due to collision.

Drawings

FIG. 1 is a system connection diagram of the present invention.

Fig. 2 is a system connection diagram of another embodiment of the present invention.

Fig. 3 is a structural diagram of a wellhead disassembling and assembling robot in the invention.

Fig. 4 is a block diagram of another perspective of the wellhead disassembly robot of fig. 3.

Fig. 5 is a schematic structural view of the clamping device.

FIG. 6 is a schematic view showing the structure of the holding device in use

Fig. 7 is a structural view of a portion where the crawler chassis is located.

Fig. 8 is a structural view of the traveling device.

Wherein, 1, a walking device; 2. a crawler chassis; 3. a main control box; 4. a mechanical arm control box; 5. a mechanical arm assembly; 6. a remote control terminal; 7. a shield; 8. a storage battery; 9. a clamping device; 10. a tool head; 11. an infrared pan-tilt camera; 12. a visible light camera; 13. a gas detector; 14. a temperature sensor; 15. a spraying device; 16. an inverter; 17. a C-shaped fastening mechanism; 18. a crawler belt; 19. a drive wheel; 20. a load-bearing wheel; 21. a drag chain wheel; 22. a guide wheel; 23. a tensioning mechanism; 24. a track frame; 25. a motor; 26. obstacle avoidance radar; 27. a connecting flange; 28. a clamping device body; 29. an adjustment hole; 30. an adjustable tooth block; 31. locking the bolt; 32. a base; 33. a rotating table; 34. a connecting arm; 35. a central wrist; 36. a small arm; 37. a balancing cylinder; 38. an electrical component; 39. a hydraulic sand-blasting cutting gun.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

Example 1

The embodiment is the most basic implementation mode, a well mouth dismounting robot used after ignition of out-of-control blowout of an oil and gas well, and relates to the technical field of out-of-control blowout rescue of the oil and gas well, referring to fig. 1 and 3, comprising a walking device 1, a crawler chassis 2, a main control box 3, a mechanical arm assembly 4, a mechanical arm assembly 5, a remote control terminal 6, a shield 7 and a storage battery 8, wherein the main control box 3 and the mechanical arm control box 4 are installed on the crawler chassis 2, the shield 7 is fixed with the crawler chassis 2, the far end of the mechanical arm assembly 5 is connected with a clamping device 9, the other end of the clamping device 9 is connected with a tool head 10, the mechanical arm assembly 5 is installed above the crawler chassis 2, the mechanical arm assembly 5 is used for adjusting the height and the inclination angle of the clamping device 9, the walking device 1 drives the structure above the crawler chassis 2 to move, the mechanical arm control box 4 is connected with the mechanical arm assembly 5 in a control way, the main control box 3 is connected with the walking device 1, the mechanical arm control box 4, the remote control terminal 6 and the storage battery 8 in a control mode.

In this embodiment, the use method of the wellhead disassembly and assembly robot includes the following specific operation steps:

a. installing a wellhead dismounting robot, and selecting and assembling a proper tool head 10 according to actual requirements;

b. the wellhead dismounting robot is operated to walk through the remote control terminal 6, and dismounting work is carried out after the wellhead dismounting robot reaches a preset destination;

c. and finally, controlling the wellhead disassembling and assembling robot to return through the remote control terminal 6.

Example 2

The embodiment is further optimized in embodiment 1, an infrared pan-tilt camera 11, a visible light camera 12, a gas detector 13 and a temperature sensor 14 are further installed above the shield 7, referring to fig. 3 and 4, a spraying device 15 is further arranged on the shield 7 and the mechanical arm assembly 5, and the main control box 3 is respectively in control connection with the infrared pan-tilt camera 11, the visible light camera 12, the gas detector 13, the temperature sensor 14 and the spraying device 15.

Preferably, an inverter 16 is further mounted on the crawler chassis 2, and the inverter 16 is connected with the main control box 3 and the mechanical arm control box 4 and is used for providing alternating current for the mechanical arm assembly 5.

Example 3

This embodiment is different from embodiment 1-2 in that the tool head 10 is one of a C-shaped fastening mechanism 17, a breaking hammer, a hydraulic saw, and a clamp.

Still further, referring to fig. 5, the C-shaped fastening mechanism 17 is preferably a mechanical locking mechanism.

Example 4

Compared with the embodiments 1-3, the difference of this embodiment is that the walking device 1 comprises a crawler belt 18, a driving wheel 19, a bearing wheel 20, a drag chain wheel 21, a guide wheel 22, a tensioning mechanism 23, a crawler frame 24 and a motor 25, and the installation mode is referred to as 7 and 8.

Furthermore, the walking device 1 comprises two crawler belts 18, two motors 25 and two driving wheels 19, and walking and turning actions of the robot can be realized through a differential driving mode.

Example 5

Compared with the embodiments 1-4, the difference of this embodiment is that the ground clearance of the crawler chassis 2 is controlled to be 300-.

Furthermore, the bearing wheel 20 is made of high-strength manganese steel with the Mn above 40Mn 2; the driving wheel 19 and the guide wheel 22 are made of ZGSiMn alloy steel, the supporting chain wheel is made of high-strength manganese steel with the Mn of more than 50Mn, and the shaft part is made of steel with the Mn of more than 45 or 40Cr alloy steel by modulation and blackening treatment.

Example 6

Compared with the embodiments 1-5, the difference of this embodiment is that the robot is further provided with an obstacle avoidance radar 26, refer to fig. 3.

Example 7

In this embodiment, a wellhead disassembling and assembling robot of a certain model of the company is taken as an example, so as to facilitate the explanation of the technical scheme of the present invention. After the oil gas well blowout takes place to catch fire out of control, this well head dismouting robot can accomplish the old well head under the shield of water cannon, snow cannon and demolish and the installation operation of new well head, compare current conventional device, remote control can be realized to this well head dismouting robot, and the operating arm is long, can the quick meticulous cutting of centre gripping superhigh pressure water conservancy sandblast cutting device damage the bolt on the well head flange, and well head dismouting robot walking is stable, the operation process operation is stable. In addition, the front end tool head 10 of the wellhead disassembly and assembly robot can be selectively provided with tools such as a C-shaped fastening device, a breaking hammer, a hydraulic saw and a clamp so as to meet the disassembly and assembly work requirements of the wellhead disassembly and assembly robot under different working conditions.

In particular to a wellhead dismounting robot used after the uncontrolled fire of the blowout of the oil and gas well, which relates to the technical field of the uncontrolled rescue of the blowout of the oil and gas well, and referring to the figure 2-4, comprises a walking device 1, a crawler chassis 2, a main control box 3, a mechanical arm control box 4, a mechanical arm component 5, a remote control terminal 6, a shield 7, an inverter 16, an infrared pan-tilt camera 11, a visible light camera 12, a gas detector 13, a temperature sensor 14 and a storage battery 8, the storage battery 8 is arranged at the bottom of the crawler chassis 2, the main control box 3, the mechanical arm control box 4 and the inverter 16 are arranged above the crawler chassis 2, the shield 7 is fixed with the crawler chassis 2 and arranged at the outer side of the crawler chassis 2, the system is used for isolating the devices/mechanisms such as the main control box 3, the mechanical arm control box 4 and the inverter 16 and ensuring the normal operation of each device/mechanism.

Wherein, the mechanical arm component 5 is installed at the front end of the crawler chassis 2, so that the mechanical arm can be conveniently used for forward exploration, and the mechanical arm can be folded and folded, so that the transportation is convenient.

Further, the main control box 3 is respectively in control connection with the traveling device 1, the mechanical arm control box 4, the remote control terminal 6, the inverter 16, the infrared pan-tilt camera 11, the visible light camera 12, the gas detector 13, the temperature sensor 14 and the storage battery 8, the storage battery 8 supplies power to all electrical appliances through the main control box 3, and in addition, direct current is converted into alternating current required by the mechanical arm assembly 5 through the inverter 16. In this embodiment, the peak power of the mechanical arm assembly 5 during full-load operation is 13.5KVA, the input voltage is 380V, and the power of the driving motor 25 is 6kW, because the wellhead disassembly and assembly robot moves and the mechanical arm assembly 5 does not operate at the same time, and the disassembly and assembly robot does not move frequently, therefore, the battery capacity firstly meets the requirement that the mechanical arm assembly 5 with large energy consumption can operate for 3 hours continuously under the full-load condition, that is, the capacity requirement can be met, and the mechanical arm assembly 5 acts slowly during operation, and the motors 25 in the mechanical arm assembly 5 do not all act simultaneously, so the full-load operation condition of the mechanical arm assembly 5 is very few, and the continuous operation time of the storage battery 8 can be far longer than 3 hours.

Further, as shown in fig. 7, in this embodiment, a plurality of storage batteries 8 are used to form a storage battery pack, the storage battery pack is used as a power source, and is used for movement of the wellhead disassembling and assembling robot and operation of the mechanical arm assembly 5, and the storage battery 8 is preferably a lithium iron phosphate battery, which has the characteristics of small volume, high energy density, good safety performance, long cycle life, high charging speed, high temperature resistance, and the like.

Further, the far end of the mechanical arm assembly 5 is connected with a clamping device 9, the other end of the clamping device 9 is connected with a tool head 10, the tool head 10 is one of a C-shaped fastening mechanism 17, a breaking hammer, a hydraulic saw and a clamp, the C-shaped fastening mechanism 17 is preferably of a C-shaped mechanical locking structure, referring to fig. 5, an electric control mechanism or an air control mechanism does not need to be added, because the failure rate of the air control or the electric control device used in the well blowout out-of-control ignition environment-high temperature and water flow environment is high, normal operation is easily influenced, and the operation tool has impact in the operation process, if mechanical locking is not carried out in long-time operation, the position of the operation tool is easily changed, and the remote operation precision control is influenced.

The clamping device 9 comprises a connecting flange 27, a clamping device body 28, an adjusting hole 29, an adjustable tooth block 30, a locking bolt 31 and a tool head 10, the installation mode refers to fig. 5, the clamping device 9 is the tool head 10 of the C-shaped fastening mechanism 17, and referring to fig. 6, a diagram of the C-shaped fastening mechanism 17 clamping a hydraulic sand-blasting cutting gun 39 is shown.

Further, the robot arm assembly 5 controlled by the robot arm control box 4 is mainly used for adjusting the height and the inclination angle of the clamping device 9, and taking the robot arm assembly 5 of this embodiment as an example, the lifting height range of the robot arm assembly 5 is 850mm to 2010 mm. The mechanical arm assembly 5 comprises a base 32, a rotating table 33, a connecting arm 34, a central wrist 35, a small arm 36, a balance cylinder 37, an electrical assembly 38 and other components, the installation modes of all the components are shown in figures 3 and 4, the balance cylinder 37 is used for keeping the pressure transmission of the mechanical arm assembly 5 uniform and balanced in the operation process, the components such as the connecting arm 34 and the small arm 36 are ensured to operate stably and not move irregularly in a large range, and the clamping device 9 is fixed with the central wrist 35 of the mechanical arm assembly 5 through flange connection.

Further, the mechanical arm control box 4 is provided with a control system PC, a low-voltage power supply part, a driving power supply library card with a driving regulator, a driving regulator library card, a handheld programmer, a controller, a control system panel, a safety interface board, a safety element, a fan, a wiring panel and other parts.

Further, the traveling device 1 is used for driving the structure on the crawler chassis 2 to move, referring to fig. 7 and 8, the traveling device 1 includes a crawler 18, a driving wheel 19, a bearing wheel 20, a drag chain wheel 21, a guide wheel 22, a tensioning mechanism 23, a crawler frame 24 and a motor 25, in this embodiment, the traveling device 1 includes two crawlers 18, two motors 25 and two driving wheels 19, which are connected into a whole through the crawler chassis 2, and the traveling and turning actions of the robot are realized through a differential driving mode. Referring to fig. 7 and 8, the walking device 1 is connected with the driving wheel 19 through the motor 25 to jointly control the two crawlers 18 to roll, forward and reverse rotation of the motor 25 controls the advancing and retreating of the crawler 18 vehicle, the two motors 25 have independent control channels, and the turning of the crawler 18 vehicle is realized through the speed difference of the crawlers 18 at the two sides, namely the turning of the crawler 18 vehicle at one side is fast, and the turning of the crawler 18 vehicle at the other side is slow (or reversely rotating).

In this embodiment, the chassis load capacity is greater than 1500 kg. In order to improve the trafficability of the mobile wellhead dismounting robot, the height of the chassis is 300mm, the exterior of the chassis is coated by a steel plate and is welded in a full-welding mode, a sealing test is carried out after the welding, so that the sealing test meets the requirement that when the wading depth is more than 300mm, the chassis is soaked for 1h under normal pressure and does not leak water, the side face of the chassis and the exterior interface part are sealed by using a rotary seal and a plane seal gasket, and the requirement of protection grade IP66 is met.

In this embodiment, the material of the link plate of the crawler 18 is preferably high-strength manganese steel more than 40Mn, the material of the bearing wheel 20 is preferably high-strength manganese steel more than 40Mn2, the material of the driving wheel 19 and the guiding wheel 22 is zgsiman alloy steel, the material of the chain supporting wheel is preferably high-strength manganese steel more than 50Mn, the material of the shaft part is preferably No. 45 steel or 40Cr alloy steel, the shaft part is modulated and blackened, and the material of the rest frame body is preferably Q345 or more, welded, aged and subjected to welding stress removal.

In this embodiment, still be provided with spray set 15 on guard shield 7 and the arm subassembly 5, see fig. 3, when temperature-sensing ware 14 on the well head dismouting robot detected well head dismouting robot body high temperature, start spray set 15, cool down or carry out local cooling to operational environment to well head dismouting robot.

In this embodiment, still install on the well head dismouting robot and keep away barrier radar 26, can independently keep away the barrier, prevent that the robot from damaging because of the collision.

The use method of the wellhead disassembly and assembly robot in the embodiment comprises the following specific operation steps:

a. installing a wellhead dismounting robot, and selecting and assembling a proper tool head 10 according to actual requirements;

b. the wellhead dismounting robot is operated to walk through the remote control terminal 6, the infrared pan-tilt camera 11, the visible light camera 12 and the gas detector 13 detect/collect heat radiation sources, visible light information and toxic and harmful gases in the environment, and the heat radiation sources, the visible light information and the toxic and harmful gases are fed back to the remote control terminal 6 through a main controller in a main control cabinet;

c. when the temperature sensor 14 of the wellhead disassembly and assembly robot detects that the temperature of the robot body exceeds a preset value, the main controller controls the spraying device 15 to work to cool the wellhead disassembly and assembly robot body.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims (10)

1. A well head dismouting robot that is used for oil gas well blowout after catching fire out of control, its characterized in that: including running gear (1), track chassis (2), main control box (3), arm control box (4), arm subassembly (5), remote control terminal (6), guard shield (7) and battery (8), install on track chassis (2) main control box (3) and arm control box (4), guard shield (7) are fixed with track chassis (2), arm subassembly (5) distal end is connected with clamping device (9), and clamping device (9) other end connecting tool head (10), and arm subassembly (5) are installed in track chassis (2) top, arm subassembly (5) are used for adjusting the height and the inclination of clamping device (9), and running gear (1) drives the structure removal on track chassis (2), arm control box (4) and arm subassembly (5) control connection, main control box (3) and running gear (1), The mechanical arm control box (4), the remote control terminal (6) and the storage battery (8) are in control connection.

2. The wellhead disassembly and assembly robot for the uncontrolled firing of the blowout of the oil and gas well according to claim 1, is characterized in that: the device is characterized in that an infrared pan-tilt camera (11), a visible light camera (12), a gas detector (13) and a temperature sensor (14) are further mounted above the protective cover (7), a spraying device (15) is further arranged on the protective cover (7) and the mechanical arm assembly (5), and the main control box (3) is respectively in control connection with the infrared pan-tilt camera (11), the visible light camera (12), the gas detector (13), the temperature sensor (14) and the spraying device (15).

3. The wellhead disassembly and assembly robot for the uncontrolled firing of the blowout of the oil and gas well according to claim 2, is characterized in that: still install inverter (16) on crawler belt chassis (2), inverter (16) are connected with main control box (3) and arm control box (4) for provide the alternating current for arm subassembly (5).

4. A well head dismouting robot that is used for oil and gas well blowout after out of control catches fire of claim 3 characterized in that: the tool head (10) is one of a C-shaped fastening mechanism (17), a breaking hammer, a hydraulic saw and a clamp, and the C-shaped fastening mechanism (17) is a mechanical locking structure.

5. A well head dismouting robot that is used for oil and gas well blowout after out of control catches fire of claim 4 characterized in that: the walking device (1) comprises a crawler belt (18), a driving wheel (19), a bearing wheel (20), a drag chain wheel (21), a guide wheel (22), a tensioning mechanism (23), a crawler frame (24) and a motor (25).

6. A well head dismouting robot that is used for oil and gas well blowout after out of control catches fire of claim 5 characterized in that: the walking device (1) comprises two tracks (18), two motors (25) and two driving wheels (19), and walking and turning actions of the robot are realized in a differential driving mode.

7. A well head dismouting robot that is used for oil and gas well blowout after out of control catches fire of claim 6 characterized in that: the ground clearance of the crawler chassis (2) is 300-500mm, the link plate material of the crawler (18) is high-strength manganese steel more than 40Mn, the crawler chassis (2) is welded by using a material more than Q345, and the aging treatment is performed after the welding.

8. A well head dismouting robot that is used for oil and gas well blowout after out of control catches fire of claim 7 characterized in that: the bearing wheel (20) is made of high-strength manganese steel materials with the Mn content of more than 40Mn 2; the driving wheel (19) and the guide wheel (22) are made of ZGSiMn alloy steel, the supporting chain wheel is made of high-strength manganese steel with the strength of more than 50Mn, and the shaft part is made of materials with the strength of more than 45-grade steel or 40Cr alloy steel after modulation and blackening treatment.

9. A wellhead assembly and disassembly robot for use after uncontrolled fire of oil and gas well blowout according to any one of claims 1-8, characterized in that: and the robot is also provided with an obstacle avoidance radar (26).

10. The use method of the wellhead disassembly and assembly robot is characterized in that the wellhead disassembly and assembly robot used after the uncontrolled fire of the blowout of the oil and gas well is used according to claim 8, and the method comprises the following specific operation steps:

a. installing a wellhead dismounting robot, and selecting and assembling a proper tool head (10) according to actual requirements;

b. the wellhead dismounting robot is operated to walk through the remote control terminal (6), and the infrared pan-tilt camera (11), the visible light camera (12) and the gas detector (13) detect/collect heat radiation sources, visible light information and toxic and harmful gases in the environment and feed back to the remote control terminal (6) through a main controller in the main control cabinet;

c. when the temperature sensor (14) of the wellhead disassembly and assembly robot detects that the temperature of the body exceeds a preset value, the main controller controls the spraying device (15) to work to cool the wellhead disassembly and assembly robot body.

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