CN116427866A - Oil gas well wellhead rescue robot - Google Patents

Abstract

The invention discloses an oil and gas well wellhead rescue robot which comprises a workstation, a blowout preventer cutting module, a cover igniting cylinder module and a wellhead resetting module, wherein the blowout preventer cutting module is arranged on the workstation; the workstation comprises a chassis vehicle and a telescopic rail, and the telescopic rail is arranged on the chassis vehicle; the telescopic rail is provided with a first connecting part, and two inner sides of the telescopic rail are provided with sliding grooves; the blowout preventer cutting module is provided with a second connecting part, the first connecting part is in butt joint with the second connecting part, and the telescopic rail is connected with the blowout preventer cutting module through a connecting frame; the cover ignition cylinder module comprises a rail car with rollers, and the rollers are arranged in the sliding grooves; the bottom of the wellhead reset module is provided with a first rolling shaft, and the first rolling shaft is arranged in the chute; the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module are alternately connected with the telescopic track, so that the old blowout preventer is removed, the flange is removed and the new blowout preventer is installed. By adopting the oil-gas well wellhead rescue robot, a workstation can correspond to three working modules, and the device has high integration level and high stability.

Description

Oil gas well wellhead rescue robot

Technical Field

The invention relates to an oil and gas well wellhead rescue robot, and belongs to the technical field of pressurized resetting and installing equipment.

Background

Blowout is a phenomenon in which fluids in the formation are ejected out of the surface due to the formation fluid pressure being greater than the mud pressure in the wellbore. When the sprayed oil or natural gas encounters open fire, static spark, impact spark and the like, the conditions of ignition, deflagration and the like are caused, and the oil or natural gas is a great disastrous accident in the oil or natural gas exploration and development process. Not only can cause huge economic loss, but also is a huge threat to the environment and life. When blowout happens, the combustion is generally violent, the flame is high and wide in range, the radiation temperature of the flame is also very high, and the existing blowout emergency equipment and personnel are difficult to approach. The blowout fire disaster is caused, so that the extinguishing time is long, and the rescue difficulty is very high.

Under the condition of blowout ignition, the current blowout emergency treatment process flow mainly comprises the following steps: old blowout preventer cut, cap pilot cartridge, wellhead reset (new blowout preventer installed). Most of the existing schemes are that three steps correspond to three devices, the integration level is not high, the accuracy is not enough, the stability is not good, and many steps are needed to be repeated for many times to be successful. Moreover, emergency personnel are required to approach the wellhead to observe, and the operators at the rear end are instructed to complete various actions, so that the emergency personnel are dangerous and low in efficiency.

In the cutting process of the old blowout preventer, the current equipment cannot flexibly and accurately adjust the cutting position of the jet head, and after the position of the jet head changes, the jet head cannot stably and accurately return to the original knife edge position, so that the problems of multiple tool setting and multiple cuts are caused, and the cutting efficiency is affected.

In the process of covering the igniting cylinder, the existing mode is to hold the upper part of the igniting cylinder by adopting a long-arm crane, and the lower part of the igniting cylinder is stably under the action of manually pulling a steel wire rope, but due to strong impact force of a wellhead, the mode cannot always stably and smoothly finish the covering the igniting cylinder, and the safety of emergency personnel cannot be ensured.

When the old blowout preventer is removed and the lower flange of the blowout preventer left on the wellhead is removed, a new blowout preventer needs to be installed on the wellhead to achieve control of the wellhead, i.e., reset the wellhead. There are now generally two ways: the blowout preventer is lifted by the long-arm crane, and the lower part of the blowout preventer is righted and installed by emergency personnel. The other mode is that the blowout preventer is arranged below a rotary power head similar to a rotary excavator, and the alignment of a flange below the blowout preventer and a wellhead flange is realized by utilizing the rotary power head and matching with a crawler chassis. Through analysis, the precise adjustment of the blowout preventer in the six-degree-of-freedom direction cannot be realized in the mode, and the alignment of the flange below the blowout preventer and the wellhead flange is difficult to realize rapidly, so that the rescue efficiency is affected. In addition, the power source (diesel engine and the like) of the equipment is too close to the wellhead of the blowout, once the power source fails, the whole equipment is exposed in blowout flame for a long time, so that the loss of the equipment is caused, and the progress of rescue is affected. Moreover, due to the presence of the diesel engine, the diesel engine fire core may ignite wellheads that have been blown out but have not yet ignited, and the entire wellsite is at risk of flashover.

Disclosure of Invention

The invention aims at: aiming at the problems, the invention provides the oil-gas well wellhead rescue robot which can correspond to three working modules through the same workstation, and has the advantages of high equipment integration level, high stability and high efficiency.

The technical scheme adopted by the invention is as follows:

an oil and gas well wellhead rescue robot comprises a workstation, a blowout preventer cutting module, a cover igniting cylinder module and a wellhead resetting module;

the workstation comprises a chassis vehicle and a telescopic rail, wherein the telescopic rail is arranged on the chassis vehicle and is driven to horizontally move on the chassis vehicle by a telescopic rail driving system; the end part and the middle part of the telescopic rail are provided with first connecting parts, and the two inner sides of the telescopic rail are provided with sliding grooves extending along the moving direction;

the end part and the middle part of the blowout preventer cutting module are provided with second connecting parts, when the blowout preventer cutting module is used, the first connecting parts at the end parts of the telescopic rails are in butt joint with the second connecting parts at the end parts of the blowout preventer cutting module, and the telescopic rails are connected with the blowout preventer cutting module through connecting frames;

the cover igniting cylinder module comprises a rail car, wherein the rail car is provided with rollers, and the rollers are arranged in the sliding grooves when in use;

the bottom of the wellhead reset module is provided with a first rolling shaft, and the first rolling shaft is arranged in the chute when in use;

the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module are alternately connected with the telescopic track, so that the old blowout preventer is removed, the flange is removed and the new blowout preventer is installed in sequence.

According to the invention, the chassis is adopted in the prior art, and the telescopic rail driving system is arranged on the chassis to drive the horizontally moving telescopic rail, so that the telescopic rail is close to a wellhead to be replaced, and the chassis can be farther away from the wellhead. The telescopic rail is connected with the blowout preventer cutting module through the link, the cover pilot tube module is connected with the chute in a matched mode through the idler wheels, and the wellhead resetting module is connected with the chute in a matched mode through the first roller. When blowout emergency operation is carried out, the working station is connected with the blowout preventer cutting module, and the old blowout preventer is removed; then, arranging a cover igniting cylinder module on the workstation, leading blowout flame to the upper part of the igniting cylinder through the cover igniting cylinder module, and removing a lower flange of the old blowout preventer; and finally, arranging the wellhead reset module on the telescopic track to finish the installation work of the new blowout preventer. The same workstation can correspond to three working modules, and has high equipment integration level, high stability and high efficiency.

Preferably, a chain and a chain driving system are arranged in the telescopic rail, and the chain driving system drives the chain to rotate along the moving direction of the telescopic rail.

Preferably, the chassis is provided with a track support and a protective box, the telescopic track is arranged on the track support, the track support is provided with a second roller, the protective box is provided with a third roller, and the third roller is positioned above the telescopic track.

In the scheme, the second rolling shaft is arranged, so that the telescopic rail can move on the rail bracket more easily, and the moving direction of the telescopic rail is limited by the flanges of the second rolling shaft and the third rolling shaft. Meanwhile, the protection boxes are arranged on two sides of the telescopic rail to protect the telescopic rail driving system, and the telescopic rail can be more stable by limiting the telescopic rail above through the third rolling shafts facing the upper side of the telescopic rail.

Preferably, racks are arranged on two outer sides of the telescopic rail, the telescopic rail driving system is connected with a gear, and the racks are matched with the gear.

In the scheme, the gear is driven to rotate through the telescopic rail driving system, the telescopic rail fixedly connected with the rack is driven to move when the gear rotates, and the moving direction of the telescopic rail can be controlled by controlling the rotating direction of the gear.

Preferably, a working port is arranged at the working end of the telescopic rail.

In the scheme, the cover igniting cylinder module and the wellhead resetting module need to move up and down at the working end of the telescopic rail, and the working port is arranged to ensure that the cover igniting cylinder module and the wellhead resetting module move up and down smoothly.

Preferably, the end part of the telescopic rail is provided with a supporting leg and a supporting leg oil cylinder for controlling the supporting leg to stretch.

In the scheme, the support legs are arranged to support the stability of the six-degree-of-freedom platform during working, and meanwhile the support legs are controlled to stretch out and draw back through the support leg oil cylinders so as to adapt to uneven ground, and the stability of the device is improved.

Preferably, the blowout preventer cutting module comprises a cutting rack and a cutting pipeline, wherein the cutting pipeline is arranged on the cutting rack, and the second connecting part is arranged on the cutting rack.

In the scheme, the cutting frame is connected with the telescopic rail, and the cutting pipeline cuts the old blowout preventer.

Preferably, the cutting frame is fixedly provided with a telescopic mechanism, a telescopic end of the telescopic mechanism is connected with the movable frame, and the cutting pipeline is fixedly connected with the movable frame.

In the scheme, the telescopic mechanism drives the cutting pipeline to horizontally move, so that the telescopic mechanism drives the cutting pipeline to repeatedly cut the old blowout preventer, and the situation that one-time cutting is unsuccessful is avoided.

Preferably, the connecting frame includes a plurality of connecting rods with one ends connected to each other, and the other ends of the connecting rods are respectively connected to the first connecting portion and the second connecting portion.

Preferably, the connecting frame comprises three connecting rods with one ends connected with each other, one ends of the three connecting rods are connected through bolts, and the other ends of the three connecting rods are connected with the first connecting part and the second connecting part through bolts respectively.

In the scheme, the three connecting rods are respectively connected with the first connecting part in the middle of the telescopic rail, the second connecting part in the middle of the blowout preventer cutting module, and the butt joint of the first connecting part and the second connecting part through bolts, and the connecting rods at the butt joint are perpendicular to the telescopic rail, so that the connecting frame, the telescopic rail and the blowout preventer cutting module form a triangle, and the connection stability is ensured.

Preferably, the cover igniting cylinder module comprises a rail car, a lifting support, an adjusting support and an igniting cylinder, wherein the lifting support is vertically arranged on the rail car, a telescopic cylinder is arranged in the lifting support, one end of the adjusting support is fixedly connected with the telescopic cylinder, and the other end of the adjusting support is fixedly connected with the igniting cylinder.

In the scheme, the hydraulic motor is arranged in the railway vehicle to drive the railway vehicle to move on the running rail, and the igniting cylinder is driven to move up and down through the telescopic cylinder in the lifting bracket.

Preferably, the lifting support is hinged with the rail car, and an adjusting cylinder is connected between the lifting support and the rail car.

In the scheme, the inclination of the lifting support is adjusted through the adjusting cylinder, so that the placement position of the igniting cylinder is adjusted.

Preferably, the telescopic cylinder is a telescopic hydraulic cylinder, and the adjusting cylinder is an adjusting hydraulic cylinder.

Preferably, the wellhead reset module comprises a six-degree-of-freedom platform and a blowout preventer, wherein a clamping device is arranged at the top of the six-degree-of-freedom platform to clamp the blowout preventer, and the six-degree-of-freedom platform is connected with the chain.

Preferably, the six-degree-of-freedom platform comprises a lower platform, six moving oil cylinders and clamping devices, and two ends of the moving oil cylinders are respectively hinged with the lower platform and the clamping devices.

In the scheme, the six-degree-of-freedom platform is connected with the chain to drive the wellhead reset module to move on the telescopic track, the clamping device clamps the new blowout preventer, and the clamping device at the top is driven to move in six degrees of freedom in space through the six moving cylinders, so that the installation is convenient.

Preferably, the clamping device has an inverted conical inner bore.

Preferably, the clamping device comprises a first clamping part and a second clamping part, wherein the first clamping part and the second clamping part form an inverted conical inner hole and are connected through locking buckles, and the first clamping part and the second clamping part are respectively connected with the three moving cylinders.

Preferably, the locking buckle is a spring type lock pin, and the first clamping part and the second clamping part are conveniently unlocked by pulling the lock pin.

In the scheme, the first clamping part and the second clamping part are matched, so that the blowout preventer can be conveniently clamped, and after a new blowout preventer is installed, the evacuation is released.

Preferably, the number of the chains is at least two, and the chains are arranged in the telescopic rail in parallel.

Preferably, a connecting piece with a pin hole is arranged at the bottom of the lower platform; a butt joint part with a pin hole is arranged on the chain; the connecting piece is connected with the butt-joint piece through a pin shaft.

In the scheme, the connecting piece is connected with the butt joint piece through the pin shaft, so that the six-degree-of-freedom platform is connected with the chain.

Preferably, a camera is arranged on the telescopic track, the blowout preventer cutting module is provided with a first coordinate sensor, the wellhead resetting module is provided with a second coordinate sensor, and the camera, the first coordinate sensor and the second coordinate sensor are connected with the control system.

In the scheme, the control system is used for observing the video information transmitted back by the camera, so that the chassis can be controlled to reach the designated position, the first coordinate sensor is used for collecting the coordinate information of the old blowout preventer during cutting, the second coordinate sensor is used for collecting the coordinate information of the new blowout preventer during resetting, and the new blowout preventer installation position is ensured to be accurate through comparison.

Preferably, the chassis is provided with a balancing weight.

In the scheme, the stability of the work station is guaranteed through the balancing weight.

Preferably, the device further comprises a power source, a water source and a pipeline module, wherein the power source and the water source are connected with the workstation, the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module through the pipeline module.

In the scheme, the power source is a hydraulic power source which is communicated with a part needing hydraulic power through a hydraulic power pipeline in the pipeline system to supply power for the part needing hydraulic power; the water source is communicated with the cutting pipeline through a high-pressure water pipeline in the pipeline system; the water source is communicated with the cooling point in the rescue robot through the cooling water pipeline in the pipeline system, and the cooling point can be arranged at a proper position according to the device requirement, so that the reset device does not need the protection of an external fire water monitor.

Preferably, the telescopic rail drive system and the chain drive system are hydraulic motors.

Preferably, the surfaces of the workstation, the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module are provided with a heat-insulating coating and a protective armor.

In the scheme, the heat-insulating coating and the protective armor are arranged for protection.

When blowout emergency operation is carried out, the blowout preventer cutting module is connected with the telescopic rail at a position far away from the wellhead, the workstation moves towards the wellhead, and a cutting water source is opened for cutting after the workstation reaches a proper working position until the cutting of the old blowout preventer is completed; closing a cutting water source after cutting is finished, removing a working station to a safe area, removing a blowout preventer cutting module, mounting an upper cover ignition cylinder module, moving the working station to a proper position towards a wellhead again, moving a telescopic rail to the wellhead to a proper position, controlling the cover ignition cylinder module to move towards the wellhead until the ignition cylinder is positioned above blowout flames, controlling the ignition cylinder to move downwards to be close to a wellhead flange by a lifting bracket through an adjusting bracket until the blowout flames are led to the upper part of the ignition cylinder, and enabling emergency personnel to abut against the wellhead to remove old blowout preventer lower flanges remained on the wellhead flange; after the work station is removed, the work station is far away from the wellhead to a safety area, the wellhead reset module is installed after the cover igniting cylinder module is removed, then after the work station moves to a proper position towards the wellhead and the telescopic rail moves to the wellhead, the work station sends a new blowout preventer to the position right above the wellhead flange by using the wellhead reset module, the lower end of the new blowout preventer is downwards aligned with the wellhead flange by using the six-degree-of-freedom platform, the work station is evacuated, and the installation of the new blowout preventer is completed.

In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:

1. the same workstation is respectively connected with the three modules, so that the integration level is high;

2. the power source is arranged at a position far away from the blowout wellhead and is connected to the rear end of the workstation through a hydraulic pipeline, so that the device can adapt to two occasions of firing and unfiring of the blowout wellhead and can also improve the rescue viability of the whole equipment;

3. the modules are transported to be close to the wellhead through the telescopic rails, so that the workstation can be farther away from the wellhead, equipment protection is facilitated, and the installation reliability of the blowout preventer is improved;

4. the cooling system is configured, so that the protection of an external fire water monitor is not needed, and the dependence of personnel and external equipment is reduced.

Drawings

The invention will now be described by way of example and with reference to the accompanying drawings in which:

FIG. 1 is a side view of a workstation;

FIG. 2 is a schematic diagram of a workstation;

FIG. 3 is a schematic diagram of a telescoping rail drive system driving telescoping rails;

FIG. 4 is a schematic diagram of a chain drive system;

FIG. 5 is a cross-sectional view of the chassis;

FIG. 6 is a side view of a blowout preventer cutting module;

FIG. 7 is a top view of a blowout preventer cutting module;

FIG. 8 is a schematic view of a workstation and blowout preventer cutting module;

FIG. 9 is a schematic view of a hood fuse cartridge module;

FIGS. 10-11 are schematic diagrams of a wellhead reset module;

FIG. 12 is a schematic diagram of a workstation and wellhead reset module;

FIG. 13 is a schematic diagram of a workstation and wellhead reset module installation;

14a, 14b, 14c, 14d are schematic illustrations of the operation of a blowout preventer cutting module;

15a, 15b, 15c, 15d, 15e are schematic diagrams of the operation of the hood pilot cartridge module;

fig. 16a, 16b, 16c, 16d, 16e are schematic diagrams of wellhead reset module operation.

The marks in the figure: 1-workstation, 2-blowout preventer cutting module, 3-hood fire-leading cartridge module, 4-wellhead reset module, 5-power source, 6-water source, 7-pipeline module, 8-link, 11-chassis, 12-telescoping rail, 13-telescoping rail drive system, 14-rail mount, 15-guard box, 16-working port, 17-chain, 18-leg, 19-chute, 111-counterweight, 121-first connection, 122-rack, 131-gear, 141-second roller, 151-third roller, 171-chain drive system, 172-dock, 181-leg cylinder, 21-second connection, 22-cutting carriage, 23-cutting pipeline, 24-telescoping mechanism, 25-moving carriage, 31-rail car, 32-elevating carriage, 33-adjusting carriage, 34-fire-leading cartridge, 35-adjusting carriage, 36-telescoping carriage, 311-roller, 41-six-degree of freedom platform, 42-clamping device, 43-44-moving cylinder, 45-lower roller, 46-first connection, 47-second connection, 421-423-clamping device, second clamping device, 43-44-moving cylinder, 45-lower roller, 47-first connection, 422-second clamping device, 422-locking device, and locking device.

Detailed Description

All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.

Any feature disclosed in this specification may be replaced by alternative features serving the same or equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.

Example 1

The oil and gas well wellhead rescue robot comprises a workstation 1, a blowout preventer cutting module 22, a cover igniting cylinder module 3 and a wellhead resetting module 4, wherein the blowout preventer cutting module 22, the cover igniting cylinder module 3 and the wellhead resetting module 4 are alternately connected with the workstation 1, so that the old blowout preventer 43 is detached, the flange is removed and the new blowout preventer 43 is installed in sequence; wherein, the liquid crystal display device comprises a liquid crystal display device,

as shown in fig. 1-5, the workstation 1 comprises a chassis 11 and a telescopic rail 12, wherein the telescopic rail 12 is arranged on the chassis 11, and the telescopic rail 12 is driven to horizontally move on the chassis 11 by a telescopic rail driving system 13; first connecting parts 121 are arranged at the end parts and the middle parts of the telescopic rail 12, the first connecting parts 121 are arranged at the end parts and the middle parts of the telescopic rail 12, and sliding grooves 19 extending along the moving direction are arranged at the two inner sides of the telescopic rail 12;

as shown in fig. 8, second connecting parts 21 are arranged at the end part and the middle part of the blowout preventer cutting module 22, and when in use, a first connecting part 121 at the end part of the telescopic rail 12 is in butt joint with the second connecting part 21 at the end part of the blowout preventer cutting module 22, and the telescopic rail 12 and the blowout preventer cutting module 22 are connected through a connecting frame 8; the connecting frame 8 comprises three connecting rods with one ends connected with each other, the three connecting rods are respectively connected with a first connecting part 121 in the middle of the telescopic rail 12, a second connecting part 21 in the middle of the blowout preventer cutting module 22, and the butt joint points of the first connecting part 121 and the second connecting part 21 by bolts, and the connecting rods at the butt joint points are perpendicular to the telescopic rail 12, so that the connecting frame 8, the telescopic rail 12 and the blowout preventer cutting module 22 form a triangle, and the connection stability is ensured;

the cover ignition cylinder module 3 comprises a track car 31, the track car 31 is provided with rollers 311, when in use, the rollers 311 are arranged in the sliding grooves 19, and the cover ignition cylinder module 3 is driven to move on a travelling track through a hydraulic motor in the track car 31;

the bottom of the wellhead reset module 4 is provided with a first roller 46, and when in use, the first roller 46 is placed in the chute 19, and the wellhead reset module 4 is driven to move on the telescopic rail 12 by the chain 17 driving system.

In this embodiment, the chassis 11 is a chassis 11 in the prior art, and the telescopic rail driving system 13 is arranged on the chassis 11 to drive the horizontally moving telescopic rail 12, so that the telescopic rail 12 is close to the wellhead to be replaced, and the chassis 11 can be further away from the wellhead. When the blowout emergency operation is performed, the workstation 1 is connected with the blowout preventer cutting module 22, and the old blowout preventer 43 is removed; then, arranging the cover igniting cylinder module 3 on the workstation 1, leading blowout flames to be above the igniting cylinder 34 through the cover igniting cylinder module 3, and removing the lower flange of the old blowout preventer 43; finally, the wellhead reset module 4 is arranged on the telescopic rail 12, so that the installation work of the new blowout preventer 43 is completed.

Example 2

The oil and gas well wellhead rescue robot comprises a workstation 1, a blowout preventer cutting module 22, a cover igniting cylinder module 3 and a wellhead resetting module 4, wherein the blowout preventer cutting module 22, the cover igniting cylinder module 3 and the wellhead resetting module 4 are alternately connected with the workstation 1, so that the old blowout preventer 43 is detached, the flange is removed and the new blowout preventer 43 is installed in sequence; wherein, the liquid crystal display device comprises a liquid crystal display device,

as shown in fig. 1-5, the workstation 1 comprises a chassis 11 and a telescopic rail 12, a rail bracket 14 is arranged on the crawler chassis 11, protective boxes 15 are arranged on two sides of the rail bracket 14, the telescopic rail 12 positioned between the two protective boxes 15 is arranged on the rail bracket 14, a working port 16 is arranged at the working end of the telescopic rail 12, and smooth up-and-down movement of the cover ignition cylinder module 3 and the wellhead resetting module 4 is ensured; racks 122 are arranged on the two outer sides of the telescopic rail 12, and a hydraulic motor type telescopic rail driving system 13 arranged in the protective box 15 is connected with a gear 131 matched with the racks 122, so that the gear 131 is driven to rotate by the telescopic rail driving system 13, and the telescopic rail 12 is driven to horizontally move on the rail bracket 14; a hydraulic motor type chain 17 driving system and two chains 17 which are in the same direction as the telescopic rail 12 are arranged in the telescopic rail 12, the chains 17 are positioned at two inner sides of the telescopic rail 12, and the chains 17 are driven to rotate by the hydraulic motor type chain 17 driving system; first connecting parts 121 are arranged at the end parts and the middle part of the telescopic rail 12, and a walking rail is arranged at the top part of the telescopic rail 12;

as shown in fig. 6, the blowout preventer cutting module 22 includes a cutting rack 22 and a cutting line 23, the cutting line 23 is provided on the cutting rack 22, the second connection part 21 is provided on the cutting rack 22, and the cutting line 23 cuts the old blowout preventer 43 by ejecting high-pressure water; as shown in fig. 8, second connecting parts 21 are arranged at the end part and the middle part of the cutting frame 22, and when in use, the first connecting parts 121 at the end part of the telescopic rail 12 are in butt joint with the second connecting parts 21 at the end part of the cutting frame 22, and the telescopic rail 12 and the cutting frame 22 are connected through the connecting frame 8; the connecting frame 8 comprises three connecting rods with one ends connected with each other, the three connecting rods are respectively connected with a first connecting part 121 in the middle of the telescopic rail 12, a second connecting part 21 in the middle of the blowout preventer cutting module 22, and the butt joint points of the first connecting part 121 and the second connecting part 21 by bolts, and the connecting rods at the butt joint points are perpendicular to the telescopic rail 12, so that the connecting frame 8, the telescopic rail 12 and the blowout preventer cutting module 22 form a triangle, and the connection stability is ensured;

as shown in fig. 9, the cover igniting cylinder module 3 comprises a rail car 31, a lifting bracket 32, an adjusting bracket 33 and an igniting cylinder 34, wherein the lifting bracket 32 is vertically arranged on the rail car 31, a telescopic cylinder 36 is arranged in the lifting bracket 32, one end of the adjusting bracket 33 is fixedly connected with the telescopic cylinder 36, the other end of the adjusting bracket 33 is fixedly connected with the igniting cylinder 34, and the igniting cylinder 34 is driven to move up and down by the telescopic cylinder 36; when in use, the rail car 31 is placed on a walking rail, and the hydraulic motor in the rail car 31 drives the cover igniting cylinder module 3 to move on the walking rail;

as shown in fig. 10-12, the wellhead reset module 4 comprises a six-degree-of-freedom platform 41 and a blowout preventer 43, the six-degree-of-freedom platform 41 comprises a lower platform 45, six moving cylinders 44 and clamping devices 42, and two ends of the moving cylinders 44 are respectively hinged with the lower platform 45 and the clamping devices 42; the bottom of the lower platform 45 is provided with a connecting piece 47 with a pin hole, when in use, the connecting piece 47 is matched with a butt joint piece 172 on the chain 17 and is fixedly connected through a pin shaft, so that the six-degree-of-freedom platform 41 is connected with the chain 17, and the wellhead reset module 4 is driven to move on the telescopic rail 12 through the chain 17; the top of the six-degree-of-freedom platform 41 is provided with a clamping device 42, the clamping device 42 comprises a first clamping part 421 and a second clamping part 422 which are connected through a locking buckle 424, the first clamping part 421 and the second clamping part 422 form an inverted conical inner hole 423, the first clamping part 421 and the second clamping part 422 are respectively connected with three moving cylinders 44, and the clamping device 42 clamps the blowout preventer 43 through the inverted conical inner hole 423; as shown in fig. 10-11, the six degree of freedom platform 41 controls the downward movement of the blowout preventer 43.

Example 3

In the embodiment, on the basis of embodiment 2, as shown in fig. 2, a balancing weight 111 is arranged on a chassis 11, and stability of a workstation 1 is ensured by the balancing weight 111; the support legs 18 and the support leg oil cylinders 181 for controlling the support legs 18 to stretch are arranged at the end parts of the telescopic rails 12, so that the stability of the six-degree-of-freedom platform 41 during operation can be improved, the six-degree-of-freedom platform is suitable for uneven ground, and the stability of the device is improved;

a camera is arranged on the telescopic rail 12, a first coordinate sensor is arranged on the blowout preventer cutting module 22, a second coordinate sensor is arranged on the wellhead reset module 4, and the camera, the first coordinate sensor and the second coordinate sensor are connected with a control system; the first coordinate sensor collects coordinate information of the old blowout preventer 43 when the old blowout preventer 43 is cut, the second coordinate sensor collects coordinate information of the new blowout preventer 43 when the old blowout preventer 43 is reset, and the new blowout preventer 43 is controlled to reach the position right above the wellhead flange by comparing the coordinate information of the old blowout preventer 43 with the coordinate information of the new blowout preventer 43 and video information returned by the camera;

as shown in fig. 5, a second roller 141 is disposed on the track bracket 14 below the telescopic track 12, and a third roller 151 is disposed on the protective box 15 above the telescopic track 12, so as to facilitate movement of the telescopic track 12 and make movement of the telescopic track 12 more stable; as shown in fig. 2, sliding grooves 19 extending along the moving direction are arranged on two inner sides of the telescopic rail 12, a first rolling shaft 46 is arranged at the bottom of the six-degree-of-freedom platform 41, and the wellhead reset module 4 is convenient to move on the telescopic rail 12 through the cooperation of the first rolling shaft 46 and the sliding grooves 19;

as shown in fig. 7, a telescopic mechanism 24 is fixedly arranged on the cutting frame 22, a telescopic end of the telescopic mechanism 24 is connected with a movable frame 25, and the cutting pipeline 23 is fixedly connected with the movable frame 25, so that the cutting relationship is driven to horizontally move by the telescopic mechanism 24, the cutting pipeline 23 can be driven by the telescopic mechanism 24 to repeatedly cut the old blowout preventer 43, and the situation that one-time non-cutting is successful is avoided;

the lifting support 32 is hinged with the rail car 31, an adjusting cylinder 35 is connected between the lifting support 32 and the rail car 31, and the inclination of the lifting support 32 is adjusted through the adjusting cylinder 35 to adjust the setting angle of the igniting cylinder 34.

Example 4

The embodiment further comprises a power source 5, a water source 6 and a pipeline module 7 on the basis of embodiment 1, embodiment 2 or embodiment 3, wherein the water source 6 comprises a high-pressure water source 6 and a cooling water source 6, and the pipeline module 7 comprises a hydraulic power pipeline, a high-pressure water pipeline, a cooling water pipeline and a protective cover outside the pipeline; the power source 5 is a hydraulic power source 5 which is communicated with components needing hydraulic power in the workstation 1, the blowout preventer cutting module 22, the cover igniting cylinder module 3 and the wellhead resetting module 4 through hydraulic power pipelines to provide power for the components; the high-pressure water source 6 is communicated with the cutting pipeline 23 through a high-pressure water pipeline to provide high-pressure cutting water flow for the high-pressure water source; the cooling water source 6 is communicated with cooling points in the workstation 1, the blowout preventer cutting module 22, the cover igniting cylinder module 3 and the wellhead resetting module 4 through cooling water pipelines, and the cooling points can be set at proper positions according to device requirements, so that the resetting device does not need the protection of an external fire water monitor; the surfaces of the workstation 1, the blowout preventer cutting module 22, the cover igniting cylinder module 3 and the wellhead resetting module 4 are provided with a thermal insulation coating and a protective armor for protection. When the blowout emergency operation is carried out, the working process is as follows:

old blowout preventer cut: as shown in fig. 14a, connecting the blowout preventer cutting module with the telescoping rail at a location remote from the wellhead, controlling the workstation to move toward the wellhead; as shown in fig. 14b, after reaching the proper working position, the cutting water source is opened for cutting; as shown in fig. 14c, the blowout preventer cutting module is driven to move and cut by the telescopic rail until the old blowout preventer is cut; as shown in fig. 14d, the cutting water source is turned off after the cutting is completed, and the workstation is retracted to the safe area. Old flange removal: as shown in fig. 15a, the blowout preventer cutting module is removed, and after the hood pilot cartridge module is installed, the workstation is again moved uphole; as shown in fig. 15b, after the proper position is reached, the telescopic rail is controlled to move towards the wellhead until the working port is positioned above the wellhead; as shown in fig. 15c, the control cover igniting cylinder module moves towards the wellhead until the igniting cylinder is positioned above the blowout flame, the lifting bracket controls the igniting cylinder to move downwards to be close to the wellhead flange until the blowout flame is led to be above the igniting cylinder, at the moment, the blowout flame is led to a high place, an emergency personnel can approach the wellhead, and the old blowout preventer lower flange remained on the wellhead flange is removed; as shown in fig. 15d, 15e, the post-demolition workstation is far from the wellhead to the safe area.

Wellhead reset: as shown in fig. 16a, the wellhead reset module is installed after the cap pilot cartridge module is removed, and then the workstation is moved to the wellhead into place; as shown in fig. 16b, the telescoping rail is moved uphole to the point where the work port is above the wellhead; as shown in fig. 16c, the new blowout preventer is sent to the position right above the wellhead flange by using the wellhead reset module, the lower end of the new blowout preventer is aligned downwards with the wellhead flange by the six-degree-of-freedom platform, and bolts are connected; as shown in fig. 16d, 16e, the workstation is evacuated to complete the installation of the new blowout preventer.

The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.

Claims (15)

1. An oil gas well head robotics of speedily carrying out rescue work, its characterized in that: the device comprises a workstation, a blowout preventer cutting module, a cover igniting cylinder module and a wellhead resetting module;

the workstation comprises a chassis vehicle and a telescopic rail, wherein the telescopic rail is arranged on the chassis vehicle and is driven to horizontally move on the chassis vehicle by a telescopic rail driving system; the end part and the middle part of the telescopic rail are provided with first connecting parts, and the two inner sides of the telescopic rail are provided with sliding grooves extending along the moving direction;

the end part and the middle part of the blowout preventer cutting module are provided with second connecting parts, when the blowout preventer cutting module is used, the first connecting parts at the end parts of the telescopic rails are in butt joint with the second connecting parts at the end parts of the blowout preventer cutting module, and the telescopic rails are connected with the blowout preventer cutting module through connecting frames;

the cover igniting cylinder module comprises a rail car, wherein the rail car is provided with rollers, and the rollers are arranged in the sliding grooves when in use;

the bottom of the wellhead reset module is provided with a first rolling shaft, and the first rolling shaft is arranged in the chute when in use;

the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module are alternately connected with the telescopic track, so that the old blowout preventer is removed, the flange is removed and the new blowout preventer is installed in sequence.

2. The oil and gas well wellhead rescue robot of claim 1 wherein: the telescopic rail is internally provided with a chain and a chain driving system, and the chain driving system drives the chain to rotate along the moving direction of the telescopic rail.

3. The oil and gas well wellhead rescue robot of claim 1 wherein: the chassis is provided with a track support and a protective box, the telescopic track is arranged on the track support, the track support is provided with a second roller, the protective box is provided with a third roller, and the third roller is positioned above the telescopic track.

4. The oil and gas well wellhead rescue robot of claim 1 wherein: and racks are arranged on two outer sides of the telescopic rail, the telescopic rail driving system is connected with a gear, and the racks are matched with the gear.

5. The oil and gas well wellhead rescue robot of claim 1 wherein: the working end of the telescopic rail is provided with a working opening.

6. The oil and gas well wellhead rescue robot of claim 1 wherein: the blowout preventer cutting module comprises a cutting frame and a cutting pipeline, wherein the cutting pipeline is arranged on the cutting frame, and the second connecting part is arranged on the cutting frame.

7. The oil and gas well wellhead rescue robot of claim 6 wherein: the cutting frame is fixedly provided with a telescopic mechanism, the telescopic end of the telescopic mechanism is connected with the movable frame, and the cutting pipeline is fixedly connected with the movable frame.

8. The oil and gas well wellhead rescue robot of claim 1 wherein: the connecting frame comprises a plurality of connecting rods with one ends connected with each other, and the other ends of the connecting rods are respectively connected with the first connecting part and the second connecting part.

9. The oil and gas well wellhead rescue robot of claim 1 wherein: the cover ignition cylinder module comprises a rail car, a lifting support, an adjusting support and an ignition cylinder, wherein the lifting support is vertically arranged on the rail car, a telescopic cylinder is arranged in the lifting support, one end of the adjusting support is fixedly connected with the telescopic cylinder, and the other end of the adjusting support is fixedly connected with the ignition cylinder.

10. The oil and gas well wellhead rescue robot of claim 9 wherein: the lifting support is hinged with the rail car, and an adjusting cylinder is connected between the lifting support and the rail car.

11. The oil and gas well wellhead rescue robot of claim 2 wherein: the wellhead reset module comprises a six-degree-of-freedom platform and a blowout preventer, wherein the top of the six-degree-of-freedom platform is provided with a clamping device for clamping the blowout preventer, and the six-degree-of-freedom platform is connected with the chain.

12. The oil and gas well wellhead rescue robot of claim 11 wherein: the six-degree-of-freedom platform comprises a lower platform, six moving oil cylinders and clamping devices, wherein two ends of each moving oil cylinder are respectively hinged with the lower platform and the clamping devices.

13. The oil and gas well wellhead rescue robot of claim 11 wherein: the clamping device comprises a first clamping part and a second clamping part, wherein the first clamping part and the second clamping part form an inverted conical inner hole and are connected through locking buckles, and the first clamping part and the second clamping part are respectively connected with three moving cylinders.

14. The oil and gas well wellhead rescue robot of any one of claims 1-13 wherein: the telescopic track is provided with a camera, the blowout preventer cutting module is provided with a first coordinate sensor, the wellhead resetting module is provided with a second coordinate sensor, and the camera, the first coordinate sensor and the second coordinate sensor are connected with a control system.

15. The oil and gas well wellhead rescue robot of any one of claims 1-13 wherein: the blowout preventer cutting device further comprises a power source, a water source and a pipeline module, wherein the power source and the water source are connected with the workstation, the blowout preventer cutting module, the cover igniting cylinder module and the wellhead resetting module through the pipeline module.

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