CN210942017U - Oil field emergency robot for oil field emergency operation - Google Patents

Abstract

The utility model discloses an oil field emergency robot for oil field operation of speedily carrying out rescue work, including frame, track and fire gun, the both sides of frame all are fixed with the track frame, and 2 the outside of track frame all is provided with the track, and a supporting bench is installed at the top of frame, and a supporting bench's inside is provided with the cavity to the revolving stage is installed to the one end at a supporting bench top, the base is installed at the top of revolving stage, and the internally mounted of base has the universal driving shaft, and the both ends of universal driving shaft extend to the both sides and the fixedly connected with fire gun of base respectively. The utility model discloses a set up the track and realize automatic walking function under the effect of servo gear motor and drive wheel, the wireless transceiver that sets up on the cooperation controller, constructor passes through remote control unit operation, can carry out the processing action that corresponds according to on-the-spot dangerous situation control robot, has alleviateed workman's intensity of labour greatly, improves work efficiency, and operation workman can keep away from the well head, can prevent that the workman from being hurt.

Description

Oil field emergency robot for oil field emergency operation

Technical Field

The utility model relates to an oil field assists operation equipment technical field, specifically is an oil field emergency robot for oil field operation of speedily carrying out rescue work.

Background

The petroleum enterprise is located in wide geographical areas, most of which are in sparse areas, the perimeter range is large, the geographical environment is complex, flammable and explosive hydrocarbon and hydrogen sulfide toxic gas are contained in the areas, dangerous situations such as oil gas leakage and ignition are easy to occur, and the defects are usually existed in the case of handling accidents in China:

1. the man-sea tactics are adopted, a great amount of manpower is used for carrying out emergency treatment by using emergency treatment tools, the manual operation mode is adopted, so that the labor intensity of workers is high, the danger is high, the safety is poor, potential safety hazards exist, the requirements of safe production cannot be met, and the success rate is very low;

2. the out-of-control dangerous case can cause serious damage to oil and gas resources, and is very easy to cause larger fire and explosion accidents, so that the emergency personnel can have poisoning, negative injury and even life-threatening accidents, and the national and social losses are not small.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an oil field emergency robot for oil field operation of speedily carrying out rescue work to solve the adoption people and sea tactics that proposes in the above-mentioned background art, intensity of labour is big, and is dangerous big, and the security is poor, has the potential safety hazard, can not reach the requirement of safety in production, and the success rate is very low problem.

In order to achieve the above object, the utility model provides a following technical scheme: an oil field emergency robot for oil field emergency operation comprises a frame, a crawler and a fire monitor, wherein crawler frames are fixed on two sides of the frame, the outer sides of 2 crawler frames are provided with the crawler, supporting wheels are uniformly arranged at the bottom of the crawler frames, the bottoms of the supporting wheels are contacted with the inner side wall of the crawler frames, a fixing frame is arranged at one end of the top of the crawler frame, a dragging wheel is arranged at one end of the fixing frame, a driving wheel is arranged at the other end of the fixing frame, the outer side walls of the dragging wheel and the driving wheel are contacted with the inner side wall of the crawler frames, a storage battery and a controller are arranged inside the frame, a wireless transceiver is arranged on the controller, the wireless transceiver is electrically connected with the controller in a two-way mode through a wire, the controller is electrically connected with the storage battery through a wire, a servo speed reduction motor is arranged inside the frame on one side of, and the output end of the servo reducing motor is fixedly connected with an output transmission shaft, the output end of the output transmission shaft is fixedly connected with a driving wheel, the top of the frame is provided with a supporting table, the inside of the supporting table is provided with a cavity, one end of the top of the supporting table is provided with a rotating table, the top of the rotating table is provided with a base, the inside of the base is provided with a linkage shaft, two ends of the linkage shaft respectively extend to two sides of the base and are fixedly connected with a fire monitor, the fire monitor is electrically connected with a controller through a wire, the middle of the linkage shaft is provided with a transmission gear, the other end of the top of the supporting table is provided with a supporting seat, the top of the supporting seat is provided with a base table, the inside of the base table is provided with a third rotating motor, the third rotating motor, the third arm is installed at the top of fourth arm, and the camera is installed at the top of third arm, and the output of camera passes through the wire and the input electric connection of controller, the second arm is installed to third arm one end, and first arm is installed on the top of second arm, and the cutting head is installed on the top of first arm.

Preferably, the inlet tube is installed to the one end of third arm, and one side fixedly connected with blank conveyer pipe of inlet tube, the output and the cutting head of blank conveyer pipe are linked together to the blank conveyer pipe is laid along first arm, second arm and third arm, and the blank conveyer pipe is hose construction simultaneously.

Preferably, the rotation axis of revolving stage extends to the inside of cavity and installs a transmission gear, and the cavity internally mounted of a transmission gear one side has a driving motor simultaneously, and a driving gear of driving motor's output shaft fixedly connected with, a driving gear and a transmission gear intermeshing.

Preferably, the inside bottom of base below the driving gear is installed rotatory power motor, and the drive tooth is installed to rotatory power motor's output, and drive tooth and driving tooth intermeshing, the universal driving shaft passes through the driving gear and drives the tooth and constitutes revolution mechanic.

Preferably, a first rotating motor is installed at one end inside the first mechanical arm, the first rotating motor is electrically connected with the controller through a wire, an output shaft of the first rotating motor is fixedly connected with the second mechanical arm, and meanwhile the first mechanical arm and the second mechanical arm form a rotating structure through the first rotating motor.

Preferably, a second rotating motor is installed at one end of the interior of the third mechanical arm, and an output shaft of the second rotating motor extends to the outer side of one end of the third mechanical arm and is fixedly connected with the second mechanical arm.

Preferably, the rotating shaft of the supporting seat extends to the inside of the cavity and is provided with a second transmission gear, a second driving motor is arranged inside the cavity on one side of the second transmission gear, an output shaft of the second driving motor is fixedly connected with a second driving gear, and the second driving gear is meshed with the second transmission gear.

Preferably, the tensioning telescopic rod is installed at one end of the top of the crawler frame, the guide wheel is fixedly connected to the output end of the tensioning telescopic rod, the outer side wall of the guide wheel is in contact with the inner side wall of the crawler frame, and the tensioning telescopic rod forms a guide structure through the guide wheel.

Compared with the prior art, the beneficial effects of the utility model are that:

1. according to the oil field emergency robot for the oil field emergency operation, the rotating table capable of rotating 360 degrees is arranged at the top of the supporting table, the rotating power motor is arranged at the bottom end inside the base below the transmission gear, and the transmission gear is driven to rotate through the driving gear by the rotating power motor, so that multi-angle adjustment of a fire monitor can be realized, and the fire fighting effect is improved;

2. according to the oil field emergency robot for the oil field emergency operation, the supporting seat capable of rotating 360 degrees, the mechanical arms and the driving motors of the mechanical arms are arranged at the top of the supporting table, so that the cutting head can reach any position, the water inlet pipe is arranged at one end of the third mechanical arm in a matched mode, the water inlet pipe is connected with the cutting head through the blanking conveying pipe, tasks such as ignition point spraying, waste pipeline cutting and cleaning and the like can be selected according to different conditions, and the oil field emergency robot has good practicability;

3. this an oil field emergency robot for oil field operation of speedily carrying out rescue work realizes the automatic walking function through setting up the track under the effect of servo gear motor and drive wheel, the wireless transceiver that sets up on the cooperation controller, constructor passes through remote control unit operation, can carry out the processing action that corresponds according to on-the-spot dangerous situation control robot, has alleviateed workman's intensity of labour greatly, improves work efficiency, the operation workman can keep away from the well head, can prevent that the workman from being hurt.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the bracket of the present invention;

FIG. 3 is a schematic top view of the supporting platform of the present invention;

FIG. 4 is a schematic view of the internal structure of the base of the present invention;

FIG. 5 is a schematic view of the internal structure of the base station of the present invention;

fig. 6 is a system block diagram of the present invention.

In the figure: 1. a guide wheel; 2. tensioning the telescopic rod; 3. a rotating table; 301. a first drive gear; 302. a rotary power motor; 303. a drive tooth; 304. a base; 4. fire monitor; 401. a linkage shaft; 402. A transmission gear; 5. a cutting head; 6. a cutting conveying pipe; 7. a first robot arm; 701. a first rotating electrical machine; 8. a second mechanical arm; 9. a camera; 10. a third mechanical arm; 1001. a second rotating electrical machine; 11. A water inlet pipe; 12. a fourth mechanical arm; 13. a supporting seat; 1301. a second transmission gear; 1302. a third rotating electrical machine; 1303. a base station; 14. a support table; 1401. a cavity; 15. a drive wheel; 16. a fixed mount; 17. a drag chain wheel; 18. a track frame; 19. a thrust wheel; 20. a crawler belt; 21. a storage battery; 22. A frame; 2201. a bracket; 23. a first drive motor; 2301. a first drive gear; 24. a controller; 2401. a wireless transceiver; 25. a second drive motor; 2501. a second drive gear; 26. a servo deceleration motor; 2601. and an output transmission shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides an embodiment: an oil field emergency robot for oil field emergency operation comprises a frame 22, tracks 20 and a fire monitor 4, wherein track frames 18 are fixed on two sides of the frame 22, the tracks 20 are arranged on the outer sides of 2 track frames 18, supporting wheels 19 are uniformly arranged at the bottom of the track frames 18, the bottoms of the supporting wheels 19 are in contact with the inner side walls of the track frames 18, meanwhile, a fixing frame 16 is arranged at one end of the top of each track frame 18, a drag chain wheel 17 is arranged at one end of each fixing frame 16, a driving wheel 15 is arranged at the other end of each fixing frame 16, and the outer side walls of the drag chain wheel 17 and the driving wheel 15 are in contact with the inner side walls of the track frames 18;

one end of the top of the track frame 18 is provided with a tensioning telescopic rod 2, the type of the tensioning telescopic rod 2 can be DYTZ450-110, the output end of the tensioning telescopic rod 2 is fixedly connected with a guide wheel 1, the outer side wall of the guide wheel 1 is in contact with the inner side wall of the track frame 18, and the tensioning telescopic rod 2 forms a guide structure through the guide wheel 1;

the storage battery 21 and the controller 24 are installed inside the frame 22, the controller 24 can be of FHR-211 type, the controller 24 is installed with the wireless transceiver 2401, the wireless transceiver 2401 can be of ISM type, the wireless transceiver 2401 is electrically connected with the controller 24 in a bidirectional mode through a lead, the controller 24 is electrically connected with the storage battery 21 through a lead, the servo deceleration motor 26 is installed inside the frame 22 on one side of the controller 24 through a bracket 2201, the servo deceleration motor 26 can be of KTYZ type, the servo deceleration motor 26 is electrically connected with the controller 24 through a lead, an output transmission shaft 2601 is fixedly connected to an output end of the servo reduction motor 26, an output end of the output transmission shaft 2601 is fixedly connected with the driving wheel 15, a support table 14 is installed at the top of the frame 22, a cavity 1401 is arranged inside the support table 14, and a rotating table 3 is installed at one end of the top of the support table 14;

the rotating shaft of the rotating platform 3 extends to the inside of the cavity 1401 and is provided with a first transmission gear 301, meanwhile, the inside of the cavity 1401 at one side of the first transmission gear 301 is provided with a first driving motor 23, the type of the first driving motor 23 can be Y90S-2, an output shaft of the first driving motor 23 is fixedly connected with a first driving gear 2301, the first driving gear 2301 is meshed with the first transmission gear 301, the first driving motor 23 drives the first driving gear 2301 to rotate, and meanwhile, the first driving gear 2301 drives the first transmission gear 301 to rotate, so that the rotating platform 3 is driven by the rotating shaft of the rotating platform 3 to rotate in the horizontal direction for adjusting the angle;

the top of the rotating platform 3 is provided with a base 304, a linkage shaft 401 is arranged inside the base 304, two ends of the linkage shaft 401 respectively extend to two sides of the base 304 and are fixedly connected with a fire monitor 4, the fire monitor 4 is electrically connected with the controller 24 through a wire, and the middle of the linkage shaft 401 is provided with a transmission tooth 402;

the bottom end of the interior of the base 304 below the transmission gear 402 is provided with a rotary power motor 302, the model of the rotary power motor 302 can be Y90S-2, the output end of the rotary power motor 302 is provided with a driving gear 303, the driving gear 303 is meshed with the transmission gear 402, the linkage shaft 401 forms a rotary structure through the transmission gear 402 and the driving gear 303, the rotary power motor 302 drives the driving gear 303 to rotate, the driving gear 303 drives the transmission gear 402 to rotate, and the transmission gear 402 drives the fire monitor 4 to rotate in the horizontal direction through the linkage shaft 401 to adjust the angle;

the other end of the top of the support platform 14 is provided with a support seat 13;

a rotating shaft of the supporting seat 13 extends into the cavity 1401 and is provided with a second transmission gear 1301, a second driving motor 25 is arranged in the cavity 1401 on one side of the second transmission gear 1301, the type of the second driving motor 25 can be Y160M1-2, an output shaft of the second driving motor 25 is fixedly connected with a second driving gear 2501, the second driving gear 2501 is meshed with the second transmission gear 1301, the second driving gear 2501 drives the second transmission gear 1301 to rotate while the second driving motor 25 drives the second driving gear 2501 to rotate, so that the rotating shaft of the supporting seat 13 is driven by the second transmission gear 1301 to rotate, and the angle adjustment of the supporting seat 13 in the horizontal direction is realized;

a base table 1303 is arranged at the top of the supporting seat 13, a third rotating motor 1302 is installed inside the base table 1303, the model of the third rotating motor 1302 can be Y90S-2, the third rotating motor 1302 is electrically connected with a controller 24 through a conducting wire, an output shaft of the third rotating motor 1302 extends to the outer side of the base table 1303 and is fixedly connected with a fourth mechanical arm 12, and a third mechanical arm 10 is installed at the top of the fourth mechanical arm 12;

a water inlet pipe 11 is installed at one end of a third mechanical arm 10, a blanking conveying pipe 6 is fixedly connected to one side of the water inlet pipe 11, the output end of the blanking conveying pipe 6 is communicated with a cutting head 5, the blanking conveying pipe 6 is laid along the first mechanical arm 7, the second mechanical arm 8 and the third mechanical arm 10, meanwhile, the blanking conveying pipe 6 is of a hose structure, the blanking conveying pipe 6 of the hose structure can deform along with adjustment of the first mechanical arm 7, the second mechanical arm 8 and the third mechanical arm 10, damage to the blanking conveying pipe 6 is avoided, and influence of the blanking conveying pipe 6 on movement of the first mechanical arm 7, the second mechanical arm 8 and the third mechanical arm 10 is avoided;

the top of the third mechanical arm 10 is provided with a camera 9, the output end of the camera 9 is electrically connected with the input end of the controller 24 through a wire, one end of the third mechanical arm 10 is provided with a second mechanical arm 8, the top end of the second mechanical arm 8 is provided with a first mechanical arm 7, and the top end of the first mechanical arm 7 is provided with a cutting head 5; a first rotating motor 701 is installed at one end inside the first mechanical arm 7, the type of the first rotating motor 701 can be Y90S-2, the first rotating motor 701 is electrically connected with the controller 24 through a wire, an output shaft of the first rotating motor 701 is fixedly connected with the second mechanical arm 8, meanwhile, the first mechanical arm 7 and the second mechanical arm 8 form a rotating structure through the first rotating motor 701, the first rotating motor 701 drives the first mechanical arm 7 to rotate relative to the second mechanical arm 8, and the angle between the first mechanical arm 7 and the second mechanical arm 8 is adjusted;

a second rotating motor 1001 is installed at one end inside the third mechanical arm 10, an output shaft of the second rotating motor 1001 extends to the outer side of one end of the third mechanical arm 10 and is fixedly connected with the second mechanical arm 8, and the second rotating motor 1001 drives the second mechanical arm 8 to rotate by an angle relative to the third mechanical arm 10, so that the angle between the second mechanical arm 8 and the third mechanical arm 10 can be adjusted.

The working principle is as follows: when the device is used, the device is connected with an external water source through the water inlet pipe 11, the controller 24 controls the servo reducing motor 26 to be started, the servo reducing motor 26 drives the driving wheel 15 to rotate through the output transmission shaft 2601, the driving wheel 15 drives the crawler belt 20 to travel to an oil field emergency operation site, the camera 9 shoots an operation site picture in real time and transmits the picture to the controller 24, the controller 24 transmits the shot site picture to a remote device through the wireless transceiver 2401, the remote device transmits a control signal to the controller 24 through the wireless transceiver 2401, the controller 24 controls the first driving motor 23 to drive the first driving gear 301 to rotate through the first driving gear 2301, so that the fire monitor 4 is driven to rotate in the horizontal direction through the rotating platform 3 to adjust the angle, meanwhile, the controller 24 controls the rotating power motor 302 to drive the driving gear 402 to drive the transmission through the driving gear 303, so that the fire monitor 4 is driven to rotate in the vertical direction through the linkage shaft 401 to, the multi-angle adjustment of the fire monitor 4 can be realized, after the angle adjustment of the fire monitor 4 is completed, the controller 24 controls the fire monitor 4 to launch a fire extinguishing ball, and the fire extinguishing ball is put out fire, and when necessary, the controller 24 controls the second driving motor 25 to drive the second transmission gear 1301 to rotate through the second driving gear 2501, so as to drive the cutting head 5 to rotate and adjust the angle in the horizontal direction through the supporting seat 13, the controller 24 controls the third rotating motor 1302 to drive the fourth mechanical arm 12 to rotate in the vertical direction, the controller 24 controls the second rotating motor 1001 to drive the second mechanical arm 8 to rotate, so as to realize the angle adjustment between the second mechanical arm 8 and the third mechanical arm 10, the controller 24 controls the first rotating motor 701 to drive the first mechanical arm 7 to rotate, so as to realize the angle adjustment between the first mechanical arm 7 and the second mechanical arm 8, so as to drive the position adjustment of the cutting head 5, after the cutting head 5 reaches the position, the external water source conveys water to the cutting head 5 through the water inlet pipe 11 and the blank conveying pipe 6, and the tasks of fire point spraying, waste pipeline cutting and cleaning and the like can be selected according to the situation.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (8)

1. The utility model provides an oil field emergency robot for oil field emergency operation, includes frame (22), track (20) and fire monitor (4), its characterized in that: the crawler belt type bicycle is characterized in that crawler belt frames (18) are fixed on two sides of a frame (22), crawler belts (20) are arranged on the outer sides of 2 crawler belt frames (18), supporting wheels (19) are uniformly installed at the bottoms of the crawler belt frames (18), the bottoms of the supporting wheels (19) are in contact with the inner side walls of the crawler belt frames (18), a fixing frame (16) is installed at one end of the top of each crawler belt frame (18), a dragging chain wheel (17) is installed at one end of the fixing frame (16), a driving wheel (15) is installed at the other end of the fixing frame (16), the outer side walls of the dragging chain wheel (17) and the driving wheel (15) are in contact with the inner side walls of the crawler belt frames (18), a storage battery (21) and a controller (24) are installed inside the frame (22), a wireless transceiver (2401) is installed on the controller (24), the wireless transceiver (2401) is electrically connected with the controller (24) in a bidirectional, the fire-fighting truck is characterized in that a servo speed-reducing motor (26) is installed inside a truck frame (22) on one side of a controller (24) through a bracket (2201), the servo speed-reducing motor (26) is electrically connected with the controller (24) through a wire, an output end of the servo speed-reducing motor (26) is fixedly connected with an output transmission shaft (2601), an output end of the output transmission shaft (2601) is fixedly connected with a driving wheel (15), a supporting table (14) is installed at the top of the truck frame (22), a cavity (1401) is arranged inside the supporting table (14), a rotating table (3) is installed at one end of the top of the supporting table (14), a base (304) is installed at the top of the rotating table (3), a linkage shaft (401) is installed inside the base (304), two ends of the linkage shaft (401) respectively extend to two sides of the base (304, and the middle of the linkage shaft (401) is provided with a transmission gear (402), the other end of the top of the support table (14) is provided with a support seat (13), the top of the support seat (13) is provided with a base station (1303), a third rotating motor (1302) is installed inside the base station (1303), the third rotating motor (1302) is electrically connected with a controller (24) through a wire, an output shaft of the third rotating motor (1302) extends to the outer side of the base station (1303) and is fixedly connected with a fourth mechanical arm (12), the top of the fourth mechanical arm (12) is provided with a third mechanical arm (10), the top of the third mechanical arm (10) is provided with a camera (9), the output end of the camera (9) is electrically connected with the input end of the controller (24) through a wire, one end of the third mechanical arm (10) is provided with a second mechanical arm (8), and the top end of the second mechanical arm (8) is, the top end of the first mechanical arm (7) is provided with a cutting head (5).

2. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: inlet tube (11) are installed to the one end of third arm (10), one side fixedly connected with blank conveyer pipe (6) of inlet tube (11), and the output and cutting head (5) of blank conveyer pipe (6) are linked together to blank conveyer pipe (6) are laid along first arm (7), second arm (8) and third arm (10), and blank conveyer pipe (6) are hose construction simultaneously.

3. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: the rotating shaft of the rotating platform (3) extends to the inside of the cavity (1401) and is provided with a first transmission gear (301), meanwhile, the cavity (1401) on one side of the first transmission gear (301) is internally provided with a first driving motor (23), an output shaft of the first driving motor (23) is fixedly connected with a first driving gear (2301), and the first driving gear (2301) is meshed with the first transmission gear (301).

4. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: the driving gear mechanism is characterized in that a rotary power motor (302) is installed at the bottom end inside a base (304) below the transmission gear (402), a driving gear (303) is installed at the output end of the rotary power motor (302), the driving gear (303) is meshed with the transmission gear (402), and a linkage shaft (401) forms a rotary structure through the transmission gear (402) and the driving gear (303).

5. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: a first rotating motor (701) is installed at one end of the interior of the first mechanical arm (7), the first rotating motor (701) is electrically connected with a controller (24) through a lead, an output shaft of the first rotating motor (701) is fixedly connected with the second mechanical arm (8), and meanwhile the first mechanical arm (7) and the second mechanical arm (8) form a rotating structure through the first rotating motor (701).

6. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: and a second rotating motor (1001) is installed at one end inside the third mechanical arm (10), and an output shaft of the second rotating motor (1001) extends to the outer side of one end of the third mechanical arm (10) and is fixedly connected with the second mechanical arm (8).

7. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: the rotating shaft of the supporting seat (13) extends into the cavity (1401) and is provided with a second transmission gear (1301), a second driving motor (25) is arranged in the cavity (1401) on one side of the second transmission gear (1301), an output shaft of the second driving motor (25) is fixedly connected with a second driving gear (2501), and the second driving gear (2501) is meshed with the second transmission gear (1301).

8. The oilfield emergency robot for oilfield emergency operations of claim 1, wherein: tensioning telescopic link (2) are installed to the one end at track frame (18) top, and the output fixedly connected with leading wheel (1) of tensioning telescopic link (2), the contact of leading wheel (1) lateral wall and the inside wall of track frame (18), tensioning telescopic link (2) pass through leading wheel (1) and constitute guide structure.

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