WO2017076261A1 - 一种旋转式线性覆盖工具 - Google Patents

一种旋转式线性覆盖工具 Download PDF

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Publication number
WO2017076261A1
WO2017076261A1 PCT/CN2016/104115 CN2016104115W WO2017076261A1 WO 2017076261 A1 WO2017076261 A1 WO 2017076261A1 CN 2016104115 W CN2016104115 W CN 2016104115W WO 2017076261 A1 WO2017076261 A1 WO 2017076261A1
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Prior art keywords
cylinder
base
main cylinder
rotary
right end
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English (en)
French (fr)
Inventor
李钦奉
李可
张建
梁为
李华
程友祥
唐文献
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B34/00—Valve arrangements for boreholes or wells
    • E21B34/02—Valve arrangements for boreholes or wells in well heads
    • E21B34/04—Valve arrangements for boreholes or wells in well heads in underwater well heads
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
    • E21B43/013—Connecting a production flow line to an underwater well head

Definitions

  • the invention relates to a valve operating tool on an underwater tree, in particular to a rotary linear covering tool. It belongs to the field of offshore oil production technology.
  • the linear covering tool has a main structure: a single-acting cylinder with a fixed connection interface with the tree valve, a tool for opening or closing the valve on the subsea tree, and the device conforms to the robot carrying and operating standards.
  • the subsea tree is a wellhead control device for testing oil and gas after completion of an oil (gas) well or for oil recovery from a well.
  • the robot In order to control the valve on the tree, the robot is usually used to carry the covering tool, and it is moved along the oil pipeline to the platform set up for the robot work next to the tree. After the robot self-positioning and fixing on the platform, the covering tool is fixed to the valve.
  • the fixing method is similar to the connection between the fire hydrant on the land and the fire hose.
  • the robot first inserts the tooth groove covering the tool interface into the valve seat, and then rotates the covering tool to make the tooth groove and the tooth on the valve seat. Engage, thus completing the fixing of the deep water linear covering tool and the valve.
  • the single-acting cylinder starts to work, and the piston rod moves forward to push the valve spool, and the valve on the tree is opened or closed.
  • the piston rod is retracted, and the robot reversely rotates the covering tool to make it out of the meshing between the tooth groove and the tooth, and then the covering tool is released from the valve seat.
  • the robot when using the covering tool, the robot is required to first fix the covering tool to the interface of the tree valve after completing the self-positioning and fixing. Therefore, the robot is required not only to move the covering tool along the axis, but also to require the robot to go around the oil.
  • the tree valve center line rotates the covering tool, which makes the robot system too complicated, increases the risk of robot failure, reduces the reliability of the robot, and the price of the robot increases with the increase of the robot freedom, which reduces the economy of the robot.
  • the invention adds a self-rotating mechanism by inserting an interface of the covering tool into the bottom of the underwater tree valve interface by the robot, and the covering tool uses the self-rotating mechanism to rotate the interface to achieve self-fixation, overcoming the current underwater.
  • the cover tool is fixed on the tree valve, all the actions are completed by the robot, which simplifies the robot operating system, improves the overall reliability of the system, and reduces the maintenance and maintenance cost of the underwater tree.
  • a rotary linear covering tool comprises an interface 1, a piston rod 2, a main cylinder 20, a rear end cover 6, a base 5 and a handle 3.
  • the interface 1 is fixedly connected to the left end of the main cylinder 20, and is provided at the center.
  • a central circular hole of the piston rod 2 in the main cylinder 20 is gap-fitted, and the flange of the rear end cover 6 is fixedly connected to the right end surface of the cylinder of the main cylinder 20, and the base 5 is cross-sectionally a cover shell, which is disposed at the right end of the main cylinder 20, and is connected to the guide support sleeve 4 of the outer cylinder of the main cylinder 20, and the handle 3 is fixedly connected to the outer cylinder of the base 5;
  • the bottom end wall of the base 5 is further provided with a central through hole 51.
  • the rear end cover 6 is further provided with a cylindrical boss 61 on the right end surface thereof, and is provided through the cylindrical boss 61 and the through hole 51.
  • the above-mentioned rotating mechanism includes a rotary cylinder 7 and a flange 8 which is constituted by a cylinder block and a rotating shaft 71 which has a large opening 82 at one end and a small hole at the other end.
  • the port 81 is formed, and the center line of the via hole is broken to form two semicircular barrels, wherein the large hole 82 is sleeved in the ring groove 62 provided on the outer circumference of the boss 61 at the right end of the rear end cover 6.
  • the small aperture 81 corresponds to a circular blind hole 63 provided on the right end surface of the rear end cover 6; the cylinder of the rotary oil cylinder 7 is fixedly connected to the base 5 and the flange 8 by screws.
  • the rotating shaft 71 of the rotary cylinder 7 is connected to the circular blind hole 63 through a small opening 81 of the flange 8 by a key.
  • the rotary cylinder 7 described above has a rotation range of 0 to 45°.
  • the cross-sectional shape of the ring groove 62 described above is a rectangular groove.
  • At least two process holes 52 are also provided on the circumferential wall of the base 5 described above.
  • the interface 1 described above is a standard A-type interface and conforms to the GB/T21412-2010 standard; the handle 6 is a B-shaped handle, which conforms to the GB/T21412-2010 standard.
  • the invention increases the degree of freedom of the covering tool, enables the underwater robot to self-position on the platform beside the tree, self-fixes, moves the covering tool, and inserts its interface 1 into the bottom of the underwater tree valve interface.
  • the covering tool automatically rotates the main cylinder 20 to rotate the interface 1 by externally using the rotating mechanism carried by itself, thereby fixing the covering tool to the port of the valve on the tree, and then opening or closing the valve of the underwater tree by the main cylinder This greatly simplifies the robot system and improves the overall reliability of the system; at the same time, it reduces the procurement cost of the robot and reduces the maintenance and maintenance costs of the underwater tree valve.
  • the connection position of the interface 1 with the interface of the tree valve corresponds; ensuring that the two interfaces are in the same At the axis, the interface 1 can be directly inserted into the bottom of the valve interface of the tree.
  • the rotary cylinder 7 is rotated clockwise to its limit, the position of the interface 1 corresponds to the locking position of the valve interface of the tree; the rotary cylinder 7 itself is utilized. The limit makes the product structure more compact and compact, which further improves the reliability of the product.
  • FIG. 1 is a schematic structural view of a rotary linear covering tool of the present invention
  • FIG. 2 is a schematic view of the rear end cover 6 of Figure 1
  • Figure 3 is a front elevational view of the flange 8 of Figure 1
  • Figure 4 is a right side view of Figure 3
  • left and right as used in the present invention means that when the reader is facing the drawing, the left side of the reader is left, and the right side of the reader is right, and not specifically limited to the present invention.
  • connection may be a direct connection between components or an indirect connection between components through other components.
  • a rotary linear covering tool includes an interface 1, a piston rod 2, a main cylinder 20, a rear end cover 6, a base 5, and a handle 3.
  • the interface 1 is of type A, conforms to the GB/T21412-2010 standard, and is fixedly connected at the left end of the main cylinder 20, and has a central circular hole in the center which is in clearance with the piston rod 2 disposed in the main cylinder 20, and the rear end cover 6
  • the flange is fixedly connected to the right end surface of the cylinder of the main cylinder 20, and the base 5 is cross-sectionally
  • the cover shell is disposed at the right end of the main cylinder 20, and is connected with the guide support sleeve 4 of the clearance fit sleeve on the outer cylinder of the main cylinder 20;
  • the handle 3 is of type B, conforms to the standard GB/T21412-2010, and is fixedly connected
  • the outer cylinder of the base 5 is carried by the robot; the right end wall of the base 5 is further
  • the rotating mechanism includes a rotary cylinder 7 and a flange 8; a right end surface of the rear end cover 6 of the right end of the main cylinder 20 is provided with a cylindrical boss 61, and a cylindrical ring groove is formed on the cylindrical surface of the boss 61. 62, a circular blind hole 63 with a keyway is arranged at the center of the right end surface of the boss 61; a flange 8 is provided at the right end of the boss 61, and the flange 8 has a large opening 82 at one end.
  • the other end is provided with a small opening 81, and the center line of the through hole is broken to form two semicircular barrels, wherein the large opening 82 is sleeved on the outer circumference of the right end of the rear end cover 6
  • the small opening 81 corresponds to a circular blind hole 63 provided on the right end surface of the rear end cover 6; the cylinder of the rotary oil cylinder 7 is screwed with the base 5 and the method
  • the flange 8 is fixedly connected, and the rotating shaft 71 of the rotary cylinder 7 is connected to the circular blind hole 63 through a small opening 81 of the flange 8.
  • the rotation range of the rotary cylinder 7 is 0° to 45°.
  • Two process holes 52 are symmetrically disposed on the circumferential surface of the right end of the base 5, and the two semi-circular flanges 8 are fixedly connected with the base 5.
  • the bottom of the bottom end of the base 5 is provided with a through hole 51 for the rotary cylinder.
  • the shaft 71 of 7 passes through.
  • the underwater robot carries the rotary linear covering tool along the oil production pipeline to the platform set up for the robot work next to the oil tree. After the robot self-positioning and fixing on the platform, according to the design, the axis of the tool interface 1 and the tree valve are covered. The axes are automatically overlapped, and the covering tool is under the control of an external command.
  • the interface 1 is angularly reset, the rotary cylinder 7 is rotated counterclockwise to the limit point and the pressure is held; and in the second step, the robot moves linearly.
  • the tool inserts its interface 1 into the bottom of the valve interface on the tree and maintains the position; in the third step, the counter-clockwise rotation of the cylinder is released, and then the rotary cylinder 7 is rotated 45° clockwise to the automatic limit point.
  • the pressure is maintained; the system completes the docking and locking of the linear covering tool and the underwater tree valve interface.
  • the main cylinder 20 starts to work, its piston rod 2 moves to the left, pushes the mandrel of the tree valve to the valve opening to close, and keeps the system in pressure.
  • the rotary program is completed according to the reverse procedure. Separation of the overlay tool from the interface of the subsea tree valve. The robot returns to the surface again.

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Abstract

一种旋转式线性覆盖工具，包括接口（1）、活塞杆（2）、主油缸（20）、后端盖（6）、基座（5）和把手（3），接口（1）固定连接在主油缸（20）的左端，中心设有与设置在主油缸（20）中的活塞杆（2）间隙配合的中心圆孔，后端盖（6）的法兰固定连接在主油缸（20）缸体的右端面上，基座（5）剖截面为"⊃"形罩壳，套装在主油缸（20）的右端，与间隙配合套装在主油缸（20）外圆柱上的导向支撑套（4）相连接，把手（3）固定连接在基座（5）的外圆柱上；基座（5）的右端壁上还设有一中心通孔（51），后端盖（6）右端面上还设有一圆柱形凸台（61），通过圆柱形凸台（61）和通孔（51）设置有使主油缸（20）相对于基座（5）绕轴线旋转的旋转机构。该覆盖工具系统可靠性高，检修维护成本低。

Description

一种旋转式线性覆盖工具 技术领域：
本发明涉及水下采油树上一种阀门操作工具，具体是涉及一种旋转式线性覆盖工具。属于海上采油技术领域。
背景技术：
线性覆盖工具，其主体结构为：带有与采油树阀门作固定连接接口的单作用油缸，用于打开或关闭水下采油树上阀门的一种工具，且该装置符合机器人携带和操作标准。
水下采油树是在油(气)井完井后进行测试油气时，或自喷井采油时的一种井口控制装置。采油树上设有阀门，用于控制和调节油井的生产，以及日常维护清蜡等工作。为了控制采油树上的阀门，通常使用机器人携带覆盖工具，沿着采油管道移动至采油树旁专为机器人工作设立的平台上，机器人在平台上进行自我定位固定后，再将覆盖工具固定到阀座上，其固定方式类似于陆地上消防栓与消防水带之间的连接，即机器人先将覆盖工具接口的齿槽插入阀座，再旋转覆盖工具，使其齿槽与阀座上的齿啮合，从而完成深水线性覆盖工具与阀门的固定。覆盖工具与阀门固定好后，在机器人的操作下，单作用油缸开始工作，其活塞杆向前移动推动阀门的阀芯，将采油树上的阀门打开或关闭。工作完成以后，活塞杆退回，机器人反向旋转覆盖工具，使其退出齿槽与齿之间的啮合，再将覆盖工具退出阀座。
因此在使用覆盖工具时，要求机器人首先在完成自我定位、固定后，再将覆盖工具固定到采油树阀门的接口上，因此，要求机器人不仅要沿着轴线移动覆盖工具，还要求机器人绕着采油树阀门中心线旋转覆盖工具，从而使机器人系统过于复杂，提高了机器人故障的风险，降低了机器人的可靠性，且机器人的价格随着机器人自由度的增加而增加，降低了机器人的经济性。
发明内容：
本发明通过在覆盖工具上增加一个自我旋转机构，即由机器人将覆盖工具的接口插入水下采油树阀门接口的底部后，覆盖工具利用自我旋转机构旋转接口，实现自我固定，克服目前在水下采油树阀门上固定覆盖工具时，全部动作都由机器人完成，从而简化了机器人操作系统，同时提高了系统整体可靠性，降低了对水下采油树的检修、维护成本。
为达到上述目的，本发明通过以下技术方案予以实现。
一种旋转式线性覆盖工具，包括接口1、活塞杆2、主油缸20、后端盖6、基座5和把手3，所述接口1固定连接在主油缸20的左端，中心设有与设置在主油缸20中的活塞杆2间隙配合的中心圆孔，所述后端盖6的法兰固定连接在主油缸20缸体的右端面上，所述基座5剖截面为
Figure PCTCN2016104115-appb-000001
形罩壳，套装在主油缸20的右端，与间隙配合套装在主油缸20外圆柱上的导向支撑套4相连接，所述把手3固定连接在所述基座5的外圆柱上；其特征在于：所述基座5的右端壁上还设有一中心通孔51，所述后端盖6右端面上还设有一圆柱形凸台61，通过圆柱形凸台61和通孔51设置有使所述主油缸20相对于所述基座5绕轴线旋转的旋 转机构。
上述所述的旋转机构包括旋转油缸7和法兰盘8，所述旋转油缸7由缸体和转轴71构成，所述法兰盘8为一端开有大孔口82，另一端开有小孔口81，且过孔中心线断开构成两个半圆形桶状体，其中所述大孔口82套扣在所述后端盖6右端凸台61外圆周上设有的环槽62中，所述小孔口81对应所述后端盖6右端面上设有的圆形盲孔63；所述旋转油缸7的缸体采用螺钉与所述基座5和法兰盘8固定连接，所述旋转油缸7的转轴71穿过所述法兰盘8的小孔口81采用键与圆形盲孔63连接。
上述所述的旋转油缸7，其转动范围为0～45°。
上述所述的环槽62的截面形状为矩形槽。
上述所述的基座5的圆周壁上还设有至少两个工艺孔52。
上述所述的接口1为标准A型接口，符合GB/T21412-2010标准；所述的把手6为B型把手，符合GB/T21412-2010标准。
本发明专利的有益效果：
本发明通过增加覆盖工具的自由度，使水下机器人在采油树旁的平台上，完成自我定位，自我固定后，移动覆盖工具，并使其接口1插入到水下采油树阀门接口的底部，覆盖工具通过外部指令，利用自身携带的转动机构，自动转动主油缸20带动其接口1转动，从而将覆盖工具固定到采油树上阀门的端口，再由主油缸打开或关闭水下采油树的阀门；从而大大简化了机器人系统，提高了系统整体可靠性；同时降低了机器人的采购成本，降低了对水下采油树阀门的检修、维护成本。
此外，通过合理的位置设计，保证机器人携带覆盖工具工作时，当旋转油缸7逆时针转动至其限位点时，其接口1与采油树阀门的接口的连接位置相对应；保证两接口在同一轴线时，接口1能够直接插入到采油树阀门接口的底部，当旋转油缸7顺时针转动至其限位时，其接口1位置与采油树阀门接口的锁紧位置相对应；利用旋转油缸7自身限位，使产品结构更加简洁、紧凑，进一步提高了产品的可靠性。
附图说明
图1是本发明的旋转式线性覆盖工具结构示意图,
图2是图1后端盖6的示意图,
图3是图1法兰盘8的主视图,
图4是图3的右视图,
图中：1、接口，2、活塞杆，20、主油缸，3、把手，4、导向支撑套，5、基座，51、通孔，52、工艺孔，6、后端盖，61、凸台，62、环槽，63、圆形盲孔，7、旋转油缸，71、转轴，8、法兰盘，81、小孔口，82、大孔口。
具体实施方式：
为使本发明的目的和技术方案更加清楚，下面将结合附图，对本发明的技术方案进行进一步的描述。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。
本发明中所述的“左、右”的含义指的是阅读者正对附图时，阅读者的左边即为左，阅读者的右边即为右，而非对本发明的特定限定。
本发明中所述的“连接”的含义可以是部件之间的直接连接也可以是部件间通过其它部件的间接连接。
如图1、图2、图3、图4、所示，一种旋转式线性覆盖工具，包括接口1、活塞杆2、主油缸20、后端盖6、基座5和把手3。接口1为A型，符合GB/T21412-2010标准，固定连接在主油缸20的左端，中心设有与设置在主油缸20中的活塞杆2间隙配合的中心圆孔，所述后端盖6的法兰固定连接在主油缸20缸体的右端面上，所述基座5剖截面为
Figure PCTCN2016104115-appb-000002
形罩壳，套装在主油缸20的右端，与间隙配合套装在主油缸20外圆柱上的导向支撑套4相连接；所述把手3为B型，符合GB/T21412-2010标准，固定连接在所述基座5的外圆柱上，供机器人携带；所述基座5的右端壁上还设有一中心通孔51，所述后端盖6右端面上还设有一圆柱形凸台61，通过圆柱形凸台61和通孔51设置有使所述主油缸20相对于所述基座5绕轴线旋转的旋转机构。
所述旋转机构，包含旋转油缸7、法兰盘8；主油缸20的右端的后端盖6的右端面上设有一圆柱形凸台61，在凸台61的柱面上设有一矩形环槽62，在凸台61的右端面中心设有一只带有键槽的圆形盲孔63；凸台61的右端设有法兰盘8，所述法兰盘8为一端开有大孔口82，另一端开有小孔口81，且过孔中心线断开构成两个半圆形桶状体，其中所述大孔口82套扣在所述后端盖6右端凸台61外圆周上设有的环槽62中，所述小孔口81对应所述后端盖6右端面上设有的圆形盲孔63；所述旋转油缸7的缸体采用螺钉与所述基座5和法兰盘8固定连接，所述旋转油缸7的转轴71穿过所述法兰盘8的小孔口81采用键与圆形盲孔63连接。旋转油缸7的转动范围为0°～45°。通过设计，当旋转油缸7逆时针转动至其限位点时，其接口1与采油树阀门的接口的连接位置互相对应，保证两接口在同一轴线时，接口1能够顺利插入采油树阀门接口的底部；当旋转油缸7顺时针转动至其限位点时，其接口1位置与采油树阀门接口的锁紧位置相对应。
基座5的右端圆周面上对称设置两只工艺孔52，为两只半圆形法兰盘8与基座5固定连接提供帮助，基座5右端底部中心设有通孔51，供旋转油缸7的转轴71穿过。
工作过程：
水下机器人将旋转式线性覆盖工具沿着采油管道携带至采油树旁专为机器人工作设立的平台上，机器人在平台上进行自我定位固定后，根据设计，覆盖工具接口1的轴线与采油树阀门的轴线自动重合，覆盖工具在外部指令的控制下，第一步，对接口1进行角度复位，旋转油缸7逆时针转动至限位点并对其进行保压；第二步，机器人直线移动覆盖工具，使其接口1插入到采油树上的阀门接口的底部，并保持该位置；第三步，先解除逆时针转动油缸的保压，接着旋转油缸7顺时针转动45°至自动限位点保压；系统完成线性覆盖工具与水下采油树阀门接口的对接与锁紧。主油缸20开始工作，其活塞杆2向左移动，推动采油树阀门的芯轴至阀门打开获关闭，并使系统保压，在主油缸20工作完成后，按反向程序，完成旋转式线性覆盖工具与水下采油树阀门接口的分离。机器人重新返回水面。

Claims (6)

  1. 一种旋转式线性覆盖工具，包括接口(1)、活塞杆(2)、主油缸(20)、后端盖(6)、基座(5)和把手(3)，所述接口(1)固定连接在主油缸(20)的左端，中心设有与设置在主油缸(20)中的活塞杆(2)间隙配合的中心圆孔，所述后端盖(6)的法兰固定连接在主油缸(20)缸体的右端面上，所述基座(5)剖截面为
    Figure PCTCN2016104115-appb-100001
    形罩壳，套装在主油缸(20)的右端，与间隙配合套装在主油缸(20)外圆柱上的导向支撑套(4)相连接，所述把手(3)固定连接在所述基座(5)的外圆柱上；其特征在于：所述基座(5)的右端壁上还设有一中心通孔(51)，所述后端盖(6)右端面上还设有一圆柱形凸台(61)，通过圆柱形凸台(61)和通孔(51)设置有使所述主油缸(20)相对于所述基座(5)绕轴线旋转的旋转机构。
  2. 根据权利要求1所述的一种旋转式线性覆盖工具，其特征在于：所述的旋转机构包括旋转油缸(7)和法兰盘(8)，所述旋转油缸(7)由缸体和转轴(71)构成，所述法兰盘(8)为一端开有大孔口(82)，另一端开有小孔口(81)，且过孔中心线断开构成两个半圆形桶状体，其中所述大孔口(82)套扣在所述后端盖(6)右端凸台(61)外圆周上设有的环槽(62)中，所述小孔口(81)对应所述后端盖(6)右端面上设有的圆形盲孔(63)；所述旋转油缸(7)的缸体采用螺钉与所述基座(5)和法兰盘(8)固定连接，所述旋转油缸(7)的转轴(71)穿过所述法兰盘(8)的小孔口(81)采用键与圆形盲孔(63)连接。
  3. 根据权利要求2所述的一种旋转式线性覆盖工具，其特征在于：所述的旋转油缸(7)，其转动范围为0～45°。
  4. 根据权利要求2所述的一种旋转式线性覆盖工具，其特征在于：所述的环槽(62)的截面形状为矩形槽。
  5. 根据权利要求1所述的一种旋转式线性覆盖工具，其特征在于：所述的基座(5)的圆周壁上还设有至少两个工艺孔(52)。
  6. 根据权利要求1所述的一种旋转式线性覆盖工具，其特征在于：所述的接口(1)为标准A型接口，符合GB/T21412-2010标准；所述的把手(6)为B型把手，符合GB/T21412-2010标准。
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