Mechanical device for underwater wellhead Christmas tree operations

Abstract

The application relates to a mechanical device for underwater wellhead Christmas tree operation, which comprises a base rail, a driving trolley, a driving base and a mechanical arm assembly. The driving trolley is slidably connected to the base rail, the driving base is connected to the driving trolley through a horizontal rudder engine, the mechanical arm assembly comprises a telescopic arm, a first hydraulic cylinder and a mechanical hand, one end of the telescopic arm is connected to the driving base, the other end of the telescopic arm is fixedly connected to a cylinder body of the first hydraulic cylinder, and the mechanical hand is connected to a piston output end of the first hydraulic cylinder. The application can change the overall position of the device and the operation direction of the mechanical hand, and can adjust the operation length of the mechanical hand, so that the operator can remotely control the underwater operation of multiple groups of Christmas trees, and the safety risk of the Christmas tree operator is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of offshore oil development, in particular to a mechanical device for underwater wellhead Christmas tree operation. BACKGROUND

[0002] In the process of offshore oil development, when the underwater production system is used for offshore oilfield development, due to the use of underwater Christmas tree device by the deepwater platform and the need to install protection device, the difficulty of the diver diving underwater to assist in the installation and later detection and maintenance of underwater Christmas tree, underwater wellhead, underwater pipeline and underwater valve is high, the cost is high, and the personal safety risk coefficient of the wellhead Christmas tree operator is high. SUMMARY

[0003] The purpose of the present application is to provide a mechanical device for underwater wellhead Christmas tree operation, so as to solve the problems of high difficulty, high cost and high safety risk coefficient of the diver diving underwater to assist in the Christmas tree operation in the prior art.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] The present application provides a mechanical device for underwater wellhead Christmas tree operation, comprising a base rail, a driving trolley, a driving base and a mechanical arm assembly, the driving trolley is slidingly connected to the base rail, the driving base is connected to the driving trolley through a horizontal rudder engine, the mechanical arm assembly is arranged below the base rail and comprises a telescopic arm, a first hydraulic cylinder and a mechanical hand, the first hydraulic cylinder is arranged in parallel with the base rail, one end of the telescopic arm is connected to the driving base, the other end of the telescopic arm is fixedly connected to the cylinder body of the first hydraulic cylinder, and the mechanical hand is connected to the piston output end of the first hydraulic cylinder.

[0006] Further, the driving base is fixedly connected with a second hydraulic cylinder, the telescopic arm comprises an X-shaped frame wall and a V-shaped frame wall, the X-shaped frame wall comprises a first connecting rod and a second connecting rod arranged in cross, the first connecting rod and the second connecting rod are connected in cross at the hinge, the first connecting rod has a first near rail end and a first far rail end, the first near rail end is hingedly connected to the cylinder body of the second hydraulic cylinder, the second connecting rod has a second near rail end and a second far rail end, and the second near rail end is hingedly connected to the piston output end of the second hydraulic cylinder.

[0007] The "V"-shaped frame wall includes a third connecting rod and a fourth connecting rod, the third connecting rod having a third proximal rail end and a third distal rail end, the third proximal rail end is hinged to the second distal rail end, and the third distal rail end is hinged to the cylinder body of the first hydraulic cylinder, and the fourth connecting rod has a fourth proximal rail end and a fourth distal rail end, the fourth proximal rail end is hinged to the first distal rail end, and the fourth distal rail end is hinged to the cylinder body of the first hydraulic cylinder.

[0008] Furthermore, the second hydraulic cylinder is arranged parallel to the base rail, and the second hydraulic cylinder and the first hydraulic cylinder are arranged perpendicularly in different planes, wherein the cylinder body of the second hydraulic cylinder is fixedly connected to the driving base.

[0009] Furthermore, a row of the telescopic arms is respectively provided on both sides of the second hydraulic cylinder, and the ends of the two opposite connecting rods between the two side-by-side "X"-shaped frame walls are connected by a fifth connecting rod, and the fifth connecting rod is connected to the "X"-shaped frame wall by a hinge, wherein the fifth connecting rod on the first proximal rail end is fixedly connected to the cylinder body of the second hydraulic cylinder, and the fifth connecting rod on the second proximal rail end is connected to the piston output end of the second hydraulic cylinder.

[0010] Furthermore, the telescopic arm includes a plurality of continuously connected "X"-shaped frame walls, the first near-rail end of the "X"-shaped frame wall is connected to the second far-rail end of the upper adjacent "X"-shaped frame wall, and the first far-rail end of the "X"-shaped frame wall is connected to the second near-rail end of the lower adjacent "X"-shaped frame wall, wherein the top "X"-shaped frame wall is connected to the second hydraulic cylinder, and the bottom "X"-shaped frame wall is connected to the "V"-shaped frame wall.

[0011] Furthermore, the base rail is a "well" shaped cross rail, and a slide groove is provided on the bottom surface of the base rail. The cross section of the slide groove is a "T" shaped structure. The driving pulley is slidably arranged in the slide groove, and the shape of the driving pulley is adapted to the slide groove.

[0012] Furthermore, a camera is installed on the robot arm.

[0013] The present invention adopts the above technical solution, which has the following beneficial effects:

[0014] By setting the base rail, the driving trolley, the driving base and the mechanical arm assembly, the driving trolley can be controlled by the control system to drive the mechanical arm assembly to reciprocate along the base rail, and the driving base can drive the mechanical arm assembly to rotate, so as to change the overall position of the device and the operation direction of the mechanical arm assembly. At the same time, the telescopic arm, the first hydraulic cylinder and the mechanical hand included in the mechanical arm assembly are used to control the longitudinal operation distance of the mechanical hand by the telescopic arm, and the transverse operation distance of the mechanical hand by the first hydraulic cylinder, so as to realize that the mechanical hand can be used for multiple deepwater underwater wellhead Christmas tree operation work, and then realize that the operator remotely controls the underwater work of multiple groups of Christmas trees, reduces the safety risk of the Christmas tree operator, and has simple structure and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Throughout the drawings, the same reference designations are used for the same elements. In the drawings:

[0016] Figure 1 is a schematic diagram of the overall structure of a mechanical device for underwater wellhead Christmas tree operation provided by an embodiment of the present application;

[0017] Figure 2 is a schematic diagram of the structure of a base rail of a mechanical device for underwater wellhead Christmas tree operation provided by an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of the local structure of a telescopic arm of a mechanical device for underwater wellhead Christmas tree operation provided by an embodiment of the present application.

[0019] The various signs in the drawings represent the following:

[0020] 1, base rail; 11, sliding groove; 2, driving trolley; 3, driving base; 4, mechanical arm assembly; 41, telescopic arm; 411, first connecting rod; 4111, first near rail end; 4112, first far rail end; 412, second connecting rod; 42, first hydraulic cylinder; 4121, second near rail end; 4122, second far rail end; 413, third connecting rod; 4131, third near rail end; 4132, third far rail end; 414, fourth connecting rod; 4141, fourth near rail end; 4142, fourth far rail end; 43, mechanical hand; 5, second hydraulic cylinder; 6, fifth connecting rod. DETAILED DESCRIPTION

[0021] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0022] Since the divers need to dive into the water to assist the Christmas tree operation when the offshore oilfield is developed by the underwater production system at present, the difficulty is high, the cost is high, and the safety risk coefficient is high. Therefore, the present application provides a mechanical device for underwater wellhead Christmas tree operation, which comprises a base rail, a driving trolley, a driving base and a mechanical arm assembly. The driving trolley is slidingly connected to the base rail, the driving base is connected to the driving trolley through a horizontal steering engine, the mechanical arm assembly comprises a telescopic arm, a first hydraulic cylinder and a mechanical hand, one end of the telescopic arm is connected to the driving base, the other end of the telescopic arm is fixedly connected to the cylinder body of the first hydraulic cylinder, and the mechanical hand is connected to the piston output end of the first hydraulic cylinder. The present application can realize remote control of the underwater operation of multiple groups of Christmas trees by the operator, and reduce the safety risk of the Christmas tree operator.

[0023] The scheme of the present application will be described in detail below through examples.

[0024] Embodiments

[0025] As Figure 1 and Figure 2 shown, the present application provides a mechanical device for underwater wellhead Christmas tree operation, which comprises a base rail 1, a driving trolley 2, a driving base 3 and a mechanical arm assembly 4. The driving trolley 2 is slidingly connected to the base rail 1, and the driving base 3 is connected to the driving trolley 2 through a horizontal steering engine. Preferably, the driving base 3 has a rotational degree of freedom, and can also be connected to the driving trolley 2 through a hydraulic or electric or gear rack driving mechanism. The mechanical arm assembly 4 is arranged below the base rail 1 and comprises a telescopic arm 41, a first hydraulic cylinder 42 and a mechanical hand 43. The first hydraulic cylinder 42 is arranged parallel to the base rail 1, one end of the telescopic arm 41 is connected to the driving base 3, and the other end of the telescopic arm 41 is fixedly connected to the cylinder body of the first hydraulic cylinder 42. The mechanical hand 43 is connected to the piston output end of the first hydraulic cylinder 42, and the mechanical hand 43 is mainly used for multiple deepwater underwater wellhead Christmas tree operation. Through the structure, the driving trolley 2 drives the mechanical arm assembly 4 to move back and forth along the base rail 1 through the control system, and the mechanical arm assembly 4 can be driven to rotate through the driving base 3, so that the overall position of the device and the operation direction of the mechanical arm assembly 4 can be changed, the longitudinal operation distance of the mechanical hand 43 is adjusted by the telescopic arm 41, and the transverse operation distance of the mechanical hand 43 is adjusted by the first hydraulic cylinder 42, so that the mechanical hand 43 can be used for operating multiple faces of multiple Christmas trees.

[0026] The base rail 1 is a "well"-shaped cross-track used for hoisting the top of the underwater wellhead Christmas tree protection device. A chute 11 is defined on the underside of the base rail 1. The chute 11 has a T-shaped cross-section, and the drive pulley 2 slides within the chute 11, its shape matching the chute 11.

[0027] Further, combined with Figure 3 As shown, a second hydraulic cylinder 5 is fixedly connected to the drive base 3, that is, the cylinder body of the second hydraulic cylinder 5 is fixedly connected to the drive base 3. The telescopic arm 41 includes an "X"-shaped frame wall and a "V"-shaped frame wall. The "X"-shaped frame wall includes a first connecting rod 411 and a second connecting rod 412 arranged crosswise. The first connecting rod 411 and the second connecting rod 412 are hingedly connected at the intersection. The first connecting rod 411 has a first proximal end 4111 and a first distal end 4112, which are hinged to the cylinder body of the second hydraulic cylinder 5. The second connecting rod 412 has a second proximal end 4121 and a distal end 4122, which are hinged to the piston output end of the second hydraulic cylinder 5. The second hydraulic cylinder 5 is arranged parallel to the base rail 1 and is arranged perpendicularly to the first hydraulic cylinder 42 at different planes.

[0028] The "V"-shaped frame wall includes a third connecting rod 413 and a fourth connecting rod 414. The third connecting rod 413 has a third proximal rail end 4131 and a third distal rail end 4132. The third proximal rail end 4131 is hinged to the end of the second distal rail 4122, and the third distal rail end 4132 is hinged to the cylinder body of the first hydraulic cylinder 42. The fourth connecting rod 414 has a fourth proximal rail end 4141 and a fourth distal rail end 4142. The fourth proximal rail end 4141 is hinged to the first distal rail end 4112, and the fourth distal rail end 4141 is hinged to the cylinder body of the first hydraulic cylinder 42. The hinge joints of the "X"-shaped and "V"-shaped frame walls have rotational freedom along the axis of the joints, and their vertical movement is controlled by the second hydraulic cylinder 5.

[0029] By setting up the above structure, the telescopic arm 41 composed of the "X"-shaped frame wall and the "V"-shaped frame wall is used. By controlling the horizontal extension and retraction of the piston output end of the second hydraulic cylinder 5 through the control system, the first connecting rod 411 and the second connecting rod 412 can be controlled to rotate along the intersection, thereby controlling the opening or closing of the "X"-shaped frame wall and driving the opening or closing of the "V"-shaped frame wall, and then adjusting the length of the telescopic arm 41, so that the manipulator 43 can be used to perform multiple deepwater underwater wellhead oil production tree operations.

[0030] Further, two rows of telescopic arms 41 are arranged on both sides of the second hydraulic cylinder 5, and the opposite two connecting rod ends between the two "X" type frame walls are connected by the fifth connecting rod 6, and the fifth connecting rod 6 is connected with the "X" type frame wall by a hinged manner. Among them, the fifth connecting rod 6 on the first near rail end 4111 is fixed with the cylinder body of the second hydraulic cylinder 5, and the fifth connecting rod 6 on the second near rail end 4121 is connected with the piston output end of the second hydraulic cylinder 5. Through the arrangement of the structure, the stability of the underwater wellhead Christmas tree operation of the mechanical device is improved by using two rows of telescopic arms 41.

[0031] Further, the telescopic arm 41 comprises a plurality of continuous "X" type frame walls. The first near rail end 4111 of the "X" type frame wall is connected with the second far rail end 4122 of the adjacent "X" type frame wall above, and the first far rail end 4112 of the "X" type frame wall is connected with the second near rail end 4121 of the adjacent "X" type frame wall below. Among them, the topmost "X" type frame wall is connected with the second hydraulic cylinder 5, and the bottommost "X" type frame wall is connected with the "V" type frame wall. Through the arrangement of the structure, the telescopic arm 41 with appropriate length is arranged according to the specific Christmas tree operation condition, so as to adapt to various working conditions.

[0032] Further, the mechanical hand 43 is provided with a camera controlled by the control system, so as to provide visual operation for the deepwater underwater wellhead Christmas tree operation.

[0033] The underwater wellhead Christmas tree operation mechanical device of the present application can drive the trolley 2 to drive the mechanical arm assembly 4 to move along the base rail 1 by the control system, and the base 3 can drive the mechanical arm assembly 4 to rotate, so as to change the overall position of the device and the operation direction of the mechanical arm assembly 4, and the telescopic arm 41 is used to adjust the longitudinal operation distance of the mechanical hand 43, and the first hydraulic cylinder 42 is used to adjust the transverse operation distance of the mechanical hand 43, so as to realize that the mechanical hand 43 can be used for operating multiple faces of multiple Christmas trees, and then the operator can remotely control the underwater operation of multiple groups of Christmas trees, and the safety risk of the Christmas tree operator is reduced, and the structure is simple and the cost is low.

[0034] Finally, it should be pointed out that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A mechanical device for underwater wellhead Christmas tree operation, characterized in that: the mechanical device comprises a base rail, a driving trolley, a driving base and a mechanical arm assembly, the driving trolley is slidingly connected to the base rail, the driving base is connected to the driving trolley through a horizontal rudder, the mechanical arm assembly is arranged below the base rail and comprises a telescopic arm, a first hydraulic cylinder and a mechanical hand, the first hydraulic cylinder is arranged parallel to the base rail, one end of the telescopic arm is connected to the driving base, the other end of the telescopic arm is fixedly connected to the cylinder body of the first hydraulic cylinder, and the mechanical hand is connected to the piston output end of the first hydraulic cylinder; the driving base is fixedly connected with a second hydraulic cylinder, the telescopic arm comprises an "X" type frame wall and a "V" type frame wall, the "X" type frame wall comprises first and second connecting rods arranged in cross, the first and second connecting rods are hingedly connected at the cross point, the first connecting rod has a first near rail end and a first far rail end, the first near rail end is hingedly connected to the cylinder body of the second hydraulic cylinder, the second connecting rod has a second near rail end and a second far rail end, and the second near rail end is hingedly connected to the piston output end of the second hydraulic cylinder; the "V" type frame wall comprises third and fourth connecting rods, the third connecting rod has a third near rail end and a third far rail end, the third near rail end is hingedly connected to the second far rail end, and the third far rail end is hingedly connected to the cylinder body of the first hydraulic cylinder, the fourth connecting rod has a fourth near rail end and a fourth far rail end, the fourth near rail end is hingedly connected to the first far rail end, and the fourth far rail end is hingedly connected to the cylinder body of the first hydraulic cylinder; the second hydraulic cylinder is arranged parallel to the base rail, and the second hydraulic cylinder is arranged vertically and in different planes with the first hydraulic cylinder, wherein the cylinder body of the second hydraulic cylinder is fixedly connected to the driving base; a row of telescopic arms is arranged on both sides of the second hydraulic cylinder, and the fifth connecting rods are connected between the opposite connecting rod ends of the two "X" type frame walls, and the fifth connecting rods are hingedly connected to the "X" type frame walls, wherein the fifth connecting rod on the first near rail end is fixedly connected to the cylinder body of the second hydraulic cylinder, and the fifth connecting rod on the second near rail end is connected to the piston output end of the second hydraulic cylinder; the telescopic arm comprises a plurality of continuously connected "X" type frame walls, the first near rail end of the "X" type frame wall is connected to the second far rail end of the adjacent "X" type frame wall above, and the first far rail end of the "X" type frame wall is connected to the second near rail end of the adjacent "X" type frame wall below, wherein the top "X" type frame wall is connected to the second hydraulic cylinder, and the bottom "X" type frame wall is connected to the "V" type frame wall. ​ ​ ​ ​ ​ ​ The control system controls the driving pulley to drive the robotic arm assembly to reciprocate along the base rail, and drives the robotic arm assembly to rotate by driving the base, thereby changing the overall position of the device and the operating direction of the robotic arm assembly. At the same time, the telescopic arm is used to adjust the longitudinal operating distance of the robotic arm, and the first hydraulic cylinder is used to adjust the lateral operating distance of the robotic arm, so that the robotic arm can be used to operate multiple sides of multiple oil production trees.

2. The mechanical device for underwater wellhead Christmas tree operation according to claim 1, characterized in that: The base rail is a "well" shaped cross rail, and a slide groove is provided on the bottom surface of the base rail. The cross section of the slide groove is a "T" shaped structure. The driving pulley is slidably arranged in the slide groove, and the shape of the driving pulley is adapted to the slide groove.

3. The mechanical device for underwater wellhead Christmas tree operation according to claim 1, characterized in that: A camera is installed on the manipulator.

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