An oil and gas wellhead emergency rescue robot

Abstract

The application discloses an oil and gas well wellhead emergency rescue robot, which comprises a workstation, a blowout preventer cutting module, a cover ignition cylinder module and a wellhead resetting module; the workstation comprises a chassis vehicle and an extendable track, and the extendable track is arranged on the chassis vehicle; the extendable track is provided with a first connecting portion, and both inner sides of the extendable track are provided with sliding grooves; the blowout preventer cutting module is provided with a second connecting portion, the first connecting portion and the second connecting portion are butted, and the extendable track and the blowout preventer cutting module are connected through a connecting frame; the cover ignition cylinder module comprises a track vehicle with rollers, and the rollers are arranged in the sliding grooves; the bottom of the wellhead resetting module is provided with a first roller shaft, and the first roller shaft is arranged in the sliding grooves; the blowout preventer cutting module, the cover ignition cylinder module and the wellhead resetting module are alternately connected with the extendable track, so that the old blowout preventer can be removed, the flange can be removed and the new blowout preventer can be installed. The oil and gas well wellhead emergency rescue robot has the advantages that the workstation can correspond to three working modules, the equipment has high integration degree and high stability.

Description

Technical Field

[0001] This invention relates to an oil and gas wellhead emergency repair robot, belonging to the technical field of pressurized resetting and installation equipment. Background Technology

[0002] A blowout is a phenomenon where fluids from the formation erupt onto the surface due to pressure exceeding the pressure of the drilling mud inside the wellbore. When the ejected oil or natural gas encounters an open flame, static spark, or impact spark, it can ignite and explode, posing a major catastrophic risk in oil and gas exploration and development. It not only causes enormous economic losses but also poses a significant threat to the environment and human lives. After a blowout occurs, the fire is typically intense, with flames that are not only high and wide but also have extremely high radiant temperatures, making it difficult for existing blowout rescue equipment and personnel to approach. Blowout fires are not only time-consuming to extinguish but also extremely difficult to control.

[0003] In the event of a well blowout and fire, the current blowout emergency response process mainly involves: cutting the old blowout preventer (BOP), covering it with an ignition tube, and resetting the wellhead (installing the new BOP). Existing solutions mostly involve three steps for three different pieces of equipment, resulting in low integration, insufficient precision, and poor stability. This often necessitates repeating many steps multiple times to achieve success. Furthermore, it requires emergency personnel to approach the wellhead to observe and direct downstream operators to perform various actions, which is not only dangerous but also inefficient.

[0004] During the cutting process of the old blowout preventer, the current equipment cannot flexibly and accurately adjust the cutting position of the nozzle. When the position of the nozzle changes, it cannot stably and accurately return to the original blade position, resulting in multiple blade adjustments and multiple cuts, which affects the cutting efficiency.

[0005] The current method for covering the fire tube is to use a long-arm crane to support the top of the fire tube, while manpower is used to pull the steel wire rope below to stabilize the bottom of the fire tube. However, due to the strong impact force at the wellhead, this method often cannot stably and smoothly complete the covering of the fire tube, and the safety of the rescue personnel cannot be guaranteed.

[0006] After the old blowout preventer (BOP) is removed and the lower flange of the BOP left on the wellhead is taken off, a new BOP needs to be installed on the wellhead to achieve wellhead control, which is called wellhead reset. Currently, there are generally two methods: one is to use a long-arm crane to lift the BOP, with rescue personnel positioned and installed it from below. This method is time-consuming, complex, and cannot achieve precise adjustment and alignment of the upper and lower flanges of the BOP. It also requires personnel to be close to the installation site, increasing unnecessary safety hazards. The other method is to install the BOP under the rotary power head of a rotary drilling rig, using the rotary power head and a tracked chassis to align the lower flange of the BOP with the wellhead flange. Analysis shows that this method cannot achieve precise adjustment of the BOP in six degrees of freedom, making it difficult to quickly align the lower flange of the BOP with the wellhead flange, affecting the efficiency of rescue operations. Furthermore, if the equipment's power source (such as a diesel engine) is too close to the blowout wellhead, and the power source fails, the entire equipment will be exposed to the blowout flames for an extended period, causing equipment damage and hindering the progress of rescue operations. Moreover, due to the presence of diesel engines, the diesel engine ignition core may ignite wellheads that have already blown out but have not yet caught fire, posing a risk of flash explosion to the entire well site. Summary of the Invention

[0007] The purpose of this invention is to provide an oil and gas wellhead emergency repair robot to address the aforementioned problems. This invention can correspond to three working modules through a single workstation, and has high equipment integration, high stability, and high efficiency.

[0008] The technical solution adopted in this invention is as follows:

[0009] A wellhead emergency repair robot for oil and gas wells includes a workstation, a blowout preventer cutting module, a cover ignition tube module, and a wellhead reset module;

[0010] The workstation includes a chassis and a telescopic rail. The telescopic rail is mounted on the chassis and is driven to move horizontally on the chassis by a telescopic rail drive system. The telescopic rail has a first connecting part at its end and middle, and grooves extending along the moving direction are provided on both inner sides of the telescopic rail.

[0011] The blowout preventer cutting module is provided with a second connecting part at its end and middle. In use, the first connecting part at the end of the telescopic track and the second connecting part at the end of the blowout preventer cutting module are connected. The telescopic track and the blowout preventer cutting module are connected by a connecting frame.

[0012] The hood-ignition tube module includes a railcar, which is equipped with rollers. When in use, the rollers are placed in the chute.

[0013] The bottom of the wellhead reset module is provided with a first roller, which is placed in the groove during use;

[0014] The blowout preventer cutting module, the cover ignition tube module, and the wellhead reset module are connected to the telescopic rail in turn to realize the removal of the old blowout preventer, the removal of the flange, and the installation of the new blowout preventer in sequence.

[0015] In this invention, the chassis vehicle uses existing technology and is equipped with a telescopic rail drive system that drives the horizontally moving telescopic rail, allowing it to approach the wellhead requiring replacement while enabling the chassis vehicle to be further away from the wellhead. The telescopic rail is connected to the blowout preventer (BOP) cutting module via a connecting frame, the ignition tube cover module is connected to a chute via rollers, and the wellhead reset module is connected to the chute via a first roller. During blowout emergency repairs, the workstation is first connected to the BOP cutting module to remove the old BOP; then, the ignition tube cover module is placed on the workstation, directing the blowout flame above the ignition tube, and the lower flange of the old BOP is removed; finally, the wellhead reset module is placed on the telescopic rail to complete the installation of the new BOP. In this invention, one workstation can correspond to three working modules, resulting in high equipment integration, high stability, and high efficiency.

[0016] Preferably, a chain and a chain drive system are provided inside the telescopic track, and the chain drive system drives the chain to rotate along the moving direction of the telescopic track.

[0017] Preferably, the chassis is equipped with a track support and a protective box, the telescopic track is mounted on the track support, a second roller is mounted on the track support, and a third roller is mounted on the protective box, with the third roller located above the telescopic track.

[0018] In the above scheme, the addition of a second roller makes it easier for the telescopic track to move on the track support, and the flanges of the second and third rollers restrict the direction of movement of the telescopic track. Meanwhile, protective boxes are installed on both sides of the telescopic track to protect the drive system, and the third roller, facing upwards towards the telescopic track, further stabilizes it by restricting movement from above.

[0019] Preferably, racks are provided on both outer sides of the telescopic track, and the telescopic track drive system is connected to gears, with the racks matching the gears.

[0020] In the above scheme, the gear is driven to rotate by the telescopic track drive system. As the gear rotates, it drives the telescopic track, which is fixedly connected to the rack, to move. The direction of movement of the telescopic track can be controlled by controlling the direction of gear rotation.

[0021] Preferably, the working end of the telescopic track is provided with a working port.

[0022] In the above scheme, the ignition tube module and the wellhead reset module need to move up and down at the working end of the telescopic track, and a working port is set to ensure that their up and down movement is smooth.

[0023] Preferably, the end of the telescopic track is provided with a support leg and a support leg cylinder for controlling the extension and retraction of the support leg.

[0024] In the above scheme, setting outriggers for support can increase the stability of the six-degree-of-freedom platform during operation. At the same time, the extension and retraction of the outriggers are controlled by outrigger cylinders to adapt to uneven ground and increase the stability of the device.

[0025] Preferably, the blowout preventer cutting module includes a cutting frame and a cutting line, the cutting line being disposed on the cutting frame, and the second connecting part being disposed on the cutting frame.

[0026] In the above scheme, the old blowout preventer is cut by connecting the cutting frame to the telescopic rail and cutting the pipeline.

[0027] Preferably, a telescopic mechanism is fixedly installed on the cutting frame, the telescopic end of the telescopic mechanism is connected to the movable frame, and the cutting pipeline is fixedly connected to the movable frame.

[0028] In the above solution, the cutting pipeline is moved horizontally by a telescopic mechanism, which allows the old blowout preventer to be cut repeatedly, thus avoiding failure to cut it on the first attempt.

[0029] Preferably, the connecting frame includes a plurality of connecting rods connected to each other at one end, and the other ends of the plurality of connecting rods are respectively connected to the first connecting part and the second connecting part.

[0030] Preferably, the connecting frame includes three connecting rods that are connected to each other at one end. One end of the three connecting rods is connected by bolts, and the other end of the three connecting rods is respectively bolted to the first connecting part and the second connecting part.

[0031] In the above scheme, the three connecting rods are bolted to the first connecting part in the middle of the telescopic track, the second connecting part in the middle of the blowout preventer cutting module, and the docking point of the first connecting part and the second connecting part, respectively. The connecting rod at the docking point is perpendicular to the telescopic track, so that the connecting frame, the telescopic track and the blowout preventer cutting module form a triangle to ensure connection stability.

[0032] Preferably, the ignition tube module includes a railcar, a lifting support, an adjusting support, and an ignition tube. The lifting support is vertically mounted on the railcar, and a telescopic cylinder is installed inside the lifting support. One end of the adjusting support is fixedly connected to the telescopic cylinder, and the other end of the adjusting support is fixedly connected to the ignition tube.

[0033] In the above scheme, a hydraulic motor is installed inside the railcar to drive the railcar to move on the track, and the ignition tube is moved up and down by a telescopic cylinder in the lifting bracket.

[0034] Preferably, the lifting bracket is hinged to the railcar, and an adjusting cylinder is connected between the lifting bracket and the railcar.

[0035] In the above scheme, the tilt of the lifting bracket is adjusted by adjusting the cylinder, thereby adjusting the placement position of the ignition tube.

[0036] Preferably, the telescopic cylinder is a telescopic hydraulic cylinder, and the adjusting cylinder is an adjusting hydraulic cylinder.

[0037] Preferably, the wellhead reset module includes a six-degree-of-freedom platform and a blowout preventer, with a clamping device on the top of the six-degree-of-freedom platform to clamp the blowout preventer, and the six-degree-of-freedom platform is connected to the chain.

[0038] Preferably, the six-degree-of-freedom platform includes a lower platform, motion cylinders, and a clamping device. There are six motion cylinders, and the two ends of each motion cylinder are hinged to the lower platform and the clamping device, respectively.

[0039] In the above scheme, the six-degree-of-freedom platform is connected to the chain to drive the wellhead reset module to move on the telescopic track. The clamping device clamps the new blowout preventer. The clamping device at the top moves in six degrees of freedom in space through six motion cylinders, which facilitates installation.

[0040] Preferably, the clamping device has an inverted conical inner hole.

[0041] Preferably, the clamping device includes a first clamping part and a second clamping part, the first clamping part and the second clamping part forming an inverted conical inner hole and connected by a locking buckle, and the first clamping part and the second clamping part being respectively connected to the three motion cylinders.

[0042] Preferably, the locking buckle is a spring-loaded locking pin, which facilitates the release of the first clamping part and the second clamping part by pulling the locking pin.

[0043] In the above scheme, the first clamping part and the second clamping part cooperate to easily clamp the blowout preventer, and after the new blowout preventer is installed, it can be released and removed.

[0044] Preferably, the number of chains is at least two, and the chains are arranged in parallel within the telescopic track.

[0045] Preferably, the bottom of the lower platform is provided with a connector with a pin hole; the chain is provided with a docking part with a pin hole; the connector and the docking part are connected by a pin shaft.

[0046] In the above scheme, the connector and the docking part are connected by a pin, thereby connecting the six-degree-of-freedom platform to the chain.

[0047] Preferably, a camera is installed on the telescopic track, a first coordinate sensor is installed on the blowout preventer cutting module, and a second coordinate sensor is installed on the wellhead reset module. The camera, the first coordinate sensor, and the second coordinate sensor are connected to the control system.

[0048] In the above scheme, by observing the video information transmitted back by the camera through the control system, it can be ensured that the chassis vehicle reaches the designated position. The first coordinate sensor collects the coordinate information of the old blowout preventer during cutting, and the second coordinate sensor collects the coordinate information of the new blowout preventer during reset. By comparing, the accuracy of the installation position of the new blowout preventer can be ensured.

[0049] Preferably, a counterweight is provided on the chassis.

[0050] In the above scheme, the stability of the workstation is ensured by using counterweights.

[0051] Preferably, the system also includes a power source, a water source, and a pipeline module. The power source and water source are connected to the workstation, the blowout preventer cutting module, the hood ignition module, and the wellhead reset module through the pipeline module.

[0052] In the above scheme, the power source is a hydraulic power source that is connected to the components that require hydraulic power through the hydraulic power pipeline in the pipeline system to provide them with power; the water source is connected to the cutting pipeline through the high-pressure water pipeline in the pipeline system; the water source is connected to the cooling point in the rescue robot through the cooling water pipeline in the pipeline system. The cooling point can be set at a suitable location according to the needs of the device, so that the reset device does not need the protection of external fire water cannons.

[0053] Preferably, the telescopic track drive system and the chain drive system are hydraulic motors.

[0054] Preferably, the workstation, blowout preventer cutting module, hood ignition module, and wellhead reset module are provided with a heat-insulating coating and protective armor on their surfaces.

[0055] In the above solution, protection is achieved by setting up a heat-insulating coating and a protective armor.

[0056] During blowout emergency repairs, first connect the blowout preventer (BOP) cutting module to the telescopic rail at a location away from the wellhead. Move the workstation towards the wellhead, and once in a suitable working position, turn on the cutting water supply to begin cutting until the old BOP is completely cut. After cutting, turn off the cutting water supply, retreat the workstation to a safe area, remove the BOP cutting module, install the upper ignition tube module, and then move the workstation back towards the wellhead to a suitable position. Move the telescopic rail to the wellhead and control the upper ignition tube module to move towards the wellhead until the ignition tube is above the blowout flame. The lifting support then lowers the ignition tube closer to the wellhead by adjusting the support. The workstation is moved to the wellhead flange until the blowout flame is directed above the ignition tube. At this point, the blowout flame has been directed to a higher position, allowing rescue personnel to approach the wellhead and remove the old blowout preventer lower flange remaining on the wellhead flange. After removal, the workstation moves away from the wellhead to a safe area. The ignition tube cover module is removed, and the wellhead reset module is installed. The workstation is then moved to a suitable position at the wellhead, and the telescopic track is moved into place. The new blowout preventer is then delivered directly above the wellhead flange using the wellhead reset module. The lower end of the new blowout preventer is aligned downwards with the wellhead flange using the six-degree-of-freedom platform. The bolts are then connected, and the workstation is withdrawn, completing the installation of the new blowout preventer.

[0057] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0058] 1. The same workstation connects to three modules respectively, resulting in high integration;

[0059] 2. The power source is located far from the blowout wellhead and is connected to the rear of the workstation via hydraulic lines. This allows it to adapt to both situations where the blowout wellhead is on fire and not on fire, and also improves the overall equipment's emergency survivability.

[0060] 3. By transporting each module closer to the wellhead via telescopic rails, the workstation can be located further away from the wellhead, which is beneficial for equipment protection and improves the reliability of blowout preventer installation;

[0061] 4. Equipped with a cooling system, it eliminates the need for external fire monitors, reducing reliance on personnel and external equipment. Attached Figure Description

[0062] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0063] Figure 1 This is a side view of the workstation;

[0064] Figure 2 This is a schematic diagram of the workstation structure;

[0065] Figure 3 This is a schematic diagram of a telescopic track drive system driving a telescopic track;

[0066] Figure 4 This is a schematic diagram of a chain drive system;

[0067] Figure 5 It is a sectional view of the chassis.

[0068] Figure 6 This is a side view of the blowout preventer cutting module;

[0069] Figure 7 This is a top view of the blowout preventer cutting module;

[0070] Figure 8 This is a schematic diagram of the workstation and the blowout preventer cutting module;

[0071] Figure 9 This is a schematic diagram of the ignition tube module;

[0072] Figures 10-11 This is a schematic diagram of the wellhead reset module;

[0073] Figure 12 This is a schematic diagram of the workstation and the wellhead reset module;

[0074] Figure 13 This is a schematic diagram of the installation of the workstation and wellhead reset module;

[0075] Figure 14a , 14b 14c and 14d are schematic diagrams of the operation of the blowout preventer cutting module;

[0076] Figure 15a , 15b 15c, 15d, and 15e are schematic diagrams of the operation of the hooded ignition tube module;

[0077] Figure 16a , 16b 16c, 16d, and 16e are schematic diagrams of the wellhead reset module.

[0078] Markings in the diagram: 1-Workstation, 2-Blowout Preventer Cutting Module, 3-Ignition Cover Module, 4-Wellhead Reset Module, 5-Power Source, 6-Water Source, 7-Pipeline Module, 8-Connecting Frame, 11-Chassis, 12-Telescopic Rail, 13-Telescopic Rail Drive System, 14-Rail Support, 15-Protective Box, 16-Work Port, 17-Chain, 18-Outrigger, 19-Groove, 111-Counterweight, 121-First Connecting Part, 122-Rack, 131-Gear, 141-Second Roller, 151-Third Roller, 171-Chain Drive System, 172 - Connecting part, 181- Support leg cylinder, 21- Second connecting part, 22- Cutting frame, 23- Cutting pipeline, 24- Telescopic mechanism, 25- Moving frame, 31- Railcar, 32- Lifting support, 33- Adjusting support, 34- Ignition tube, 35- Adjusting cylinder, 36- Telescopic cylinder, 311- Roller, 41- Six-degree-of-freedom platform, 42- Clamping device, 43- Blowout preventer, 44- Motion cylinder, 45- Lower platform, 46- First roller, 47- Connecting part, 421- First clamping part, 422- Second clamping part, 423- Inner hole, 424- Locking buckle. Detailed Implementation

[0079] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0080] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0081] Example 1

[0082] This embodiment of an oil and gas wellhead emergency repair robot includes a workstation 1, a blowout preventer (BOP) cutting module 2, a cover-and-ignition module 3, and a wellhead reset module 4. The BOP cutting module 2, cover-and-ignition module 3, and wellhead reset module 4 are alternately connected to the workstation 1 to sequentially remove the old BOP 43, remove the flange, and install the new BOP 43.

[0083] like Figure 1-5 As shown, the workstation 1 includes a chassis 11 and a telescopic rail 12. The telescopic rail 12 is mounted on the chassis 11 and is driven to move horizontally on the chassis 11 by a telescopic rail drive system 13. A first connecting part 121 is provided at the end and middle of the telescopic rail 12, and two inner sides of the telescopic rail 12 are provided with slide grooves 19 extending along the moving direction.

[0084] like Figure 8As shown, a second connecting part 21 is provided at the end and middle of the blowout preventer cutting module 2. In use, the first connecting part 121 at the end of the telescopic track 12 and the second connecting part 21 at the end of the blowout preventer cutting module 2 are connected. The telescopic track 12 and the blowout preventer cutting module 2 are connected by a connecting frame 8. The connecting frame 8 includes three connecting rods connected to each other at one end. The three connecting rods are bolted to the first connecting part 121 in the middle of the telescopic track 12, the second connecting part 21 in the middle of the blowout preventer cutting module 2, and the docking point of the first connecting part 121 and the second connecting part 21, respectively. The connecting rod at the docking point is perpendicular to the telescopic track 12, so that the connecting frame 8, the telescopic track 12 and the blowout preventer cutting module 2 form a triangle to ensure connection stability.

[0085] The fire-fighting tube module 3 includes a railcar 31, which is equipped with rollers 311. When in use, the rollers 311 are placed in the slide groove 19, and the fire-fighting tube module 3 is driven to move on the track by the hydraulic motor in the railcar 31.

[0086] The bottom of the wellhead reset module 4 is provided with a first roller 46. When in use, the first roller 46 is placed in the slide groove 19, and the wellhead reset module 4 is driven to move on the telescopic track 12 by the chain 17 drive system.

[0087] In this embodiment, the chassis vehicle 11 adopts the existing chassis vehicle 11. A telescopic rail drive system 13 is installed on the chassis vehicle 11 to drive the horizontally moving telescopic rail 12, so that the telescopic rail 12 is close to the wellhead that needs to be replaced, and the chassis vehicle 11 can be further away from the wellhead. During the blowout emergency repair operation, the workstation 1 is first connected to the blowout preventer cutting module 2 to remove the old blowout preventer 43; then the ignition tube cover module 3 is set on the workstation 1, and the blowout flame is directed to the top of the ignition tube 34 through the ignition tube cover module 3, and the lower flange of the old blowout preventer 43 is removed; finally, the wellhead reset module 4 is set on the telescopic rail 12 to complete the installation of the new blowout preventer 43.

[0088] Example 2

[0089] This embodiment of an oil and gas wellhead emergency repair robot includes a workstation 1, a blowout preventer (BOP) cutting module 2, a cover-and-ignition module 3, and a wellhead reset module 4. The BOP cutting module 2, cover-and-ignition module 3, and wellhead reset module 4 are alternately connected to the workstation 1 to sequentially remove the old BOP 43, remove the flange, and install the new BOP 43.

[0090] like Figure 1-5As shown, workstation 1 includes a chassis 11 and a telescopic rail 12. A track support 14 is mounted on the track chassis 11, with protective boxes 15 on both sides of the track support 14. A telescopic rail 12 is mounted on the track support 14 between the two protective boxes 15. A working opening 16 is provided at the working end of the telescopic rail 12 to ensure smooth vertical movement of the ignition tube module 3 and the wellhead reset module 4. Racks 122 are mounted on both outer sides of the telescopic rail 12. A hydraulic motor-driven telescopic rail drive system 13, located within the protective box 15, is connected to the racks 122. 2. Matching gear 131, thereby driving the telescopic track 12 to rotate via the telescopic track drive system 13, which in turn drives the telescopic track 12 to move horizontally on the track support 14; a hydraulic motor type chain 17 drive system and two chains 17 in the same direction as the telescopic track 12 are provided inside the telescopic track 12, the chains 17 are located on the two inner sides of the telescopic track 12, and the hydraulic motor type chain 17 drive system drives the chains 17 to rotate; a first connecting part 121 is provided at the end and middle of the telescopic track 12, and a traveling track is provided at the top of the telescopic track 12;

[0091] like Figure 6 As shown, the blowout preventer cutting module 2 includes a cutting frame 22 and a cutting line 23. The cutting line 23 is mounted on the cutting frame 22, and the second connecting part 21 is mounted on the cutting frame 22. The cutting line 23 cuts the old blowout preventer 43 by spraying high-pressure water. Figure 8 As shown, a second connecting part 21 is provided at the end and middle of the cutting frame 22. In use, the first connecting part 121 at the end of the telescopic track 12 and the second connecting part 21 at the end of the cutting frame 22 are connected. The telescopic track 12 and the cutting frame 22 are connected by a connecting frame 8. The connecting frame 8 includes three connecting rods connected to each other at one end. The three connecting rods are respectively bolted to the first connecting part 121 in the middle of the telescopic track 12, the second connecting part 21 in the middle of the blowout preventer cutting module 2, and the docking point of the first connecting part 121 and the second connecting part 21. The connecting rod at the docking point is perpendicular to the telescopic track 12, so that the connecting frame 8, the telescopic track 12 and the blowout preventer cutting module 2 form a triangle to ensure connection stability.

[0092] like Figure 9 As shown, the ignition tube module 3 includes a railcar 31, a lifting bracket 32, an adjusting bracket 33, and an ignition tube 34. The lifting bracket 32 ​​is vertically mounted on the railcar 31, and a telescopic cylinder 36 is installed inside the lifting bracket 32. One end of the adjusting bracket 33 is fixedly connected to the telescopic cylinder 36, and the other end of the adjusting bracket 33 is fixedly connected to the ignition tube 34. The extension and retraction of the telescopic cylinder 36 drives the ignition tube 34 to move up and down. In use, the railcar 31 is placed on the travel track, and the hydraulic motor inside the railcar 31 drives the ignition tube module 3 to move on the travel track.

[0093] like Figure 10-12As shown, the wellhead reset module 4 includes a six-degree-of-freedom platform 41 and a blowout preventer 43. The six-degree-of-freedom platform 41 includes a lower platform 45, motion cylinders 44, and a clamping device 42. There are six motion cylinders 44, and both ends of the motion cylinders 44 are hinged to the lower platform 45 and the clamping device 42, respectively. The bottom of the lower platform 45 is provided with a connector 47 with a pin hole. In use, the connector 47 mates with the mating part 172 on the chain 17 and is fixed by a pin shaft, so that the six-degree-of-freedom platform 41 is connected to the chain 17, thereby enabling the wellhead reset module 41 to connect with the chain 17. The chain 17 drives the wellhead reset module 4 to move on the telescopic track 12; a clamping device 42 is installed on the top of the six-degree-of-freedom platform 41. The clamping device 42 includes a first clamping part 421 and a second clamping part 422 connected by 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 to three moving hydraulic cylinders 44. The clamping device 42 clamps the blowout preventer 43 through the inverted conical inner hole 423; Figure 10-11 As shown, the six-degree-of-freedom platform 41 controls the blowout preventer 43 to move downwards.

[0094] Example 3

[0095] This embodiment is based on embodiment 2, such as Figure 2 As shown, a counterweight 111 is installed on the chassis vehicle 11 to ensure the stability of the workstation 1; a support leg 18 and a support leg cylinder 181 for controlling the extension and retraction of the support leg 18 are installed at the end of the telescopic track 12, which can increase the stability of the six-degree-of-freedom platform 41 during operation, adapt to uneven ground, and increase the stability of the device.

[0096] A camera is installed on the telescopic track 12, a first coordinate sensor is installed on the blowout preventer cutting module 2, and a second coordinate sensor is installed on the wellhead reset module 4. The camera, the first coordinate sensor, and the second coordinate sensor are connected to the control system. When cutting the old blowout preventer 43, the first coordinate sensor collects the coordinate information of the old blowout preventer 43. When resetting, the second coordinate sensor collects the coordinate information of the new blowout preventer 43. By comparing the coordinate information of the old blowout preventer 43 and the coordinate information of the new blowout preventer 43, as well as the video information transmitted back by the camera, it is ensured that the new blowout preventer 43 is controlled to reach directly above the wellhead flange.

[0097] like Figure 5 As shown, a second roller 141 is provided on the track support 14 below the telescopic track 12, and a third roller 151 is provided on the protective box 15 above the telescopic track 12, to facilitate the movement of the telescopic track 12 and make its movement more stable; as Figure 2As shown, grooves 19 extending along the moving direction are provided on both inner sides of the telescopic track 12, and a first roller 46 is provided at the bottom of the six-degree-of-freedom platform 41. The first roller 46 cooperates with the grooves 19 to facilitate the movement of the wellhead reset module 4 on the telescopic track 12.

[0098] like Figure 7 As shown, a telescopic mechanism 24 is fixedly installed on the cutting frame 22. The telescopic end of the telescopic mechanism 24 is connected to the moving frame 25. The cutting pipeline 23 is fixedly connected to the moving frame 25. Thus, the telescopic mechanism 24 can be used to drive the cutting pipeline 23 to move horizontally, and the telescopic mechanism 24 can drive the cutting pipeline 23 to repeatedly cut the old blowout preventer 43, avoiding failure to cut once.

[0099] The lifting support 32 is hinged to the railcar 31, and an adjusting cylinder 35 is connected between the lifting support 32 and the railcar 31. The tilt of the lifting support 32 is adjusted by adjusting the adjusting cylinder 35 to adjust the setting angle of the ignition tube 34.

[0100] Example 4

[0101] This embodiment, based on embodiment 1, embodiment 2, or embodiment 3, further includes a power source 5, a water source 6, and a pipeline module 7. The water source 6 includes a high-pressure water source 6 and a cooling water source 6. The pipeline module 7 includes 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 that provides power to the components requiring hydraulic power in the workstation 1, the blowout preventer cutting module 2, the cover ignition tube module 3, and the wellhead reset module 4 through the hydraulic power pipeline. The high-pressure water source 6 is connected to the cutting pipeline 23 through the high-pressure water pipeline to provide high-pressure cutting water flow. The cooling water source 6 is connected to the cooling points in the workstation 1, the blowout preventer cutting module 2, the cover ignition tube module 3, and the wellhead reset module 4 through the cooling water pipeline. The cooling points can be set at appropriate locations according to the needs of the device, so that the reset device does not require the protection of an external fire monitor. A heat-insulating coating and protective armor are provided on the surfaces of the workstation 1, the blowout preventer cutting module 2, the cover ignition tube module 3, and the wellhead reset module 4 for protection. The work process during the blowout emergency repair operation is as follows:

[0102] Old blowout preventer removal: such as Figure 14a As shown, connect the blowout preventer cutting module 2 to the telescopic rail at a location away from the wellhead, and control the workstation to move towards the wellhead; as Figure 14b As shown, after reaching the appropriate working position, turn on the cutting water source to begin cutting; as... Figure 14c As shown, the blowout preventer cutting module 2 is moved and cut via a telescopic track until the old blowout preventer is cut; as Figure 14d As shown, after cutting is complete, turn off the cutting water supply and retreat the workstation to a safe area. Old flange removal: As... Figure 15aAs shown, after removing the blowout preventer cutting module 2 and installing the ignition tube cover module, the workstation moves towards the wellhead again; as Figure 15b As shown, after reaching the appropriate position, control the telescopic track to move towards the wellhead until the working opening is above the wellhead; as Figure 15c As shown, the control hood ignition tube module moves towards the wellhead until the ignition tube is above the blowout flame. The lifting support controls the ignition tube to move down closer to the wellhead flange until the blowout flame is directed above the ignition tube. At this point, the blowout flame has been directed to a higher position, allowing rescue personnel to approach the wellhead and remove the remaining old blowout preventer lower flange on the wellhead flange; Figure 15d , Figure 15e As shown, after dismantling, the workstation was moved away from the wellhead to a safe area.

[0103] Wellhead reset: such as Figure 16a As shown, after removing the ignition tube module, install the wellhead reset module, and then move the workstation to the appropriate position at the wellhead; as... Figure 16b As shown, the telescopic track moves towards the wellhead, with the working opening positioned above the wellhead; as Figure 16c As shown, the new blowout preventer is positioned directly above the wellhead flange using the wellhead reset module. The lower end of the new blowout preventer is then aligned downwards with the wellhead flange using a six-degree-of-freedom platform, and the bolts are connected. Figure 16d , Figure 16e As shown, the workstation has been evacuated and the installation of the new blowout preventer is complete.

[0104] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A wellhead emergency repair robot for oil and gas wells, characterized in that: Includes a workstation, blowout preventer cutting module, hood ignition module, and wellhead reset module; The workstation includes a chassis and a telescopic rail. The telescopic rail is mounted on the chassis and is driven to move horizontally on the chassis by a telescopic rail drive system. The telescopic rail has a first connecting part at its end and middle, and grooves extending along the moving direction are provided on both inner sides of the telescopic rail. The blowout preventer cutting module is provided with a second connecting part at its end and middle. In use, the first connecting part at the end of the telescopic track and the second connecting part at the end of the blowout preventer cutting module are connected. The telescopic track and the blowout preventer cutting module are connected by a connecting frame. The hood-ignition tube module includes a railcar, which is equipped with rollers. When in use, the rollers are placed in the chute. The bottom of the wellhead reset module is provided with a first roller, which is placed in the groove during use; The blowout preventer cutting module, the cover ignition tube module, and the wellhead reset module are connected to the telescopic rail in turn to realize the removal of the old blowout preventer, the removal of the flange, and the installation of the new blowout preventer in sequence.

2. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: A chain and a chain drive system are installed inside the telescopic track, and the chain drive system drives the chain to rotate along the moving direction of the telescopic track.

3. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: The chassis is equipped with a track support and a protective box. The telescopic track is mounted on the track support, a second roller is mounted on the track support, and a third roller is mounted on the protective box. The third roller is located above the telescopic track.

4. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: Racks are provided on both outer sides of the telescopic track, and the telescopic track drive system is connected to gears, with the racks matching the gears.

5. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: The telescopic track is provided with a working port at its working end.

6. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: The blowout preventer cutting module includes a cutting frame and a cutting line, the cutting line being disposed on the cutting frame, and the second connecting part being disposed on the cutting frame.

7. The oil and gas wellhead emergency rescue robot as described in claim 6, characterized in that: A telescopic mechanism is fixedly installed on the cutting frame, and the telescopic end of the telescopic mechanism is connected to the moving frame. The cutting pipeline is fixedly connected to the moving frame.

8. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: The connecting frame includes a plurality of connecting rods connected to each other at one end, and the other ends of the plurality of connecting rods are respectively connected to the first connecting part and the second connecting part.

9. The oil and gas wellhead emergency rescue robot as described in claim 1, characterized in that: The ignition tube module includes a railcar, a lifting support, an adjusting support, and an ignition tube. The lifting support is vertically mounted on the railcar, and a telescopic cylinder is installed inside the lifting support. One end of the adjusting support is fixedly connected to the telescopic cylinder, and the other end of the adjusting support is fixedly connected to the ignition tube.

10. The oil and gas wellhead emergency rescue robot as described in claim 9, characterized in that: The lifting bracket is hinged to the railcar, and an adjusting cylinder is connected between the lifting bracket and the railcar.

11. The oil and gas wellhead emergency rescue robot as described in claim 2, characterized in that: The wellhead reset module includes a six-degree-of-freedom platform and a blowout preventer. The top of the six-degree-of-freedom platform is equipped with a clamping device to hold the blowout preventer. The six-degree-of-freedom platform is connected to the chain.

12. The oil and gas wellhead emergency rescue robot as described in claim 11, characterized in that: The six-degree-of-freedom platform includes a lower platform, hydraulic cylinders, and a clamping device. There are six hydraulic cylinders, and both ends of each hydraulic cylinder are hinged to the lower platform and the clamping device, respectively.

13. The oil and gas wellhead emergency rescue robot as described in claim 12, characterized in that: The clamping device includes a first clamping part and a second clamping part. The first clamping part and the second clamping part form an inverted conical inner hole and are connected by a locking buckle. The first clamping part and the second clamping part are respectively connected to the three motion cylinders.

14. The oil and gas wellhead emergency rescue robot as described in any one of claims 1-13, characterized in that: A camera is installed on the telescopic track, a first coordinate sensor is installed on the blowout preventer cutting module, and a second coordinate sensor is installed on the wellhead reset module. The camera, the first coordinate sensor, and the second coordinate sensor are connected to the control system.

15. The oil and gas wellhead emergency rescue robot as described in any one of claims 1-13, characterized in that: It also includes a power source, a water source, and a pipeline module. The power source and water source are connected to the workstation, the blowout preventer cutting module, the hood ignition tube module, and the wellhead reset module through the pipeline module.

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