Robot for repairing Christmas tree and method for repairing Christmas tree

Abstract

The application provides a robot for repairing a Christmas tree and a method for repairing a Christmas tree, relates to the technical field of Christmas tree maintenance, and mainly aims to provide an unmanned repair device and a repair method which can replace manual work. The robot for repairing a Christmas tree comprises a chassis, a removing unit, a carrying unit, a repairing unit and a control unit. The chassis is a movable structure, one side of the chassis is inwardly recessed and forms a parking area capable of accommodating the Christmas tree, and the upper surface of the chassis forms a placing space. The removing unit is fixedly arranged on the chassis and at least a part of the removing unit can be sleeved on the Christmas tree in the parking area and remove the Christmas tree from the installation position of the Christmas tube. The carrying unit is fixedly arranged on the chassis and can transfer the Christmas tree between the parking area and the placing space. The repairing unit is used for fixedly installing the blowout preventer on the installation position. The control unit comprises a control module and a remote control module connected with each other, and the control module is connected with the chassis, the removing unit, the carrying unit and the repairing unit.

Description

Technical Field

[0001] This invention relates to the field of oil wellhead maintenance technology, and in particular to a robot and method for emergency repair of oil wellheads. Background Technology

[0002] Wellheads are critical equipment in the oil extraction process. As wellhead devices, they are widely used in flowing and mechanically operated oil wells, serving as the main equipment at the top of the well for controlling and regulating oil and gas production. In actual production, wellheads are highly susceptible to blowouts due to environmental corrosion, prolonged high-pressure operation, and other harsh conditions. Wellhead leaks not only impact production efficiency but also cause significant environmental damage. Therefore, rapid repair is essential. Existing emergency repair methods rely on manual labor, requiring workers to manually cut the pipe connecting the wellhead to the production tubing, using cranes on transport vehicles to disassemble and move the wellhead, and finally, manually installing the blowout preventer (BOP).

[0003] Maintenance work on wellheads requires reliable positioning of the production tubing and includes steps such as wellhead cutting, production tubing threading, installation of internal threaded flanges, and blowout preventer (BOP) installation. Due to the complexity of the maintenance procedures, the variety of wellhead specifications, and the significant differences in emergency repair environments, current wellhead maintenance work primarily relies on workers carrying their own tools. However, the harsh environmental conditions at repair sites, often characterized by well blowout-induced oil pollution, coupled with the large size and weight of the wellheads, make emergency repair work not only dirty, arduous, and difficult, but also pose a threat to the safety of the personnel involved.

[0004] To address the aforementioned issues and better respond to oil wellhead leaks, it is necessary to develop an oilfield wellhead repair robot to replace existing manual repair operations. Summary of the Invention

[0005] The purpose of this invention is to provide a robot and method for repairing oil wellheads, thereby solving the technical problem of oil wellhead maintenance relying on manual labor in the prior art. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The robot for repairing oil wellheads provided by this invention includes:

[0008] The chassis is a movable structure and one side of the chassis is recessed inward to form a clearance area that can accommodate the production tree. The upper surface of the chassis has a placement space for storing the blowout preventer and the removed production tree.

[0009] A removal unit is fixedly mounted on the chassis and can extend or retract relative to the clearance area. When the removal unit extends relative to the clearance area, at least a portion of the removal unit can be fitted onto the Christmas tree located in the clearance area and removed from the installation position of the production pipe.

[0010] The transport unit is fixedly mounted on the chassis and includes a transport robotic arm and a gripper located at its free end. The gripper can move relative to the clearance area and the placement space under the drive of the transport robotic arm to transfer the wellhead or the blowout preventer.

[0011] A repair unit is fixedly disposed outside the clearance area and is used to fix the blowout preventer to the installation position.

[0012] The control unit is fixedly mounted on the chassis and includes a connected control module and a remote control module. The control module is connected to the chassis, the removal unit, the transport unit, and the repair unit.

[0013] The aforementioned chassis can be moved as needed to the oil wellhead to be repaired until the relative positions of the chassis and the oil wellhead meet the robot's operational requirements. Then, as needed, the removal unit, transport unit, and repair unit are activated sequentially according to the repair order to remove the oil wellhead and install the blowout preventer. The removed oil wellhead can be placed on the robot's chassis and transported out. Compared to traditional manual repairs with workers carrying tools, this robot can be remotely monitored and controlled via automatic control or remote control, enabling unmanned operation at the repair site. This avoids the risk of oil spills harming workers and ensures safe and efficient repair operations.

[0014] Based on the above technical solution, the present invention can be further improved as follows.

[0015] As a further improvement of the present invention, the repair unit includes a threading mechanism and a flange located within the placement space;

[0016] The threading mechanism can be moved to the installation position under the action of the conveying unit and perform threading processing at the installation position;

[0017] The flange has internal threads, and the flange can be moved to the installation position by the action of the handling unit and threadedly connected to the installation position.

[0018] As a further improvement of the present invention, the repair unit also includes a correction tool located in the placement space, which can be moved to the installation position under the action of the transport unit and detect threads formed outside the installation position.

[0019] As a further improvement of the present invention, the installation unit includes a nut-installing robotic arm located outside the clearance area, and the blowout preventer can be fixedly installed on the flange by a nut under the action of the nut-installing robotic arm.

[0020] As a further improvement of the present invention, the number of nut-mounting robotic arms is two, and they are symmetrically arranged on both sides of the clearance area.

[0021] As a further improvement of the present invention, the removal unit includes a fixed jaw and a cutting component arranged vertically along the vertical direction; when the fixed jaw clamps the oil pipe and the fixed jaw is coaxial with the cutting component, the cutting component can be precisely fitted onto the oil tree.

[0022] As a further improvement of the present invention, the cutting component is a waterjet cutting component, which includes a waterjet clamp, a wheel, and a cutting nozzle; the waterjet clamp has an opening on the side facing away from the chassis, and the cutting nozzle is fixedly mounted on the wheel and rotates relative to the waterjet clamp.

[0023] As a further improvement of the present invention, the removal unit further includes two front-to-back displacement members, which are respectively connected to the fixing claw and the cutting member;

[0024] And / or, the removal unit is fixed to the chassis by a horizontal displacement member and moves horizontally relative to the clearance area.

[0025] As a further improvement of the present invention, the gripper is a hollow rotating gripper with three claws, and any one of the claws is an L-shaped structure.

[0026] The present invention also provides a method for repairing a wellhead, including the robot for repairing a wellhead as described in any of the above claims, and further including the following steps:

[0027] After the chassis is moved to the repair position, the oil production tree to be repaired is located in the clearance area and at least part of the removal unit can be fitted onto the oil production tree to be repaired.

[0028] After the gripper picks up the wellhead to be repaired, the removal unit is activated until the wellhead is removed from the installation location of the well pipe.

[0029] After the removed wellhead is placed in the placement space, the gripper and the repair unit are driven to secure the blowout preventer in the installation position.

[0030] Compared with the prior art, the preferred embodiment of the present invention provides the following beneficial effects:

[0031] Compared with traditional manual repair methods, this robot can be remotely monitored and controlled through a remote operation platform, making the entire repair operation unmanned and avoiding the harm to workers caused by sprayed oil. In addition, the device also avoids the dependence on the experience and repair skills of workers in traditional manual repair, and can achieve high-precision standardized operation, ensuring that the repair process is carried out efficiently and with high quality. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of the robot for repairing oil wells according to the present invention;

[0034] Figure 2 yes Figure 1 The front view;

[0035] Figure 3 yes Figure 1 Side view;

[0036] Figure 4 yes Figure 1 Top view;

[0037] Figure 5 This is a schematic diagram showing the state of the oil well repair robot clamping the oil well tree according to the present invention;

[0038] Figure 6 yes Figure 5 The front view;

[0039] Figure 7 yes Figure 5 Side view;

[0040] Figure 8 yes Figure 5 Enlarged view of area A in the middle;

[0041] Figure 9 This is a schematic diagram of the structure of the robot for repairing oil wells in this invention when the gripper clamps the flange;

[0042] Figure 10 This is a schematic diagram of the gripper of the robot used for oil well repair according to the present invention;

[0043] Figure 11 This is a schematic diagram of the removal unit in the robot for repairing oil wells in this invention;

[0044] Figure 12 yes Figure 11 A schematic diagram of the internal structure of the cutting component.

[0045] In the diagram: 1. Chassis; 11. Clearance area; 12. Placement space; 121. Tool rack; 2. Blowout preventer; 3. Tree trunk; 4. Removal unit; 41. Fixing jaws; 42. Cutting component; 421. Water jet clamp; 422. Wheel; 423. Cutting nozzle; 424. Gear ring; 425. Gear; 426. Hydraulic motor; 43. Forward and backward displacement component; 44. Horizontal displacement component; 5. Handling unit; 51. Handling robotic arm; 52. Gripper; 521. Clamping jaws; 6. Repair unit; 61. Threading mechanism; 62. Flange; 63. Alignment tool; 64. Nut installation robotic arm. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] Example 1:

[0051] like Figure 1 As shown, this invention provides a robot for repairing a wellhead 3. The robot mainly includes a chassis 1, a removal unit 4, a transport unit 5, a repair unit 6, and a control unit, etc., wherein:

[0052] The chassis 1 is a movable structure and one side of the chassis 1 is recessed inward to form a clearance area 11, which is used to accommodate the oil well tree 3 that needs to be repaired so as to facilitate its maintenance. A placement space 12 is formed on the upper surface of the chassis 1 for storing the blowout preventer 2 and the removed wellhead 3. The removal unit 4 is fixedly mounted on the chassis 1 and can extend or retract relative to the clearance area 11. When the removal unit 4 extends relative to the clearance area 11, at least a portion of the removal unit 4 can be fitted onto the wellhead 3 located in the clearance area 11 and can remove it from the installation position of the wellhead pipe. The transport unit 5 is fixedly mounted on the chassis 1 and includes a transport robotic arm 51 and a gripper 52 located at its free end. The gripper 52 can move relative to the clearance area 11 and the placement space 12 under the drive of the transport robotic arm 51 to transfer the wellhead 3 or the blowout preventer 2. The repair unit 6 is fixedly mounted outside the clearance area 11 for fixing the blowout preventer 2 in the installation position. The control unit is fixedly mounted on the chassis 1 and includes a connected control module and a remote control module. The control module is connected to the chassis 1, the removal unit 4, the transport unit 5, and the repair unit 6.

[0053] The aforementioned chassis 1 can be moved as needed to the side of the wellhead 3 to be repaired until the relative positions of chassis 1 and wellhead 3 meet the robot's working requirements. Then, as needed, the removal unit 4, transport unit 5, and repair unit 6 are activated sequentially according to the repair sequence to remove the wellhead 3 and install the blowout preventer 2. The removed wellhead 3 can be placed on the robot's chassis 1 and transported out. Compared to traditional manual repairs with workers carrying tools, this robot can be remotely monitored and controlled through automatic control or remote control, enabling unmanned operation at the repair site, avoiding harm to workers from sprayed oil, and ensuring safe and efficient repair operations.

[0054] Specifically, the aforementioned movable chassis 1 is equipped with tracks underneath, enabling the chassis 1 to move. The front of the chassis 1 has a U-shaped or near-U-shaped structure, with the aforementioned clearance area 11 formed at the opening of the U-shaped structure. The tracked structure ensures that the chassis 1 can move freely under heavy loads, while enhancing the robot's adaptability to the ground. In addition, to ensure that the robot remains stable and does not shake during emergency repair operations, ensuring the accuracy of the operation, hydraulic leveling legs are installed on both sides, front and rear of the chassis 1. These legs can extend into the ground during emergency repair operations to support and stabilize the chassis 1, ensuring the stability of the robot's body posture, and retract after the emergency repair operation is completed.

[0055] In this embodiment, a generator and a hydraulic station are also provided on the chassis 1. For ease of use, the generator and hydraulic station are located on the side of the chassis 1 away from the clearance area 11, and the placement space 12 is located in the upper middle part of the chassis 1, that is, between the clearance area 11 and the generator. At this time, the transport unit 5 is also moved to the upper middle part of the chassis 1, as shown below. Figure 2 and Figure 4 As shown.

[0056] When the aforementioned transport unit 5 is in operation, in addition to helping to fix the oil well tree 3 to be removed and transferring the oil well tree 3 to be removed from the oil well pipe to the placement space 12, it also needs to grab and transfer equipment such as the blowout preventer 2. Therefore, the aforementioned transport unit 5 needs to have a large range of motion.

[0057] In this embodiment, the aforementioned handling unit 5 includes a handling robotic arm 51 and a gripper 52. The handling robotic arm 51 has rotation, translation, and lifting functions. Specifically, the handling robotic arm 51 includes a support column and a secondary robotic arm. The support column is fixedly mounted on the chassis 1 and can rotate relative to the chassis 1. The upper end of the support column is provided with a horizontal rail that allows the secondary robotic arm to translate relative to the support column, and the secondary robotic arm can move up and down relative to the horizontal rail. The gripper 52 is located at the lower end of the secondary robotic arm. When the handling robotic arm 51 is activated, the gripper 52 can rotate, translate, and lift under the drive of the handling robotic arm 51, thereby realizing the gripping and transfer of different items (including but not limited to the wellhead 3, blowout preventer 2, etc.).

[0058] It should be noted that the aforementioned gripper 52 is a hollow rotating gripper 52 with three jaws 521, and each jaw 521 has an L-shaped structure. The inner side used to grip the item has an arc-shaped structure with multiple grooves formed on it, such as... Figure 10 As shown in the diagram. This structure can better clamp items, preventing them from loosening and falling during transfer. Furthermore, by adjusting the position of the gripper 521, it can grasp items of different diameters within a certain range. When the gripper 52 is driven to grasp the oil wellhead 3, its structure is as follows... Figure 8 As shown, at this time, the gripper 52 can precisely clamp the flange structure located at the upper end of the tree trunk 3; when the gripper 52 grips the flange 62, as... Figure 9 As shown.

[0059] The aforementioned placement space 12 and clearance area 11 are both located within the operating range of the handling unit 5.

[0060] When the conveying unit 5 is used to clamp the oil well tree 3, such as Figure 5 As shown, the aforementioned transport unit 5 clamps the upper end of the production tree 3 using the gripper 52, and simultaneously works with the removal unit 4 to fix the production tree 3, preventing it from shaking during subsequent operations. At this time, the removal unit 4 is positioned directly below the gripper 52 along the axial direction. Figure 6 and Figure 7 As shown.

[0061] The structure and function of the removal unit 4 described above are explained below:

[0062] As an optional implementation, the removal unit 4 includes a fixing claw 41 and a cutting member 42 arranged vertically along the vertical direction, such as... Figure 11 As shown, when the fixed jaw 41 clamps the oil pipe and the fixed jaw 41 is coaxial with the cutting component 42, the cutting component 42 can be precisely fitted onto the oil tree 3.

[0063] The No. 3 oil well repair equipment uses multi-module integrated coaxial positioning technology to ensure accuracy during operation, such as... Figure 3 As shown. Since the fixed jaw 41 and the cutting component 42 are arranged vertically in the vertical direction, they can only move back and forth in the horizontal direction, thus effectively ensuring the accuracy of the oil pipe removal operation. In this embodiment, both the fixed jaw 41 and the cutting component 42 are equipped with a back-and-forth displacement component 43. Taking the fixed jaw 41 as an example, the cutting component 42 can move back and forth relative to the fixed jaw 41 under the action of the back-and-forth displacement component 43 to facilitate its cutting of the oil tree 3, and move backward to reset after the oil tree 3 is cut to avoid affecting subsequent operations on the oil pipe. Similarly, when it is not necessary to repair the oil tree 3, the fixed jaw 41 can also move backward and reset under the action of the back-and-forth displacement component 43.

[0064] In this embodiment, the aforementioned forward and backward displacement member 43 may be a ball screw or other prior art devices capable of linear displacement.

[0065] During operation, the aforementioned fixed jaw 41 is used to clamp the oil pipe. Once it clamps the oil pipe, it remains fixed in place. At this time, the oil pipe is relatively fixed to the chassis 1, which ensures that the aforementioned transport unit 5 and cutting component 42 can accurately locate the position of the oil pipe and carry out subsequent operations.

[0066] In this embodiment, the aforementioned fixed claw 41 is a hydraulically driven claw structure.

[0067] As an optional implementation, the cutting component 42 is a waterjet cutter. This waterjet cutter is based on an open-track drive. Compared with the traditional closed track, this structure can be easily fitted over the oil pipe and used for cutting, effectively solving the problem of interference between traditional waterjet cutters and the oil pipe. In addition, compared with other cutting methods, the waterjet cutter offers higher safety in this operating environment.

[0068] The structure of the aforementioned cutting component 42 is as follows: Figure 12 As shown, it includes a water cutting clamp 421, a wheel 422, and a cutting nozzle 423: the water cutting clamp 421 has an opening on the side facing away from the chassis 1 (at this time, the structure of the water cutting clamp 421 is arc-shaped or approximately Ω-shaped), and the cutting nozzle 423 is fixedly mounted on the wheel 422. When the wheel 422 rotates relative to the water cutting clamp 421, the cutting nozzle 423 can rotate accordingly and achieve complete cutting of the oil production pipe.

[0069] In this embodiment, the cutting component 42 further includes a hydraulic motor 426 with a driving function. This hydraulic motor 426 is connected to the wheel 422 via a meshing gear 425 and a gear ring 424 (the gear ring 424 is fitted onto the outer edge of the wheel 422 and fixedly connected to it). When the hydraulic motor 426 is started, the gear 425 rotates, driving the meshing gear ring 424 to rotate, thereby causing the wheel 422 to rotate relative to the water-cutting clamp 421. Figure 12 In the above, the teeth in the gear ring 424 and gear 425 are not drawn.

[0070] After the cutting is completed, the aforementioned wheel 422 can drive the cutting nozzle 423 to reset.

[0071] It should be noted that the cutting component 42 also includes a high-pressure water system, which is fixedly mounted on the chassis 1 and arranged adjacent to the generator and / or hydraulic station, such as... Figure 4 As shown.

[0072] Considering that the removal unit 4 and the wellhead 3 to be repaired cannot be aligned horizontally after the chassis 1 is moved to the working position, as an optional implementation, the removal unit 4 is fixedly mounted on the chassis 1 by a horizontal displacement member 44 and moves horizontally relative to the clearance area 11. Figure 11 As shown. The horizontal displacement component 44 is existing technology and will not be described in detail here.

[0073] The aforementioned horizontal displacement member 44 is fixedly mounted on a support structure formed below the chassis 1, which helps to support and fix the tracks.

[0074] After the cutting of component 42 is completed, the cut-off tree 3 can be transferred to the placement space 12 above the chassis 1 via the transport unit 5. Generally, in order to ensure that the tree 3 can be stably and firmly fixed on the placement space 12 without shaking, the placement space 12 is formed with a first receiving groove that can just accommodate and limit the position of the tree 3.

[0075] After the tree 3 is removed, the installation location (i.e. the cut) of the above-mentioned oil pipe needs to be processed to meet the installation requirements of the blowout preventer 2.

[0076] Specifically, a threaded hole for installing the blowout preventer 2 needs to be machined at the installation location of the oil production pipe. To achieve this, in this embodiment, before installing the blowout preventer 2, a flange 62 with the corresponding threaded hole needs to be fixedly installed at the installation location.

[0077] like Figure 1 and Figure 4 As shown, a tool rack 121 is formed on the aforementioned placement space 12, and a threading mechanism 61 and a flange 62 are placed on the upper limit of the tool rack 121.

[0078] The threading mechanism 61 can be moved to the installation position under the action of the conveying unit 5 and thread the installation position; the flange 62 has internal threads, and under the action of the conveying unit 5, the flange 62 can be moved to the threaded installation position and threadedly connected to the installation position.

[0079] The aforementioned threading mechanism 61 is a micro CNC threading machine. After being placed at the installation position of the oil pipe, the micro CNC threading machine can automatically clamp the oil pipe and activate the rotary drive device, lifting drive device, and feed drive device located within it. These three devices work together to complete the threading operation of the oil pipe. Considering that the diameter of the oil pipe may be different, at least two sets of the aforementioned micro CNC threading machines are used, each suitable for different pipe diameters.

[0080] Since threading operations apply relatively large forces to the oil production pipe, which may cause deformation or loss of thread space, in order to achieve precise positioning of the oil production pipe thread and ensure the smooth installation of the subsequent flange 62, it is necessary to perform pipeline positioning correction on the threaded oil production pipe.

[0081] Specifically, the aforementioned repair unit 6 also includes a calibration tool 63 located on the tool holder 121. The calibration tool 63 can be moved to the installation position under the action of the transport unit 5 and detect threads formed outside the installation position. By positioning the end face of the oil pipe thread, it ensures that the subsequent installation of the flange 62 with internal threads can be carried out smoothly.

[0082] After the repair unit 6 inspects and repairs the installation position, the handling unit 5 transfers the flange 62 located on the tool holder 121 to the installation position. Based on the calibration information from the calibration tool 63, the unit uses the rotation of the gripper 52, combined with the lifting action of the auxiliary robotic arm, to guide the flange 62 to connect to the oil production pipe via a threaded connection, thus completing the installation of the flange 62. At this point, the purpose of machining a threaded hole at the installation position of the oil production pipe for installing the blowout preventer 2 can be achieved.

[0083] As an optional implementation, the installation unit includes a nut-mounting robotic arm 64 located outside the clearance area 11, and the blowout preventer 2 can be fixedly mounted on the flange 62 by nuts under the action of the nut-mounting robotic arm 64.

[0084] A second receiving groove is formed in the placement space 12 to accommodate and limit the blowout preventer 2. Screws are pre-installed on the blowout preventer 2. When the blowout preventer 2 needs to be installed, the transport unit 5 picks up the blowout preventer 2 from the second receiving groove and transfers it to the installation position where the flange 62 is installed. Based on vision guidance technology, the blowout preventer 2 can be positioned on the flange 62 and mate with the flange 62. Then, the nut installation robot arm 64 is controlled to perform nut installation and tightening operations, completing the installation of the blowout preventer 2.

[0085] The aforementioned nut-installing robotic arm 64 is a multi-axis robotic arm that can bend flexibly and install nuts within a certain range. This nut-installing robotic arm 64 can perform actions based on vision-guided technology to complete the nut installation.

[0086] Specifically, there are two nut-installing robotic arms 64, which are symmetrically arranged on both sides of the clearance area 11.

[0087] After the nuts are installed, the emergency repair work on the No. 3 oil well is completed, and the repair robot can leave the work site.

[0088] The aforementioned control unit, after being waterproofed, is installed in the cavity between the two tracks below chassis 1. The remote control module in the control unit can remotely control and operate the aforementioned control module using satellite signals, 5G networks, or other dedicated networks. The control module is a programmable electronic component that can store and run corresponding control programs to achieve automatic maintenance operations, or execute corresponding control programs based on relevant commands transmitted from the remote control module to complete maintenance operations.

[0089] It is understood that the oil well tree 3 repair robot provided in this embodiment, in addition to using a movable chassis 1 to transport and carry the oil well tree 3 and the required related tools, also adopts multi-module integrated coaxial positioning technology to ensure the accuracy of the operation on the oil well tree 3 and the oil pipe connected to it; and the control unit can realize automatic control and remote control of the above-mentioned multiple tools, thereby ensuring unmanned operation at the repair site, avoiding the harm of oil pollution to the workers, and ensuring that the repair operation can be carried out efficiently and with high quality.

[0090] Example 2:

[0091] The present invention also provides a method for emergency repair of a wellhead 3, including the robot for emergency repair of the wellhead 3 as described in any of the above claims, and further including the following steps:

[0092] Step S1: After the chassis 1 is moved to the repair position, the oil production tree 3 to be repaired is located in the clearance area 11 and at least part of the removal unit 4 can be fitted onto the oil production tree 3 to be repaired.

[0093] Step S2: After the gripper 52 grabs the production tree 3 to be repaired, the removal unit 4 is activated until the production tree 3 is removed from the installation position of the production pipe.

[0094] Step S3: After the removed tree 3 is placed in the placement space 12, the drive gripper 52 and the repair unit 6 secure the blowout preventer 2 in the installation position.

[0095] The above step S1 also includes step S11, after the fixing claw 41 in the removal unit 4 fixes the lower end of the oil production tree 3, the transport unit 5 is activated to grab the upper end of the oil production tree 3 to be repaired.

[0096] Step S11 can complete the positioning and fixing of the oil well tree 3.

[0097] In step S2, the cutting component 42 in the removal unit 4 is activated to cut the oil production pipe, completing the removal of the oil production tree 3 from the oil production pipe.

[0098] Step S2 also includes step S21, where the removal unit 4 transfers the cut-off oil pipe to the placement space 12 located on the chassis 1.

[0099] Step S3 includes the following steps:

[0100] Step S31: After the removed production tree 3 is placed in the placement space 12, the drive gripper 52 grabs the threading mechanism 61 to thread the installation position of the production pipe.

[0101] Step S32: The gripper 52 grabs the calibration tool 63 to the oil production pipe and calibrates the position of the threaded oil production pipe;

[0102] Step S33: The handling unit 5 picks up the flange 62 and installs the flange 62 at the installation position of the oil production pipe;

[0103] Step S34: The handling unit 5 grabs the blowout preventer 2 and positions it on the flange 62. The nut installation robot arm 64 controls the nut to install it.

[0104] The emergency repair work on oil well tree 3 has now been completed.

[0105] Finally, control the various units in the robot to reset, control the fixed claw 41 to loosen the oil pipe, and control the robot to drive away from the work site.

[0106] The above-mentioned emergency repair methods will be further explained below:

[0107] (1) After discovering that the oil tree 3 needs to be repaired, the operator first needs to remotely control the repair robot to drive into the site. After the chassis 1 moves to the repair position of the oil tree 3, the hydraulic outriggers are extended to stabilize the chassis 1.

[0108] (2) Control the hydraulic fixing claw 41 in the removal unit 4 to extend and clamp the oil pipe from the root of the oil tree 3. Then control the rotating claw 521 in the transport unit 5 to clamp the oil tree 3 from the top of the oil tree 3, thus completing the positioning and fixing of the oil tree 3.

[0109] (3) Control the cutting component 42 in the removal unit 4 to move to the cutting operation position (at this time, the cutting component 42 can be coaxial with the hydraulic fixing claw 41), start the oil pipe cutting operation, after the cutting is completed, the cutting component 42 returns to its original position, and the transport unit 5 transports the oil tree 3 to the corresponding position on the chassis 1 and places it.

[0110] (4) The transport unit 5 grabs the micro CNC threading machine on the tool rack 121 and places it on the end of the oil pipe (i.e., the installation position of the oil pipe). The threading machine can automatically clamp the oil pipe to complete the threading operation.

[0111] (5) After the threading operation, the transport unit 5 puts the threading machine back into the tool rack 121 and grabs the position correction tool 63. The correction tool 63 is used to detect the position of the thread end face, and its detection result can be recorded by the robot's control module.

[0112] (6) The transport unit 5 puts the calibration tool 63 back and grabs the internal thread flange 62, and transports it to the top of the oil pipe thread end face. The vertical feed motion of the auxiliary mechanical arm of the transport unit 5, together with the rotation action of the rotary gripper 52, completes the installation of the flange 62.

[0113] (7) The handling unit 5 picks up the blowout preventer 2 and, based on visual guidance, aligns the screws on the end face of the blowout preventer 2 with the holes on the flange 62 at the end of the production pipe. Then, the nut installation robot arm 64 on both sides performs the nut installation operation to complete the maintenance of the production tree 3.

[0114] After the above steps are completed, all modules of the robot are reset, the hydraulic fixing claw 41 is released from the oil pipe, and the operator remotely operates the oil tree 3 repair robot to leave the work site.

[0115] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot for repairing oil wellheads, characterized in that, include: The chassis is a movable structure and one side of the chassis is recessed inward to form a clearance area that can accommodate the production tree. The upper surface of the chassis has a placement space for storing the blowout preventer and the removed production tree. A removal unit is fixedly mounted on the chassis and can extend or retract relative to the clearance area. When the removal unit extends relative to the clearance area, at least a portion of the removal unit can be fitted onto the Christmas tree located in the clearance area and removed from the installation position of the production pipe. The transport unit is fixedly mounted on the chassis and includes a transport robotic arm and a gripper located at its free end. The gripper can move relative to the clearance area and the placement space under the drive of the transport robotic arm to transfer the wellhead or the blowout preventer. A repair unit is fixedly disposed outside the clearance area and is used to fix the blowout preventer to the installation position. The control unit is fixedly mounted on the chassis and includes a connected control module and a remote control module. The control module is connected to the chassis, the removal unit, the transport unit, and the repair unit. The repair unit includes a threading mechanism and a flange located within the placement space; The threading mechanism can be moved to the installation position under the action of the conveying unit and perform threading processing at the installation position; The flange has internal threads, and the flange can be moved to the installation position under the action of the handling unit and threadedly connected to the installation position; The repair unit also includes a calibration tool located within the placement space. The calibration tool can be moved to the installation position under the action of the transport unit and detect threads formed outside the installation position. The repair unit includes a nut-installing robotic arm located outside the clearance area, and the blowout preventer can be fixedly installed on the flange by a nut under the action of the nut-installing robotic arm. The removal unit includes a fixed jaw and a cutting component arranged vertically along a vertical direction; when the fixed jaw clamps the oil pipe and the fixed jaw is coaxial with the cutting component, the cutting component can be precisely fitted onto the oil tree. The cutting component is a waterjet cutting component, which includes a waterjet clamp, a wheel, and a cutting nozzle; the waterjet clamp has an opening on the side facing away from the chassis, and the cutting nozzle is fixedly mounted on the wheel and rotates relative to the waterjet clamp; The removal unit further includes two front-to-back displacement components, which are respectively connected to the fixing claw and the cutting component. And / or, the removal unit is fixed to the chassis by a horizontal displacement member and moves horizontally relative to the clearance area.

2. The robot for repairing oil wellheads according to claim 1, characterized in that, The number of nut-installing robotic arms is two, and they are symmetrically arranged on both sides of the clearance area.

3. The robot for repairing oil wellheads according to claim 1, characterized in that, The gripper is a hollow rotating gripper with three jaws, and any one of the jaws has an L-shaped structure.

4. A method for emergency repair of oil wellheads, characterized in that, The robot for repairing oil wellheads, as described in any one of claims 1-3, further includes the following steps: After the chassis is moved to the repair position, the oil production tree to be repaired is located in the clearance area and at least part of the removal unit can be fitted onto the oil production tree to be repaired. After the gripper picks up the wellhead to be repaired, the removal unit is activated until the wellhead is removed from the installation location of the well pipe. After the removed wellhead is placed in the placement space, the gripper and the repair unit are driven to secure the blowout preventer in the installation position.

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