Intelligent dismounting and mounting device, system and method for blowout preventer bolt

Abstract

The invention relates to the technical field of petroleum drilling, in particular to an intelligent dismounting and mounting device, system and method for a blowout preventer bolt, and aims to solve the problems that a large-size bolt is difficult to dismount and the working efficiency is low. The invention provides an intelligent dismounting and mounting device for a blowout preventer bolt. The intelligent dismounting and mounting device comprises an industrial robot, a flexible connecting mechanism, a floating mechanism, a torque wrench and a sleeve. The sleeve is installed on the torque wrench, the torque wrench is installed on the floating mechanism, the floating mechanism is installed on the flexible connecting mechanism, and the flexible connecting mechanism is installed on the industrial robot. The flexible connecting mechanism is used for driving the floating mechanism to swing around the axis of the floating mechanism and move along the axis of the floating mechanism. The floating mechanism is matched with the flexible connecting mechanism, so that the problem that the axes of the torque wrench, the sleeve and the bolt are not coincident and not concentric is solved, the sleeve and the bolt can be quickly positioned, the efficiency of disassembling and assembling the bolt is improved, and the disassembling difficulty of the bolt is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of oil drilling, and in particular to an intelligent disassembly and assembly device, system and method for blowout preventer bolts. Background Art

[0002] Currently, the disassembly and assembly of blowout preventer bolts mainly adopts the method of manual disassembly and assembly with pneumatic wrenches, which has low work efficiency, high labor intensity, time-consuming and labor-intensive, and has certain unsafe factors. In addition, some large-sized bolts of blowout preventers are difficult to disassemble with pneumatic wrenches and can only be disassembled by traditional knocking methods, which is inefficient and easy to cause damage. Summary of the invention

[0003] The object of the present invention is to provide an intelligent disassembly and assembly device, system and method for blowout preventer bolts, so as to solve the problem that large-sized bolts are difficult to disassemble and have low working efficiency.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0005] An intelligent disassembly and assembly device for blowout preventer bolts comprises an industrial robot, a flexible connection mechanism, a floating mechanism, a torque wrench and a sleeve; the sleeve is mounted on the torque wrench, the torque wrench is mounted on the floating mechanism, the floating mechanism is mounted on the flexible connection mechanism, and the flexible connection mechanism is mounted on the industrial robot; the floating mechanism comprises a connecting ring and a floating ring, the torque wrench is inserted into the connecting ring, and the floating ring can move along its own axis direction to compress the connecting ring; the flexible connection mechanism is used to drive the floating mechanism to swing around its own axis and move along its own axis.

[0006] Furthermore, the connecting ring includes a ring body and a connecting shaft, and a plurality of connecting shafts are arranged around the axis of the ring body; a plurality of floating grooves are provided on one side of the floating ring close to the connecting ring; the ring body is inserted into the floating ring, and the connecting shaft is embedded in the floating groove.

[0007] Furthermore, the floating mechanism also includes a pushing assembly, which is connected to the floating ring to drive the floating ring to move along its own axis; the pushing assembly includes a driving ring body, a first push rod and a second push rod; the first push rod is inserted into the driving ring body and connected to the floating ring, and is used to drive the floating ring closer to the connecting ring; the second push rod is inserted into the driving ring body and connected to the floating ring, and is used to drive the floating ring away from the connecting ring.

[0008] Furthermore, the flexible connection mechanism includes a connection seat and a swing cylinder; the floating mechanism is rotatably mounted on the connection seat, the swing cylinder is mounted on the connection seat and connected to the floating mechanism, and the swing cylinder is extended and retracted to drive the floating mechanism to swing around its own axis.

[0009] Furthermore, the flexible connection mechanism also includes a fixed seat and a coupling cylinder, the coupling cylinder is installed on the fixed seat, and the connecting seat is slidably connected to the fixed seat; the coupling cylinder is connected to the connecting seat to push the connecting seat to slide, thereby driving the floating mechanism to move along its own axial direction.

[0010] Furthermore, the intelligent disassembly and assembly device of the blowout preventer bolt also includes a flexible clamp, which includes a clamp, a finger cylinder, a first telescopic cylinder and a second telescopic cylinder; the two clamps are installed on the finger cylinder for clamping the bolts; the finger cylinder is installed on the first telescopic cylinder, the first telescopic cylinder is installed on the second telescopic cylinder, and the second telescopic cylinder is connected to the connecting seat; the telescopic directions of the first telescopic cylinder and the second telescopic cylinder are perpendicular to each other.

[0011] Furthermore, the intelligent disassembly and assembly device for the blowout preventer bolts also includes an identification and guidance mechanism, which includes a camera and a laser rangefinder; the camera is used to identify the position of the bolt, and the laser rangefinder is used to measure the position of the bolt.

[0012] Furthermore, the intelligent disassembly and assembly device for the blowout preventer bolts also includes a reaction force arm, which is installed on the torque wrench.

[0013] Another aspect of the present invention provides an intelligent disassembly and assembly system for blowout preventer bolts, comprising the above-mentioned intelligent disassembly and assembly device for blowout preventer bolts, and also comprising a bolt storage rack, a bolt cleaning machine and a conveying device; the conveying device is used to convey the blowout preventer, the bolt storage rack is used to store the bolts, and the bolt cleaning machine is used to clean the removed bolts.

[0014] The third aspect of the present invention provides an intelligent disassembly and assembly method for a blowout preventer bolt, using the above-mentioned intelligent disassembly and assembly device for a blowout preventer bolt, comprising the following steps: Data collection: Collect image data of different bolts under different lighting, angles, positions, color differences, and stain levels, and mark the position and model of the bolt corresponding to each image; Build a bolt position and model recognition model: Build a recognition model based on the image data in the data collection step Bolt disassembly and assembly: Use the camera to obtain the bolt image and identify it with the recognition model, thereby guiding the wrench to disassemble and assemble the bolt.

[0015] Based on the above technical solutions, the technical effects that can be achieved by the present invention are:

[0016] The intelligent disassembly and assembly device of the blowout preventer bolt provided by the present invention comprises an industrial robot, a flexible connection mechanism, a floating mechanism, a torque wrench and a sleeve; the sleeve is installed on the torque wrench, the torque wrench is installed on the floating mechanism, the floating mechanism is installed on the flexible connection mechanism, and the flexible connection mechanism is installed on the industrial robot; the floating mechanism comprises a connecting ring and a floating ring, the torque wrench is inserted into the connecting ring, and the floating ring can move along its own axis direction to compress the connecting ring; the flexible connection mechanism is used to drive the floating mechanism to swing around its own axis and move along its own axis.

[0017] The present invention drives the floating mechanism to swing around its own axis and move along its own axis through a flexible connection mechanism, thereby driving the sleeve to be sleeved on the bolt, thereby facilitating the torque wrench to disassemble and assemble the bolt. The floating mechanism adjusts the pressure of the floating ring to press the connecting ring so that the connecting ring can move along the radial direction of the floating mechanism. When the torque wrench, the sleeve and the bolt axis are not coincident or not concentric, adjustment and compensation can be made, so that the screwing process of the bolt is smooth and the wear and damage caused by the non-concentricity is reduced, thereby improving the service life of the equipment. The cooperation of the floating mechanism and the flexible connection mechanism can enable the sleeve to be quickly positioned with the bolt, improve the efficiency of disassembling and assembling the bolt, and reduce the difficulty of disassembling the bolt. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of an intelligent disassembly and assembly device for blowout preventer bolts provided by an embodiment of the present invention;

[0020] Figure 2 is a structural schematic diagram of a flexible connection mechanism;

[0021] Figure 3 It is a schematic diagram of the internal structure of the floating mechanism;

[0022] Figure 4 It is a structural schematic diagram of the floating mechanism;

[0023] Figure 5 It is a schematic diagram of the internal structure of one side of the floating mechanism;

[0024] Figure 6 It is a schematic diagram of the internal structure on the other side of the floating mechanism;

[0025] Figure 7 Schematic diagram of the connection between the flexible connection mechanism and the floating mechanism

[0026] Figure 8 is a schematic diagram of the structure of the flexible gripper;

[0027] Fig. 9 is another structural schematic diagram of the flexible clamp;

[0028] Fig.10 It is a structural schematic diagram of the intelligent disassembly and assembly system of the blowout preventer bolts;

[0029] Fig.11 It is a schematic diagram of the Conv structure;

[0030] Fig.12 This is a schematic diagram of the Bottleneck structure;

[0031] Fig.13 It is a schematic diagram of the C3 structure;

[0032] Fig.14 Schematic diagram of SPP structure.

[0033] Icons: 100-industrial robot; 200-flexible connection mechanism; 300-floating mechanism; 400-torque wrench; 500-sleeve; 600-flexible clamp; 700-reaction force arm; 210-connecting seat; 220-swing cylinder; 230-fixed seat; 240-joining cylinder; 250-first linear guide; 260-roller; 310-connecting ring; 320-floating ring; 330-pushing assembly; 340-connecting pin; 311-ring body; 312-connecting shaft; 321-floating groove; 331-driving ring body; 332-first push rod; 333-second push rod; 334-first flange ring; 335-second flange ring; 33a-first cavity; 33b-second cavity; 610-claw; 620-finger cylinder; 630-first telescopic cylinder; 640-second telescopic cylinder; 10-intelligent disassembly and assembly device for blowout preventer bolts; 20-bolt storage rack; 30-bolt cleaning machine; 40-conveying device. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0037] Currently, the disassembly and assembly of blowout preventer bolts mainly adopts the method of manual disassembly and assembly with pneumatic wrenches, which has low work efficiency, high labor intensity, time-consuming and labor-intensive, and has certain unsafe factors. In addition, some large-sized bolts of blowout preventers are difficult to disassemble with pneumatic wrenches and can only be disassembled by traditional knocking methods, which is inefficient and easy to cause damage.

[0038] In view of this, the present invention provides an intelligent disassembly and assembly device for blowout preventer bolts, including an industrial robot 100, a flexible connection mechanism 200, a floating mechanism 300, a torque wrench 400 and a sleeve 500; the sleeve 500 is installed on the torque wrench 400, the torque wrench 400 is installed on the floating mechanism 300, the floating mechanism 300 is installed on the flexible connection mechanism 200, and the flexible connection mechanism 200 is installed on the industrial robot 100; the floating mechanism 300 includes a connecting ring 310 and a floating ring 320, the torque wrench 400 is inserted into the connecting ring 310, and the floating ring 320 can move along its own axis direction to compress the connecting ring 310; the flexible connection mechanism 200 is used to drive the floating mechanism 300 to swing around its own axis and move along its own axis.

[0039] The present invention drives the floating mechanism 300 to swing around its own axis and move along its own axis through the flexible connection mechanism 200, thereby driving the sleeve 500 to be sleeved on the bolt, so as to facilitate the torque wrench 400 to disassemble and assemble the bolt. The floating mechanism 300 adjusts the pressure of the floating ring 320 to press the connecting ring 310 so that the connecting ring 310 can move along the radial direction of the floating mechanism 300. When the torque wrench 400, the sleeve 500 and the bolt axis are not coincident or not concentric, adjustment and compensation can be made, so that the screwing process of the bolt is smooth and the wear and damage caused by the non-concentricity is reduced, thereby improving the service life of the equipment. The cooperation of the floating mechanism 300 and the flexible connection mechanism 200 can enable the sleeve 500 to be quickly positioned with the bolt, improve the efficiency of disassembling and assembling the bolt, and reduce the difficulty of disassembling the bolt.

[0040] The following combination Figure 1-Figure 9 The structure and shape of the intelligent disassembly and assembly device for the blowout preventer bolt provided in this embodiment are described in detail:

[0041] In this embodiment, the flexible connection mechanism 200 includes a connection seat 210, a swing cylinder 220, a fixed seat 230, a joint cylinder 240 and a first linear guide rail 250. Figure 2 As shown, the floating mechanism 300 is rotatably mounted on the connecting seat 210, the swing cylinder 220 is mounted on the connecting seat 210 and connected to the floating mechanism 300, the swing cylinder 220 is telescopic to drive the floating mechanism 300 to swing around its own axis, the joint cylinder 240 is mounted on the fixed seat 230, the connecting seat 210 is mounted on the slider of the first linear guide 250, and the first linear guide 250 is mounted on the fixed seat 230. The telescopic direction of the joint cylinder 240 is parallel to the length direction of the first linear guide 250, the joint cylinder 240 is telescopic to drive the connecting seat 210 to slide, and then drive the floating mechanism 300 to move along its own axis direction, so that the sleeve 500 cooperates with the bolt. The swing cylinder 220 drives the floating mechanism 300 to rotate around its own axis, and then drives the sleeve 500 to rotate, so that the sleeve 500 is aligned with the bolt. Through the coordinated use of the swing cylinder 220 and the joint cylinder 240, the sleeve 500 can be smoothly combined with the bolt so that the sleeve 500 drives the bolt to rotate.

[0042] In this embodiment, the floating mechanism 300 includes a connecting ring 310, a floating ring 320, a pushing assembly 330 and a connecting pin 340. Figure 3 , Figure 6 As shown, the connecting ring 310 includes a ring body 311 and a connecting shaft 312, and a plurality of connecting shafts 312 are arranged around the axis of the ring body 311; a floating ring 320 is provided with a plurality of floating grooves 321 on one side close to the connecting ring 310; the ring body 311 is inserted into the floating ring 320, the connecting shaft 312 is embedded in the floating groove 321, and the torque wrench 400 is inserted into the ring body 311 and connected to the ring body 311.

[0043] Specifically, the pushing assembly 330 includes a driving ring body 331, a first push rod 332, a second push rod 333, a first flange ring 334 and a second flange ring 335. Figure 5As shown, the driving ring body 331 is provided with a first cavity 33a and a second cavity 33b, and a plurality of first cavities 33a are evenly distributed around the axis of the driving ring body 331, and a plurality of second cavities 33b are evenly distributed around the axis of the driving ring body 331, and the first cavity 33a and the second cavity 33b are arranged at intervals. The first push rod 332 is inserted into the first cavity 33a and connected to the floating ring 320, and is used to drive the floating ring 320 to approach the connecting ring 310; the second push rod 333 is inserted into the second cavity 33b and connected to the floating ring 320, and is used to drive the floating ring 320 away from the connecting ring 310. That is, the first push rod 332 and the second push rod 333 are both piston rod structures, and the first flange ring 334 and the second flange ring 335 are respectively installed on both sides of the driving ring body 331 and together with the first cavity 33a and the second cavity 33b, they form a piston cavity. That is, the first push rod 332 and the second push rod 333 are both pneumatically driven to achieve flexible locking, thereby achieving automatic centering of the connecting ring 310 .

[0044] In this embodiment, the connecting pin 340 is connected to the second flange ring 335, and accordingly, the output end of the swing cylinder 220 is clamped on the connecting pin 340. The output end of the swing cylinder 220 moves in a direction perpendicular to the axis of the floating mechanism 300 to drive the connecting pin 340 to move, thereby causing the floating mechanism 300 to swing.

[0045] In this embodiment, the mounting seat is composed of a plurality of plates connected by bolts to form an inner cavity, thereby accommodating the floating mechanism 300. In order to limit the floating mechanism 300 and reduce friction, a roller 260 is arranged in the inner cavity of the mounting seat, and the roller 260 abuts against the floating mechanism 300 and is in rolling contact with the floating mechanism 300, that is, the axis of the roller 260 is parallel to the axis of the floating mechanism 300.

[0046] In this embodiment, the intelligent disassembly and assembly device of the blowout preventer bolt further includes a flexible clamp 600, which is used to cooperate with the torque wrench 400 to pick up and place the bolt and replace the sleeve 500, thereby realizing fully automated disassembly and assembly of the bolt. Specifically, the flexible clamp 600 includes a clamping claw 610, a finger cylinder 620, a first telescopic cylinder 630 and a second telescopic cylinder 640, as shown in FIG. Figure 8 , Fig. 9 As shown; two claws 610 are installed on the finger cylinder 620 for clamping bolts; the finger cylinder 620 is installed on the first telescopic cylinder 630, the first telescopic cylinder 630 is installed on the second telescopic cylinder 640, and the second telescopic cylinder 640 is connected to the connecting seat 210; the telescopic directions of the first telescopic cylinder 630 and the second telescopic cylinder 640 are perpendicular to each other. Among them, the first telescopic cylinder 630 and the second telescopic cylinder 640 are both cylinders with guide rods to ensure stability.

[0047] In this embodiment, the intelligent disassembly and assembly device for the blowout preventer bolts also includes an identification and guidance mechanism, which includes a camera and a laser rangefinder; the camera is used to identify the position of the bolt, and the laser rangefinder is used to measure the position of the bolt.

[0048] In order to increase the output torque for disassembling and assembling large bolts, the intelligent disassembling and assembling device of the blowout preventer bolts also includes a reaction force arm 700, which is installed on the torque wrench 400 and abuts against the bolts near the screwed bolts when in use, so as to achieve higher output torque, which can be applicable to the disassembly and assembly of ultra-large torque bolts. In order to ensure flexibility and applicability, the industrial robot 100 uses a six-axis robot.

[0049] The working process of the intelligent disassembly and assembly device for blowout preventer bolts provided in this embodiment is as follows:

[0050] The identification and guiding mechanism identifies the bolt specifications and positions, so that the corresponding sleeve 500 is clamped by the flexible clamp 600 and installed on the torque wrench 400, wherein the first telescopic cylinder 630 and the second telescopic cylinder 640 can adjust the position of the clamp to clamp the corresponding material. Subsequently, the flexible connection mechanism 200 drives the torque wrench 400 and then drives the sleeve 500 to engage with the bolt. At this time, the swing cylinder 220 swings the floating mechanism 300, and then adjusts the angle between the sleeve 500 and the bolt for alignment. At the same time, the engagement cylinder 240 drives the floating mechanism 300 to move along its own axial direction so that the sleeve 500 presses the bolt, thereby completing the connection between the sleeve 500 and the bolt. After that, the torque wrench 400 screws the bolt for disassembly. After the disassembly is completed, the flexible clamp 600 can remove the bolt from the blowout preventer for subsequent cleaning and storage. When installing the bolt, the flexible clamp 600 clamps the corresponding bolt and places it in the bolt hole, and at the same time straightens the bolt to facilitate the sleeve 500 to tighten the bolt. At this time, the clamping force of the clamp 610 on the bolt is relatively small to avoid wear caused by excessive friction.

[0051] Compared with the conventional floating structure that realizes floating by means of the principle of the inclined surface of the pin shaft and the inclined surface of the hole, the floating mechanism 300 provided in this embodiment realizes automatic tilting and eccentricity by means of air pressure compression, and the torque wrench 400 can swing freely during the operation. That is, the wrench can automatically swing and adjust the tilt during the recognition process, so that the bolt can maintain a stable movement during the tightening process, and the flexible connection structure and the industrial robot 100 do not need to be fine-tuned to eliminate the connection error, which improves the recognition efficiency, effectively solves the problem of the wrench, the sleeve 500 and the bolt axis not coinciding and not concentric, prolongs the service life of the torque wrench 400, and avoids the reduction of grasping performance due to factors such as eccentricity and non-verticality, as well as the bending, deformation, wear and tear of related parts. Among them, the recognition is the process of the sleeve 500 and the bolt being clamped.

[0052] Specifically, during operation, the first push rod 332 pushes the floating ring 320 to move toward the first flange ring 334, thereby causing the floating groove 321 and the first flange ring 334 to clamp the connecting shaft 312, so that the connecting shaft 312 can only move along the radial direction of the ring body 311. Since the thrust of the first push rod 332 is pneumatic, when the sleeve 500, the torque wrench 400 and the bolt axis are not coincident or not concentric, the ring body 311 can move along its own radial direction to adjust the concentricity, and can overcome the thrust of the first push rod 332 to tilt at a certain angle so that the axis of the ring body 311 coincides with the axis of the bolt, that is, the ring body 311 can move along its own radial direction and its own axis can swing, driving the torque wrench to achieve 360-degree full-angle floating of the axis, compensating for the coaxiality error between the sleeve axis and the bolt axis, and ensuring smooth and efficient bolt disassembly and assembly process. This over-regulation process occurs passively and does not require active control. Selecting the appropriate air pressure can ensure automatic adjustment capability and ensure the stability of the connection.

[0053] In summary, the intelligent disassembly and assembly device for blowout preventer bolts provided in this embodiment can effectively reduce operating vibration, extend the service life of the equipment, and improve the recognition accuracy through the cooperation of the flexible connection mechanism 200 and the floating mechanism 300, effectively solving the problem of automatic bolt recognition. Compared with manual use of a starting wrench to disassemble and assemble bolts, it reduces labor intensity and operating risks, improves disassembly and assembly efficiency, and eliminates the difficulty in disassembly caused by insufficient torque of the starting wrench and the safety hazards caused by loosening the bolts by knocking.

[0054] Based on the intelligent disassembly and assembly device for blowout preventer bolts provided in this embodiment, an intelligent disassembly and assembly system for blowout preventer bolts is proposed, including the above-mentioned intelligent disassembly and assembly device 10 for blowout preventer bolts, and also including a bolt storage rack 20, a bolt cleaning machine 30 and a conveying device 40, such as Fig.10 As shown. Among them, the conveying device 40 is used to convey the blowout preventer to the work station, the bolt storage rack 20 is used to store the bolts, and the bolt cleaning machine 30 is used to clean the removed bolts. Furthermore, the intelligent disassembly and assembly system uses two intelligent disassembly and assembly devices 10 for blowout preventer bolts equipped with torque wrenches 400 of different specifications. The intelligent disassembly and assembly device 10 for blowout preventer bolts equipped with a large-size torque wrench 400 is used for the initial stage of disassembling the bolts and the end stage of tightening the bolts to provide sufficient torque, and the other uses a small-size torque wrench 400 for tightening to improve efficiency and reduce energy consumption. The use of two specifications of torque wrenches 400 can improve the efficiency of disassembling and assembling bolts and reduce energy consumption. Specifically, a 15kNm torque wrench and a 400Nm torque wrench can be selected.

[0055] Based on the intelligent disassembly and assembly device for blowout preventer bolts provided in this embodiment, a method for intelligent disassembly and assembly of blowout preventer bolts is proposed, which uses the intelligent disassembly and assembly device for blowout preventer bolts, and includes the following steps:

[0056] Data collection: Collect image data of different bolts under different lighting, angles, positions, color differences, and stain levels, and mark the position and model of the bolt corresponding to each image;

[0057] Constructing a bolt position and model recognition model: constructing a recognition model based on the image data in the data collection step.

[0058] Bolt disassembly and assembly: Use the camera to obtain the bolt image and identify it with the recognition model, thereby guiding the wrench to disassemble and assemble the bolt.

[0059] Among them, in the bolt insertion step, the robot uses a visual camera to perform 2D measurement of the bolt according to the program-set trajectory, and then calculates the offset between the bolt and the coordinates set by the program, so as to adjust the wrench posture in conjunction with the laser rangefinder and move to the bolt position that needs to be tightened.

[0060] In building a bolt position and model recognition model, the collected image data needs to be preprocessed to improve recognition accuracy. For example, image enhancement technology is used to improve image quality, reduce noise, and adjust image brightness, contrast, and color balance. In addition, a deep learning method is used to build a model for bolt position and model recognition.

[0061] Specifically, by inputting the labeled image data into the model for training, the model can learn features and patterns to accurately identify different bolt positions and models. The labeled image dataset is then used to train the deep learning model. During the training process, techniques such as data augmentation, batch normalization, and regularization can be applied to improve the generalization ability and accuracy of the model.

[0062] At the same time, appropriate hyperparameter adjustment and model optimization should be performed to obtain the best recognition results, that is, a set of independent test data sets should be used to test and evaluate the trained model, and indicators such as prediction accuracy, recall rate, and precision should be calculated to evaluate the performance of the model. If the model performance is not ideal, the model can be improved by fine-tuning the model, adjusting parameters, or adding more training data, so that the trained model can be applied to actual scenarios.

[0063] In real-time applications, it is necessary to consider the characteristics of the image acquisition equipment and environmental conditions to ensure that the model input matches the actual situation. It is also possible to combine technologies such as target detection or image segmentation to match the recognition results with the actual image to improve the accuracy and reliability of recognition. It is worth noting that the process of achieving accurate recognition may require a large amount of data and computing resources, and requires repeated training and optimization. At the same time, according to the specific application scenario, customized training and adjustment models are required for different bolt positions and models.

[0064] The algorithm consists of four parts: input, Backbone, Neck, and Head. The input uses Mosaic data enhancement, adaptive initial anchor frame calculation, and image scaling to preprocess the image; Backbone uses Focus downsampling, improved CSP structure, and SPP pooling pyramid structure to extract the feature information of the image; Neck mainly uses the FPN+PAN feature pyramid structure to achieve the transmission of feature information of targets of different sizes and solve the multi-scale problem; Head uses three loss functions to calculate classification, positioning, and confidence losses respectively, and improves the accuracy of network prediction through NMS.

[0065] Among them, the Conv module is a composite convolution module, which is the basic component of many important modules. Its structure is as follows: Fig.11 As shown in the figure. This module encapsulates the convolution layer, BN layer and activation function layer. The convolution layer uses the autopad function to achieve the effect of adaptive padding. The Focus module structure first divides the input image into 4 parts according to 2 times downsampling, and then splices it in the channel dimension to obtain a 12-dimensional feature map, and then further extracts feature information through a 3×3 composite convolution module to generate a 32-dimensional feature map. Focus downsampling not only reduces information loss, but also reduces the FLOPs caused by convolution through reshaping, thereby improving the speed of the network.

[0066] Bottleneck is a basic residual block, which is stacked and embedded into the C3 module for feature learning. The structure is as follows Fig.12 As shown in Figure 2. Two Conv modules are used to reduce the number of channels and then expand them to align them, so as to extract feature information, and a shortcut is used to control whether to perform residual connection. The C3 module is an improved Bottleneck CSP module, and its structure is as follows: Fig.13 As shown in Figure 2. In the C3 module, the input feature map passes through two branches. The first branch first passes through a Conv module and then learns the features through a stacked Bottleneck module. The other branch is used as a residual connection and only passes through one Conv module. The two branches are finally spliced ​​by channel and then output through a Conv module.

[0067] The SPP module is a spatial pyramid pooling module that can expand the receptive field. The structure is as follows Fig.14 As shown in the figure, the input feature map is first passed through a Conv module to halve the number of channels, and then three different convolution kernels are used for maximum pooling downsampling. The three pooling results are then concatenated with the input feature map by channel. The number of channels after merging is twice the original number, which maximizes the receptive field at a relatively low cost.

[0068] In the Neck part, cross-layer weighted connections are added between input and output nodes of the same size. The cross-layer cascade structure can effectively integrate shallow details, edges, contours and other information into the deep network. It can integrate shallow detail information of the target without increasing the amount of calculation, making the network more accurate in regressing the target boundary and effectively improving the intersection-over-union ratio between the predicted box and the real box. At the same time, considering that the integration of shallow features will have a certain impact on deep semantic information when using cross-layer cascade, a learnable way of fusion is adopted. In the process of feature fusion, since the information flow speed of the top and bottom nodes is fast and the number of convolutions experienced is small, the loss of detail information is not much. In order to reduce the complexity of the model, the concat operation is directly used to perform feature fusion by channel. For nodes in other layers, the concat operation is used for feature fusion on adjacent paths, and the weighted add operation with learnable weights is used for feature fusion on non-adjacent paths. The add operation can reduce both the amount of calculation and the fusion of invalid shallow information.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent disassembly and assembly device for blowout preventer bolts, characterized in that: It comprises an industrial robot (100), a flexible connection mechanism (200), a floating mechanism (300), a torque wrench (400) and a sleeve (500); The sleeve (500) is mounted on the torque wrench (400), the torque wrench (400) is mounted on the floating mechanism (300), the floating mechanism (300) is mounted on the flexible connection mechanism (200), and the flexible connection mechanism (200) is mounted on the industrial robot (100); The floating mechanism (300) comprises a connecting ring (310) and a floating ring (320), the torque wrench (400) is inserted into the connecting ring (310), and the floating ring (320) can move along its own axial direction to press the connecting ring (310); The flexible connection mechanism (200) is used to drive the floating mechanism (300) to swing around its own axis and move along its own axis.

2. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 1, characterized in that: The connecting ring (310) comprises a ring body (311) and a connecting shaft (312), wherein a plurality of connecting shafts (312) are arranged around the axis of the ring body (311); a plurality of floating grooves (321) are arranged on one side of the floating ring (320) close to the connecting ring (310); The ring body (311) is inserted into the floating ring (320), and the connecting shaft (312) is embedded in the floating groove (321).

3. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 2, characterized in that: The floating mechanism (300) further comprises a pushing component (330), wherein the pushing component (330) is connected to the floating ring (320) to drive the floating ring (320) to move along its own axis; The pushing assembly (330) comprises a driving ring body (331), a first pushing rod (332) and a second pushing rod (333); The first push rod (332) is inserted into the driving ring body (331) and connected to the floating ring (320), and is used to drive the floating ring (320) to approach the connecting ring (310); The second push rod (333) is inserted into the driving ring body (331) and connected to the floating ring (320), and is used to drive the floating ring (320) away from the connecting ring (310).

4. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 3 is characterized in that: The flexible connection mechanism (200) comprises a connection seat (210) and a swing cylinder (220); The floating mechanism (300) is rotatably mounted on the connecting seat (210), the swing cylinder (220) is mounted on the connecting seat (210) and connected to the floating mechanism (300), and the swing cylinder (220) is extended and retracted to drive the floating mechanism (300) to swing around its own axis.

5. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 4, characterized in that: The flexible connection mechanism (200) further comprises a fixing seat (230) and a joint cylinder (240), wherein the joint cylinder (240) is mounted on the fixing seat (230), and the connection seat (210) is slidably connected to the fixing seat (230); The engaging cylinder (240) is connected to the connecting seat (210) to push the connecting seat (210) to slide, thereby driving the floating mechanism (300) to move along its own axial direction.

6. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 5, characterized in that: It also includes a flexible clamp (600), wherein the flexible clamp (600) includes a clamping claw (610), a finger cylinder (620), a first telescopic cylinder (630) and a second telescopic cylinder (640); The two clamping claws (610) are installed on the finger cylinder (620) for clamping bolts; the finger cylinder (620) is installed on the first telescopic cylinder (630), the first telescopic cylinder (630) is installed on the second telescopic cylinder (640), and the second telescopic cylinder (640) is connected to the connecting seat (210); The telescopic directions of the first telescopic cylinder (630) and the second telescopic cylinder (640) are perpendicular to each other.

7. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 6, characterized in that: Also included is an identification and guidance mechanism, which includes a camera and a laser rangefinder; The camera is used to identify the position of the bolt, and the laser rangefinder is used to measure the position of the bolt.

8. The intelligent disassembly and assembly device for blowout preventer bolts according to claim 7, characterized in that: It also includes a reaction force arm (700), wherein the reaction force arm (700) is mounted on the torque wrench (400).

9. An intelligent disassembly and assembly system for blowout preventer bolts, characterized in that: An intelligent disassembly and assembly device for blowout preventer bolts comprising any one of claims 1 to 8, further comprising a bolt storage rack (20), a bolt cleaning machine (30) and a conveying device (40); The conveying device (40) is used to convey the blowout preventer, the bolt storage rack (20) is used to store the bolts, and the bolt cleaning machine (30) is used to clean the removed bolts.

10. A method for intelligent disassembly and assembly of blowout preventer bolts, using the intelligent disassembly and assembly device for blowout preventer bolts as claimed in claim 8, characterized in that: The steps include: Data collection: Collect image data of different bolts under different lighting, angles, positions, color differences, and stain levels, and mark the position and model of the bolt corresponding to each image; Build a bolt position and model recognition model: Build a recognition model based on the image data in the data collection step Bolt disassembly and assembly: Use the camera to obtain the bolt image and identify it with the recognition model, thereby guiding the wrench to disassemble and assemble the bolt.

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