A smart device, system and method for removing and installing blowout preventer bolts

Abstract

This invention relates to the field of oil drilling technology, and more particularly to an intelligent device, system, and method for disassembling and assembling blowout preventer (BOP) bolts, aiming to solve the problems of difficulty in disassembling large-size bolts and low work efficiency. The intelligent device for disassembling and assembling BOP bolts provided by this invention includes 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 flexible connection mechanism is used to drive the floating mechanism to swing around its own axis and move along its own axis. The cooperation of the floating mechanism and the flexible connection mechanism eliminates the problems of misalignment and non-concentricity of the torque wrench, sleeve, and bolt axes, allowing the sleeve to quickly position itself with the bolt, improving the efficiency of bolt disassembly and assembly, and reducing the difficulty of bolt disassembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil drilling, and in particular to an intelligent dismounting device, system and method for a blowout preventer bolt. BACKGROUND

[0002] Currently, the dismounting of a blowout preventer bolt is mainly achieved by manual cooperation with a pneumatic wrench, which is low in working efficiency, high in labor intensity, time-consuming and laborious, has certain unsafe factors, and some large-size bolts of the blowout preventer are difficult to dismount by the pneumatic wrench and can only be dismounted by the traditional knocking method, which is low in efficiency and easy to cause damage. SUMMARY

[0003] The present application aims to provide an intelligent dismounting device, system and method for a blowout preventer bolt to solve the problem of difficult dismounting of large-size bolts and low working efficiency.

[0004] To solve the above technical problems, the technical scheme provided by the present application is as follows:

[0005] An intelligent dismounting device for a blowout preventer bolt 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 floating mechanism comprises a connecting ring and a floating ring, the torque wrench is inserted into the connecting ring, and the floating ring is movable along the axis direction thereof to press the connecting ring; the flexible connecting mechanism is used to drive the floating mechanism to swing around the axis thereof and move along the axis thereof.

[0006] Further, the connecting ring comprises a ring body and connecting shafts, and the connecting shafts are arranged around the axis of the ring body; the side of the floating ring close to the connecting ring is provided with a plurality of floating grooves; the ring body is inserted into the floating ring, and the connecting shafts are embedded in the floating grooves.

[0007] Further, the floating mechanism further comprises a pushing assembly connected with the floating ring to drive the floating ring to move along the axis thereof; the pushing assembly comprises 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 with the floating ring to drive the floating ring to move close to the connecting ring; the second push rod is inserted into the driving ring body and connected with the floating ring to drive the floating ring to move away from the connecting ring.

[0008] Further, the flexible connecting mechanism comprises a connecting seat and a swing cylinder; the floating mechanism is rotationally installed on the connecting seat, and the swing cylinder is installed on the connecting seat and connected with the floating mechanism; the swing cylinder is telescopic to drive the floating mechanism to swing around the axis thereof.

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

[0010] Furthermore, the intelligent assembly and disassembly device for the blowout preventer bolts also includes flexible grippers, which include claws, finger cylinders, a first telescopic cylinder, and a second telescopic cylinder; the two claws are mounted on the finger cylinder for gripping the bolts; the finger cylinder is mounted on the first telescopic cylinder, the first telescopic cylinder is mounted on the second telescopic cylinder, and the second telescopic cylinder is connected to the connecting seat; the extension and retraction directions of the first telescopic cylinder and the second telescopic cylinder are perpendicular to each other.

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

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

[0013] In another aspect, the present invention provides an intelligent assembly and disassembly system for blowout preventer bolts, comprising the aforementioned intelligent assembly and disassembly device for blowout preventer bolts, and further 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 disassembled bolts.

[0014] A third aspect of the present invention provides an intelligent method for disassembling and assembling blowout preventer bolts, employing the aforementioned intelligent disassembly and assembly device for blowout preventer bolts, comprising the following steps:

[0015] 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;

[0016] Constructing a bolt location and type identification model: A recognition model is built based on the image data from the data collection step.

[0017] Bolt removal and installation: The camera captures images of the bolts and identifies them using the recognition model, thereby guiding the wrench to remove or install the bolts.

[0018] In summary, the technical effects achieved by this invention are as follows:

[0019] The intelligent assembly and disassembly device for blowout preventer bolts provided by this invention includes an industrial robot, a flexible connection mechanism, a floating mechanism, a torque wrench, and a socket; the socket 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 includes 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 to press 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.

[0020] This invention utilizes a flexible connecting mechanism to drive a floating mechanism to oscillate around and move along its own axis, thereby causing a sleeve to fit onto the bolt, facilitating the installation and removal of bolts with a torque wrench. The floating mechanism adjusts the pressure of the floating ring pressing against the connecting ring, allowing the connecting ring to move radially along the floating mechanism. This allows for adjustment and compensation when the axes of the torque wrench, sleeve, and bolt are not aligned or concentric, ensuring smooth bolt tightening and reducing wear and damage caused by misalignment, thus extending the equipment's lifespan. The cooperation between the floating mechanism and the flexible connecting mechanism enables the sleeve to quickly position itself against the bolt, improving the efficiency of bolt installation and removal and reducing the difficulty of bolt disassembly. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the intelligent disassembly and assembly device for blowout preventer bolts provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the flexible connection mechanism;

[0024] Figure 3 This is a schematic diagram of the internal structure of the floating mechanism;

[0025] Figure 4 This is a schematic diagram of the floating mechanism;

[0026] Figure 5 This is a schematic diagram of the internal structure of one side of the floating mechanism;

[0027] Figure 6 This is a schematic diagram of the internal structure of the other side of the floating mechanism;

[0028] Figure 7 A schematic diagram of the connection between the flexible connection mechanism and the floating mechanism.

[0029] Figure 8 This is a schematic diagram of the flexible gripper structure;

[0030] Figure 9 This is a schematic diagram of another structure of the flexible gripper;

[0031] Figure 10 A schematic diagram of the intelligent assembly and disassembly system for blowout preventer bolts;

[0032] Figure 11 This is a schematic diagram of the Conv structure;

[0033] Figure 12 A schematic diagram of the Bottleneck structure;

[0034] Figure 13 This is a schematic diagram of the C3 structure;

[0035] Figure 14 This is a schematic diagram of the SPP structure.

[0036] Icons: 100 - Industrial robot; 200 - Flexible connection mechanism; 300 - Floating mechanism; 400 - Torque wrench; 500 - Socket; 600 - Flexible gripper; 700 - Reaction arm; 210 - Connecting seat; 220 - Swing cylinder; 230 - Fixed seat; 240 - Engaging 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-Drive 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 Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0039] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] Currently, the bolt removal and installation of blowout preventers mainly rely on manual labor combined with pneumatic wrenches. This method is inefficient, labor-intensive, time-consuming, and poses certain safety risks. Furthermore, some large bolts on blowout preventers are difficult to remove with pneumatic wrenches and can only be removed by traditional hammering methods, which are inefficient and prone to damage.

[0041] In view of this, the present invention provides an intelligent assembly and disassembly 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 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 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 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.

[0042] This invention utilizes a flexible connecting mechanism 200 to drive a floating mechanism 300 to oscillate around and move along its own axis, thereby causing a sleeve 500 to fit onto the bolt, facilitating the torque wrench 400's bolt removal and installation. The floating mechanism 300 adjusts the pressure of the floating ring 320 on the connecting ring 310, allowing the connecting ring 310 to move radially along the floating mechanism 300. This allows for adjustment and compensation when the axes of the torque wrench 400, sleeve 500, and bolt are not aligned or concentric, ensuring smooth bolt tightening and reducing wear and damage caused by concentricity, thus extending the equipment's lifespan. The cooperation between the floating mechanism 300 and the flexible connecting mechanism 200 enables the sleeve 500 to quickly position itself on the bolt, improving bolt removal and installation efficiency and reducing the difficulty of bolt disassembly.

[0043] The following combination Figures 1-9 The structure and shape of the intelligent assembly and disassembly device for blowout preventer bolts provided in this embodiment are described in detail below:

[0044] In this embodiment, the flexible connection mechanism 200 includes a connecting seat 210, a swing cylinder 220, a fixed seat 230, a engagement cylinder 240, and a first linear guide rail 250, as shown below. 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 extends and retracts to drive the floating mechanism 300 to swing around its own axis. The engaging 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 extension and retraction direction of the engaging cylinder 240 is parallel to the length direction of the first linear guide 250. The extension and retraction of the engaging cylinder 240 drives the connecting seat 210 to slide, thereby driving the floating mechanism 300 to move along its own axis, so that the sleeve 500 engages with the bolt. The swing cylinder 220 drives the floating mechanism 300 to rotate around its own axis, thereby driving the sleeve 500 to rotate, so that the sleeve 500 is aligned with the bolt. Through the cooperative use of the swing cylinder 220 and the engaging cylinder 240, the sleeve 500 can be smoothly engaged with the bolt so that the sleeve 500 can drive the bolt to rotate.

[0045] In this embodiment, the floating mechanism 300 includes a connecting ring 310, a floating ring 320, a pushing component 330, and a connecting pin 340. For example... Figure 3 , Figure 6 As shown, the connecting ring 310 includes a ring body 311 and a connecting shaft 312, with multiple connecting shafts 312 arranged around the axis of the ring body 311; the floating ring 320 has multiple floating grooves 321 on the side near the connecting ring 310; the ring body 311 is inserted into the floating ring 320, the connecting shafts 312 are embedded in the floating grooves 321, and the torque wrench 400 is inserted into the ring body 311 and connected to the ring body 311.

[0046] Specifically, the actuating assembly 330 includes a drive ring 331, a first push rod 332, a second push rod 333, a first flange ring 334, and a second flange ring 335. For example... Figure 5As shown, the drive ring body 331 is provided with a first cavity 33a and a second cavity 33b. Multiple first cavities 33a are evenly distributed around the axis of the drive ring body 331, and multiple second cavities 33b are evenly distributed around the axis of the drive ring body 331, with the first cavities 33a and second cavities 33b spaced apart. A first push rod 332 is inserted into the first cavity 33a and connected to the floating ring 320, used to drive the floating ring 320 closer to the connecting ring 310; a second push rod 333 is inserted into the second cavity 33b and connected to the floating ring 320, used to drive the floating ring 320 away from the connecting ring 310. That is, both the first push rod 332 and the second push rod 333 are piston rod structures. A first flange ring 334 and a second flange ring 335 are respectively installed on both sides of the drive ring body 331, and together with the first cavity 33a and the second cavity 33b, they form a piston cavity. That is, both the first push rod 332 and the second push rod 333 are pneumatically driven to achieve flexible locking, thereby realizing the automatic self-alignment of the connecting ring 310.

[0047] In this embodiment, the connecting pin 340 is connected to the second flange ring 335. Correspondingly, the output end of the swing cylinder 220 is engaged with 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.

[0048] In this embodiment, the mounting base is formed by multiple plates connected by bolts to enclose an inner cavity, thereby accommodating the floating mechanism 300. In order to limit the floating mechanism 300 and reduce friction, a roller 260 is provided in the inner cavity of the mounting base. The roller 260 abuts against the floating mechanism 300 and rolls in contact with the floating mechanism 300, that is, the axis of the roller 260 is parallel to the axis of the floating mechanism 300.

[0049] In this embodiment, the intelligent bolt removal and installation device for the blowout preventer also includes a flexible gripper 600, used to cooperate with the torque wrench 400 to pick up and put down the bolt and to replace the socket 500, thereby achieving fully automated bolt removal and installation. Specifically, the flexible gripper 600 includes a chuck 610, a finger cylinder 620, a first telescopic cylinder 630, and a second telescopic cylinder 640, as shown below. Figure 8 , Figure 9 As shown; two grippers 610 are mounted on the finger cylinder 620 for gripping bolts; the finger cylinder 620 is mounted on the first telescopic cylinder 630, the first telescopic cylinder 630 is mounted 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. Both the first telescopic cylinder 630 and the second telescopic cylinder 640 are selected as cylinders with guide rods to ensure stability.

[0050] 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 bolt position, and the laser rangefinder is used to measure the bolt position.

[0051] To enhance output torque for handling large bolts, the intelligent bolt handling device for the blowout preventer also includes a reaction arm 700. The reaction arm 700 is mounted on the torque wrench 400 and, during use, abuts against the bolt near the bolt being tightened to achieve higher output torque, making it suitable for handling ultra-high torque bolts. To ensure flexibility and applicability, the industrial robot 100 is a six-axis robot.

[0052] The working process of the intelligent assembly and disassembly device for blowout preventer bolts provided in this embodiment is as follows:

[0053] The bolt specification and position are identified by the identification and guidance mechanism, and the corresponding sleeve 500 is then clamped by the flexible gripper 600 and installed on the torque wrench 400. The first telescopic cylinder 630 and the second telescopic cylinder 640 can adjust the position of the gripper to grasp the appropriate material. Subsequently, the flexible connection mechanism 200 drives the torque wrench 400, which in turn drives the sleeve 500 to engage with the bolt. At this time, the swing cylinder 220 causes the floating mechanism 300 to swing, thereby adjusting the angle between the sleeve 500 and the bolt for alignment. Simultaneously, the engagement cylinder 240 drives the floating mechanism 300 to move along its own axis, causing the sleeve 500 to press against the bolt, thus completing the connection between the sleeve 500 and the bolt. Afterwards, the torque wrench 400 tightens the bolt for disassembly. After disassembly, the flexible gripper 600 can remove the bolt from the blowout preventer for subsequent cleaning and storage. When installing bolts, the flexible jaws 600 pick up the corresponding bolts and place them into the bolt holes. At the same time, the bolts are straightened so that the sleeve 500 can tighten them. At this time, the clamping force of the jaws 610 on the bolts is small to avoid excessive friction and wear.

[0054] Compared to conventional floating structures that rely on the principle of inclined pins and holes for floating, the floating mechanism 300 provided in this embodiment achieves automatic tilting and eccentricity through pneumatic clamping, allowing the torque wrench 400 to swing freely during operation. That is, the wrench can automatically swing and adjust its tilt during the locking process, ensuring smooth bolt tightening. The flexible connection structure and industrial robot 100 do not require fine-tuning to eliminate connection errors, improving locking efficiency and effectively solving the problems of misalignment and non-concentricity of the wrench, socket 500, and bolt axes. This extends the service life of the torque wrench 400 and avoids decreased gripping performance and bending, deformation, and wear of related parts caused by eccentricity and non-perpendicularity. Locking refers to the process of the socket 500 and bolt engaging.

[0055] Specifically, during operation, the first push rod 332 pushes the floating ring 320 towards the first flange ring 334, thereby causing the floating groove 321 to clamp the connecting shaft 312 with the first flange ring 334, allowing the connecting shaft 312 to move only in the radial direction of the ring body 311. Since the thrust of the first push rod 332 is pneumatic, when the axes of the sleeve 500, torque wrench 400, and bolt are not aligned or concentric, the ring body 311 can move in its own radial direction to adjust concentricity. It can also overcome the thrust of the first push rod 332 to tilt at a certain angle, making the axis of the ring body 311 coincide with the axis of the bolt. That is, the ring body 311 can move in its own radial direction and its own axis can swing, driving the torque wrench to float 360 degrees around its axis. This compensates for the coaxiality error between the sleeve axis and the bolt axis, ensuring a smooth and efficient bolt disassembly and tightening process. This adjustment process occurs passively and does not require active control. Selecting the appropriate air pressure can ensure automatic adjustment capability and connection stability.

[0056] In summary, the intelligent bolt removal and installation device for blowout preventer provided in this embodiment, through the cooperation of the flexible connection mechanism 200 and the floating mechanism 300, can effectively reduce operational vibration, extend equipment service life, and improve the accuracy of bolt identification. It effectively solves the problem of automatic bolt identification. Compared with manual bolt removal and installation using a starter wrench, it reduces labor intensity and operational risks, improves removal and installation efficiency, and eliminates the difficulties in disassembly caused by insufficient torque of the starter wrench and the safety hazards caused by loosening bolts by tapping.

[0057] Based on the intelligent assembly and disassembly device for blowout preventer bolts provided in this embodiment, an intelligent assembly and disassembly system for blowout preventer bolts is proposed. This system includes the aforementioned intelligent assembly and disassembly device 10 for blowout preventer bolts, and also includes a bolt storage rack 20, a bolt cleaning machine 30, and a conveying device 40. Figure 10 As shown in the diagram. The conveying device 40 transports the blowout preventer (BOP) to the work station, the bolt storage rack 20 stores the bolts, and the bolt cleaning machine 30 cleans the removed bolts. Furthermore, the intelligent disassembly and assembly system uses two intelligent disassembly and assembly devices 10 equipped with different torque wrenches 400 for the BOP bolts. The device 10 with the larger torque wrench 400 provides sufficient torque during the initial disassembly and final tightening stages, while the other uses a smaller torque wrench 400 for tightening to improve efficiency and reduce energy consumption. The combined use of the two torque wrenches 400 improves the efficiency of bolt disassembly and assembly and reduces energy consumption; specifically, a 15kNm torque wrench and a 400kNm torque wrench can be selected.

[0058] Based on the intelligent assembly and disassembly device for blowout preventer bolts provided in this embodiment, an intelligent assembly and disassembly method for blowout preventer bolts is proposed. The method using the aforementioned intelligent assembly and disassembly device for blowout preventer bolts includes the following steps:

[0059] 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;

[0060] Construct a bolt location and model identification model: Build an identification model based on the image data from the data collection step.

[0061] Bolt removal and installation: The camera captures images of the bolts and identifies them using the recognition model, thereby guiding the wrench to remove or install the bolts.

[0062] In the bolt insertion step, the robot uses a vision camera to perform 2D measurement of the bolt according to the trajectory set in the program, and then calculates the offset between the bolt and the coordinates set in the program. In this way, it adjusts the wrench posture with the help of the laser rangefinder and moves to the position of the bolt that needs to be tightened.

[0063] In building a model for recognizing bolt location and type, the collected image data needs to be preprocessed to improve recognition accuracy. For example, image enhancement techniques can be used to improve image quality, reduce noise, and adjust image brightness, contrast, and color balance. Furthermore, deep learning methods are employed to construct a model specifically for bolt location and type recognition.

[0064] Specifically, by inputting labeled image data into the model for training, the model learns features and patterns, thereby accurately identifying the location and type of different bolts. The deep learning model is then trained using the labeled image dataset. During training, techniques such as data augmentation, batch normalization, and regularization can be applied to improve the model's generalization ability and accuracy.

[0065] Simultaneously, appropriate hyperparameter tuning and model optimization are necessary to obtain the best recognition results. This involves testing and evaluating the trained model using a set of independent test datasets, calculating metrics such as prediction accuracy, recall, and precision to assess model performance. If the model's performance is unsatisfactory, it can be improved by fine-tuning the model, adjusting parameters, or adding more training data, thereby applying the trained model to real-world scenarios.

[0066] In real-time applications, it's crucial to consider the characteristics of the image acquisition equipment and environmental conditions to ensure the model's input matches the actual situation. Combining techniques such as object detection or image segmentation can further enhance accuracy and reliability by matching the recognition results with the actual image. It's important to note that achieving accurate recognition may require substantial data and computational resources, necessitating repeated training and optimization. Furthermore, depending on the specific application scenario, customized training and model adjustments are necessary for different bolt locations and models.

[0067] The algorithm consists of four parts: input, backbone, neck, and head. The input uses Mosaic data augmentation, adaptive initial anchor box calculation, and image scaling to preprocess the image. The backbone employs Focus downsampling, an improved CSP structure, and an SPP pooling pyramid structure to extract image features. The neck mainly uses an FPN+PAN feature pyramid structure to transfer feature information from targets of different sizes, solving the multi-scale problem. The head uses three loss functions to calculate classification, localization, and confidence losses respectively, and improves the accuracy of network predictions through NMS.

[0068] Among them, the Conv module is a composite convolution module, which is a basic component of many important modules, and its structure is as follows: Figure 11 As shown, this module encapsulates convolutional layers, batch normalization (BN) layers, and activation function layers. The convolutional layers achieve adaptive padding through the autopad function. The Focus module structure first divides the input image into four parts by a 2x downsampling, then concatenates them along the channel dimension to obtain a 12-dimensional feature map, which is further processed by a 3×3 composite convolutional module to extract feature information and generate a 32-dimensional feature map. Focus downsampling not only minimizes information loss but also reduces FLOPs caused by convolution through reshaping, thus improving network speed.

[0069] Bottleneck blocks are basic residual blocks that are stacked and embedded into the C3 module for feature learning, with the structure as follows: Figure 12 As shown. Two Conv modules are used to first reduce and then expand the number of channels for alignment, thereby extracting feature information. A shortcut is used to control whether residual connections are performed. The C3 module is an improved BottleneckCSP module, with the structure shown below. Figure 13 As shown in the diagram, in module C3, the input feature map passes through two branches. The first branch goes through a Conv module, followed by a stacked Bottleneck module to learn the features. The second branch serves as a residual connection, passing through only one Conv module. The two branches are then concatenated by channel and output through another Conv module.

[0070] The SPP module is a spatial pyramid pooling module that can expand the receptive field, with a structure such as... Figure 14 As shown, the input feature map is first processed by a Conv module to halve the number of channels. Then, max pooling downsampling with three different convolutional kernels is performed. Finally, the three pooling results are concatenated with the input feature map by channel. The number of channels after merging is twice that of the original, which maximizes the receptive field at a relatively low cost.

[0071] In the Neck section, cross-layer weighted connections are added between input and output nodes of the same size. This cross-layer cascade structure effectively integrates shallow details, edges, and contours into the deeper network. It can fuse shallow details of the target with almost no increase in computation, making the network's regression of target boundaries more accurate and effectively improving the intersection-over-union (IoU) ratio of predicted and ground truth boxes. Simultaneously, considering that the integration of shallow features into cross-layer cascades can affect deep semantic information, a learnable method is used for fusion. During feature fusion, because the information flow between top and bottom layer nodes is faster and involves fewer convolutions, the loss of detailed information is minimal. To reduce model complexity, a concat operation is directly used for channel-wise feature fusion. For nodes in other layers, concat is used for adjacent paths, while a weighted add operation with learnable weights is used for non-adjacent paths. The add operation reduces both computation and the fusion of ineffective shallow information.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 dismounting device for blowout preventer bolts, characterized in that, The industrial robot (100), the flexible connecting mechanism (200), the floating mechanism (300), the torque wrench (400) and the sleeve (500) are provided; 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 connecting mechanism (200), and the flexible connecting mechanism (200) is installed 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) is movable along the axis direction of the floating ring (320) to press the connecting ring (310); The flexible connecting mechanism (200) is used for driving the floating mechanism (300) to swing around the axis of the floating mechanism (300) and to move along the axis of the floating mechanism (300); The connecting ring (310) comprises 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); and the floating ring (320) is provided with a plurality of floating grooves (321) on the side 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); The floating mechanism (300) further comprises a pushing assembly (330) connected with the floating ring (320) to drive the floating ring (320) to move along the axis of the floating ring (320); The pushing assembly (330) comprises a driving ring body (331), a first push rod (332) and a second push rod (333); The first push rod (332) is inserted into the driving ring body (331) and connected with the floating ring (320) to drive the floating ring (320) to move close to the connecting ring (310); The second push rod (333) is inserted into the driving ring body (331) and connected with the floating ring (320) to drive the floating ring (320) to move away from the connecting ring (310); The flexible connecting mechanism (200) comprises a connecting seat (210) and a swing cylinder (220); The floating mechanism (300) is rotatably installed on the connecting seat (210), the swing cylinder (220) is installed on the connecting seat (210) and connected with the floating mechanism (300), and the swing cylinder (220) is telescopic to drive the floating mechanism (300) to swing around the axis of the floating mechanism (300); The flexible connecting mechanism (200) further comprises a fixing seat (230), an engaging cylinder (240) and a first linear guide rail (250), the engaging cylinder (240) is installed on the fixing seat (230), and the connecting seat (210) is slidably connected with the fixing seat (230); The engaging cylinder (240) is connected with the connecting seat (210) to push the connecting seat (210) to slide, so as to drive the floating mechanism (300) to move along the axis of the floating mechanism (300). The connecting seat (210) is mounted on the slider of the first linear guide rail (250), and the first linear guide rail (250) is mounted on the fixed seat (230); When the sleeve (500), the torque wrench (400) and the bolt axis do not coincide and are not concentric, the ring body (311) can move along the radial direction of itself to adjust the concentricity, and can overcome the thrust of the first push rod (332) to tilt at a certain angle to make the axis of the ring body (311) coincide with the axis of the bolt.

2. The intelligent dismounting device of the blowout preventer bolt according to claim 1, characterized in that, Further comprising a flexible clamp jaw (600), the flexible clamp jaw (600) comprising a jaw (610), a finger air cylinder (620), a first telescopic cylinder (630) and a second telescopic cylinder (640); Two said jaws (610) are mounted on the finger air cylinder (620) for clamping the bolt; the finger air cylinder (620) is mounted on the first telescopic cylinder (630), the first telescopic cylinder (630) is mounted on the second telescopic cylinder (640), and the second telescopic cylinder (640) is connected with the connecting seat (210); The telescopic directions of the first telescopic cylinder (630) and the second telescopic cylinder (640) are perpendicular to each other.

3. The intelligent dismounting device of the blowout preventer bolt according to claim 2, characterized in that, Further comprising an identification guiding mechanism, the identification guiding mechanism comprising a camera and a laser range finder; The camera is used to identify the position of the bolt, and the laser range finder is used to measure the position of the bolt.

4. The intelligent dismounting device of the blowout preventer bolt according to claim 3, characterized in that, Further comprising a reaction force arm (700) mounted on the torque wrench (400).

5. An intelligent dismounting system of a blowout preventer bolt, characterized in that, The intelligent dismounting device for the blowout preventer bolt comprises the blowout preventer bolt, 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 bolt, and the bolt cleaning machine (30) is used to clean the dismounted bolt.

6. An intelligent dismounting method of a blowout preventer bolt, using the intelligent dismounting device of the blowout preventer bolt according to claim 4, characterized in that, The method comprises the following steps: Data collection: collecting image data of different bolts under different light, angle, position, color difference and stain degree, and marking the position and type of the bolt corresponding to each picture; Building a bolt position and type identification model: establishing an identification model according to the image data in the data collection step Bolt dismounting: acquiring a bolt picture by using a camera and identifying the bolt by using the identification model, and then guiding a wrench to dismount the bolt.

Images