Continuous automatic rapid cutting device suitable for blowout out-of-control emergency rescue

Abstract

The invention discloses a continuous automatic rapid cutting device suitable for blowout out-of-control emergency rescue, and relates to the technical field of well control emergency rescue, the continuous automatic rapid cutting device comprises an oxygen supply pipe, a mechanical arm, a feeding assembly and a cutting rope, the mechanical arm is a multi-joint tandem type mechanical arm, and the feeding assembly comprises a cutting rope conveying disc and a feeding machine; the cutting rope conveying disc is installed at a first pitching joint of the mechanical arm, one feeding machine is correspondingly arranged at the output end of the cutting rope conveying disc, the other feeding machine is arranged at the execution tail end of the mechanical arm, the feeding machine I feeds a cutting rope into the feeding machine II, and the feeding machine II conveys the cutting rope to a designated position. The cutting rope is wound inside the cutting rope conveying disc, the oxygen supply pipe is connected with the cutting rope conveying disc, a straightening guide sleeve is installed on the feeding machine, and a guide pipe is arranged on a conveying path. According to the device, the bent cutting rope used in the rapid cutting process is straightened and conveyed in a targeted mode, and the structure of the cutting rope cannot be damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of well control emergency rescue, and more particularly to a continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled well blowout. Background Art

[0002] In oil and gas well rescue operations, in order to regain control of an out-of-control well, the old wellhead needs to be removed and a new one installed, which creates a need for rapid field demolition. Currently, the main rapid cutting technologies used are burning rod cutting and hydraulic sandblasting device cutting. Burning rod rapid cutting technology is widely used, but it currently requires manual handheld burning rods for cutting. The burning rods used can be up to 6 meters long. This excessive length not only increases the labor intensity of construction workers, but also makes them more likely to suffer personal safety accidents. Furthermore, the complex environment at the rescue site makes it difficult to maintain a continuous and stable cutting state, making it difficult to quickly and effectively cut the oil blowout port, resulting in delays in the progress of oil and gas well rescue operations.

[0003] The existing technology of robotic arms can replace manual work, and the risk factor is reduced dramatically. The cutting ropes used are mostly disc-shaped and have a certain curvature. During the cutting process, the cutting rope is required to remain in a straight state, so the disc-shaped cutting rope needs to be straightened. However, since the cutting rope is made of an external metal hose embedded with multiple cutting wires, the straightening and transportation process must ensure that it can be straightened and the metal hose must not be damaged to prevent oxygen leakage. At the same time, it should be straightened while being fed. The existing straightening machine for straightening steel bars or steel wires will damage the metal hose during the straightening process and cannot meet the requirements. Summary of the Invention

[0004] In order to overcome the defects existing in the above-mentioned prior art, the present invention discloses a continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowouts. The purpose of the present invention is to solve the problem in the prior art that the straightening mechanism will damage the cutting rope during the straightening process, and the straightening and feeding should be carried out at the same time, which is inefficient.

[0005] In order to achieve the above objectives, the present invention adopts the following technical solutions: A continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowouts includes an oxygen supply pipe, a robotic arm, a feeding assembly and a cutting rope. The robotic arm is a multi-joint serial robotic arm. The feeding assembly includes a cutting rope conveyor disc and a feeder. The cutting rope conveyor disc is installed at the first joint of the robotic arm. There are at least two feeders, one corresponding to the output end of the cutting rope conveyor disc, and the other is arranged at the execution end of the robotic arm. Feeder I feeds the cutting rope into feeder II, and feeder II conveys the cutting rope to a designated position. The cutting rope is wound inside the cutting rope conveyor disc. The oxygen supply pipe is connected to the cutting rope conveyor disc and continuously supplies combustion-supporting oxygen to the cutting rope inside. A guide sleeve is provided for use with the feeder. The guide sleeve I is connected to the outlet of feeder I, and the guide sleeve II is connected to the outlet of feeder II. A guide pipe is provided on the conveying path between the cutting rope conveyor disc and feeder II.

[0006] Preferably, the robotic arm includes a base, on which a waist swivel joint is fixed, the waist swivel joint is connected to one end of the upper arm pitch joint through a fixed axis, the upper arm pitch joint is driven by a servo cylinder to perform up and down pitching movements, the other end of the upper arm pitch joint is connected to one end of the forearm pitch joint through a fixed axis, the forearm pitch joint is driven by a servo cylinder to perform up and down pitching movements, a feeder I is installed thereon, the other end of the forearm pitch joint is connected to the wrist pitch joint through a fixed axis, the wrist pitch joint is linearly connected to the wrist rotation joint, a feeder II is installed on the wrist rotation joint, and the rotation axes of the two are perpendicular to each other, with five degrees of freedom of waist rotation, upper arm pitch, forearm pitch, wrist pitch and wrist rotation.

[0007] Preferably, multiple feeders are provided, corresponding to the number of pitch joints of the robotic arm.

[0008] Preferably, the feeder includes a compression transmission structure, a motor and a righting rod. The compression transmission structure is installed on the base, the motor is connected to the compression transmission mechanism, and the transmission rate is controlled according to requirements. The righting rod is installed on the base, and the cutting rope passes through the righting rod and faces the bell mouth at the entrance of the compression transmission structure.

[0009] Preferably, the clamping transmission structure includes a clamping connecting rod, which is connected to a clamping arm, which is driven by a hydraulic cylinder, and an active clamping wheel and an auxiliary clamping wheel are provided below the clamping arm. The motor drives the active clamping wheel, which abuts against the active wheel below, and a transmission gear is connected between the active wheel and the driven wheel of the same height, which abuts against the auxiliary clamping wheel above. Each pulley is provided with a groove to facilitate the clamping of the transmission cutting rope.

[0010] Preferably, the cutting rope conveyor disc can be adjusted to wind cutting ropes of different lengths according to actual feeding requirements, is provided with a mounting port, and an oxygen tube interface for connecting the oxygen supply tube is provided at the side axis thereof.

[0011] Preferably, the oxygen supply pipe joint is configured as a rotary joint.

[0012] Preferably, the cutting rope is made of an outer metal hose embedded with a cutting material, has an oxygen delivery channel therein, and has good flexibility and is bendable.

[0013] Preferably, it also includes a heat insulation plate installed at the execution end of the robotic arm.

[0014] Preferably, a camera is further included, which is connected to the inner side of the heat insulation board to monitor the cutting status in real time.

[0015] Beneficial effects of the present invention: 1. Compared with the existing technology, feeder I and feeder II are installed at intervals. Feeder I is installed at the output end of the cutting rope conveyor disk, and feeder II is installed on the execution end of the robotic arm. The cutting rope is conveyed by the cutting rope conveyor disk arranged at the first joint of the robotic arm, and the cutting rope is continuously, automatically and stably fed out. When passing through the straightening sleeve I arranged at the outlet of feeder I, the cutting rope can be constrained and the friction resistance of the cutting rope in the subsequent transmission process can be reduced. After passing through feeder II and the straightening sleeve II at the outlet, the straightening sleeve II can support the cutting rope to extend straightly as far as possible, reducing the heat radiation of the high temperature wave at the wellhead to the robotic arm and the feeding device. Taking into account the cutting rope transmission requirements of different parts, the cutting rope is guided and conveyed in a targeted manner. It has a reasonable structure, is easy to use, and is not easy to cause damage to the cutting rope.

[0016] 2. In the present invention, the robotic arm has five degrees of freedom, namely waist rotation, upper arm pitch, lower arm pitch, wrist pitch and wrist rotation. It has high degrees of freedom and strong flexibility. Using the robotic arm instead of manual labor can effectively reduce the operating risks of on-site workers and is suitable for well control and rescue work in complex situations.

[0017] 3. In the present invention, the cutting rope conveyor disc can be wound with cutting ropes of different lengths according to actual needs, which is convenient for the storage of cutting rope raw materials, effectively saves costs and avoids waste. It is also provided with a mounting hole for easy disassembly and replacement.

[0018] 4. In the present invention, the camera and heat shield provided at the far end of the robotic arm can monitor the cutting status in real time and rationally design the cutting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a front view of the feeder of the present invention; Figure 3 It is an oblique view of the feeder of the present invention; Figure 4 It is a three-dimensional schematic diagram of the present invention; Reference numerals: 1. Oxygen supply tube; 2. Cutting rope conveyor disc; 3. Robotic arm; 4. Guide tube; 5. Feeder I; 6. Straightening sleeve I; 7. Feeder II; 8. Camera; 9. Heat shield; 10. Straightening sleeve II; 11. Cutting rope; 12. Motor; 13. Righting rod; 14. Base; 15. Clamping link; 16. Clamping arm; 17. Transmission gear; 18. Driving wheel; 19. Active clamping wheel. DETAILED DESCRIPTION

[0020] The following will provide a clear and complete description of the concept, specific structure and technical effects of the present invention in conjunction with the embodiments and drawings, so as to fully understand the purpose, features and effects of the present invention. Specific implementation method: like Figure 1 As shown, a continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowouts includes an oxygen supply pipe 1, a robotic arm 3, a feeding assembly and a cutting rope 11. The robotic arm 3 is a multi-joint serial robotic arm driven by a hydraulic cylinder. The feeding assembly includes a cutting rope conveyor disc 2 and a feeder. The cutting rope conveyor disc 2 is installed at the first joint of the robotic arm 3 and rotates with the arm. There are at least two feeders, one corresponding to the output end of the cutting rope conveyor disc 2, and the other is arranged at the execution end of the robotic arm 3. The feeder I5 feeds the cutting rope into the feeder II7, and the feeder II7 conveys the cutting rope 11 to the designated position. The above-mentioned cutting rope 11 is wound inside the cutting rope conveyor disc 2 for easy transportation. The above-mentioned oxygen supply pipe 1 is connected to the cutting rope conveyor disc 2 and cuts the rope inside. The rope 11 continuously transports oxygen to support combustion. Whether there is enough oxygen will directly affect the cutting efficiency. A straightening sleeve is provided for use with the feeder. The straightening sleeve Ⅰ6 is connected to the outlet of the feeder Ⅰ5. The friction resistance of the straightened cutting rope 11 during transportation is reduced, which is convenient for transportation. The straightening sleeve Ⅱ10 is connected to the outlet of the feeder Ⅱ7. The straightened cutting rope 11 can be output over a longer distance, so that the wellhead to be cut is as far away from the robot arm 3 as possible, avoiding high temperature heat waves from damaging the robot arm 3 and its combined feeding components. A guide pipe 4 is provided on the transportation path. The guide pipe 4 is preferably a flexible pipe that can be bent, and a transportation channel for the cutting rope 11 at the joints and other parts of the robot arm 3 is established to guide and protect the cutting rope 11 from external influences.

[0022] like Figure 1As shown, the above-mentioned robotic arm 3 includes a base 31, on which a waist swivel joint 32 is fixedly provided, and the waist swivel joint 32 is connected to one end of the upper arm pitch joint 33 through a fixed axis, and the upper arm pitch joint 33 is driven by a servo cylinder to perform up and down pitching movements, and the other end of the upper arm pitch joint 33 is connected to one end of the forearm pitch joint 34 through a rotating axis, and the forearm pitch joint 34 is driven by a servo cylinder to perform up and down pitching movements, and a feeder 5 is installed thereon, and the other end of the forearm pitch joint 34 is connected to the wrist pitch joint 35 through a rotating axis, and the wrist pitch joint 35 is linearly connected to the wrist swivel joint 36, and a feeder 7 is installed on the wrist swivel joint 36, and the rotation axes of the two are perpendicular to each other, and the robot has five degrees of freedom, namely waist rotation, upper arm pitch, forearm pitch, wrist pitch and wrist rotation.

[0023] There are multiple feeders, corresponding to the number of pitch joints of the robotic arm. The movement properties of the pitch joints will cause a large curvature of the cutting rope 11 during the conveying process. Feeders need to be set up for subsequent conveying. The number of feeders can be increased or decreased according to actual conditions. The curvature of the cutting rope 11 caused by the rotating joints is small and can be ignored. As for the number of rotating joints, there is no necessary relationship between the number of feeders. They can be added according to the actual situation on site. The function of the feeder is to straighten and convey, and it can be freely designed according to the project.

[0024] like Figure 2 and Figure 3 As shown, the feeder includes a compacting transmission structure, a motor 12 and a straightening rod 13. The compacting transmission structure is installed on a base 14. The motor 12 is connected to the compacting transmission mechanism to provide compacting and conveying power and control the conveying rate as required. The straightening rod 13 is installed on the base 14. Since the cutting rope 11 is made of soft material, during the process of automatically conveying the cutting rope 11, the guide tube 4 on the conveying path can ensure that the cutting rope 11 is aligned with the bell mouth of the entrance of the compacting transmission structure after passing through the straightening rod 13, and then the compacting transmission process is carried out.

[0025] The compression transmission structure includes a compression connecting rod 15, which is connected to a compression arm 16. An active compression wheel 19 and an auxiliary compression wheel are installed below the compression arm 16. The active compression wheel 19 abuts against the active wheel 18 below. A transmission gear 17 is connected between the active wheel 18 and the driven wheel of the same height. The transmission gear 17 transmits kinetic energy, the driven wheel abuts against the auxiliary compression wheel above, and the active wheel 18 feeds the material. The two compression wheels realize the compression effect, and each pulley is provided with a groove to facilitate the compression of the transmission cutting rope 11. After the cutting rope 11 enters the feeder, the clamping arm 16 drives the active clamping wheel 19 to clamp the cutting rope 11 on the driving wheel 18, and the auxiliary clamping wheel clamps the cutting rope 11 on the driven wheel. The motor 12 installed on the pressure arm 16 provides power, which is transmitted to the driving wheel 18 through the active clamping wheel 19. The kinetic energy is transmitted between the driving wheel 18 and the driven wheel of the same height through the transmission gear 17. The pulleys are all provided with grooves for clamping the cutting rope 11 to facilitate transmission.

[0026] The above-mentioned cutting rope conveyor disc 2 can be adjusted to wind cutting ropes 11 of different lengths according to actual feeding requirements, saving materials and avoiding waste. It is provided with a mounting port for easy replacement, ensuring the storage and replacement of cutting rope raw materials. An oxygen tube interface is provided at the side axis to connect the oxygen supply tube 1.

[0027] The oxygen supply pipe is provided with a rotary joint to ensure that the oxygen supply pipe 1 will not be entangled or knotted when the cutting rope conveying disc 2 conveys the cutting rope 11 and rotates.

[0028] The cutting rope 11 is made of an outer metal hose embedded with cutting material. The addition of special materials enables high-temperature and rapid cutting. There is a channel for transporting oxygen inside, and oxygen assists combustion. It has good flexibility and can be bent to meet the action state of the robotic arm joint. It is easy to store and transport, reducing storage space.

[0029] It also includes a heat insulation plate 9 installed on the execution end of the robotic arm to further reduce the damage of high temperature heat waves to the robotic arm and mounted components, ensuring that they can work normally. High temperature heat waves can cause great damage to these electronic devices. The melting points of many materials are relatively low and are easily affected by high temperatures or directly destroyed.

[0030] It also includes a camera 8, which is connected to the inner side of the above-mentioned insulation board 9 to monitor the cutting status in real time, facilitate real-time updating of the cutting process, and according to the on-site conditions, when the cutting efficiency is low, a faster cutting rope 11 can be replaced or the conveying speed of the cutting rope can be increased.

[0031] In order to better understand the present invention, the working principle of the present invention is described in detail below: The cutting rope 11 wound in the cutting rope conveyor disc 2 is mounted on the first section of the arm of the robot 3 together with the cutting rope conveyor disc 2. The cutting rope conveyor disc 2 transfers the cutting rope 1 into the soft guide tube 4, easily passes through the first joint of the robot 3, and then enters the feeder I5. The feeder I5 continues to convey the cutting rope 11 toward the far end of the robot 3, and enters the soft guide tube 4 through the guide sleeve I6 connected to the outlet of the feeder I5. When the straightened cutting rope 11 passes through the guide tube 4 again, the friction is reduced, which is convenient for transmission, and then enters the feeder II7. It is also compressed and transmitted before entering the guide sleeve II10. The cutting rope 11 straightened by the guide sleeve II10 can be stretched straight and farther, so that the robot 3 is at a farther distance from the high-temperature wellhead, effectively preventing damage to the robot 3 and its mounting components caused by high-temperature heat radiation.

[0032] The above is a detailed description of the embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without departing from the spirit of the present invention. These equivalents or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout, characterized by: It comprises an oxygen supply pipe (1), a mechanical arm (3), a feeding assembly and a cutting rope (11), wherein the mechanical arm (3) is a multi-joint serial type mechanical arm, and the feeding assembly comprises a cutting rope conveying disc (2) and a feeder, wherein the cutting rope conveying disc (2) is installed at the first joint of the mechanical arm (3), and there are at least two feeders, one of which is arranged at the output end of the cutting rope conveying disc, and the other is arranged at the execution end of the mechanical arm, and the feeder I (5) feeds the cutting rope into the feeder II (7), and the feeder II (7) conveys the cutting rope (11) to a designated position, and the cutting rope (11) is wound inside the cutting rope conveying disc (2), and the oxygen supply pipe (1) is connected to the cutting rope conveying disc (2) and continuously supplies combustion-supporting oxygen to the cutting rope (11) inside; A guide sleeve is installed on the feeder, wherein the guide sleeve I (6) is connected to the outlet of the feeder I (5), and the guide sleeve II (10) is connected to the outlet of the feeder II (7); A guide tube (4) is provided on the conveying path between the cutting conveying disc (2) and the feeder II (7).

2. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: The mechanical arm (3) comprises a base (31), on which a waist swivel joint (32) is fixedly arranged, the waist swivel joint (32) is connected to one end of a boom pitch joint (33) via a fixed axis, the boom pitch joint (33) is driven by a servo oil cylinder to perform up and down pitching motion, the other end of the boom pitch joint (33) is connected to one end of a forearm pitch joint (34) via a fixed axis, the forearm pitch joint (34) is driven by a servo oil cylinder to perform up and down pitching motion, a feeder I (5) is mounted on the base, the other end of the forearm pitch joint (34) is connected to a wrist pitch joint (35) via a fixed axis, the wrist pitch joint (35) is linearly connected to a wrist rotation joint (36), a feeder II (7) is mounted on the wrist rotation joint (35), the rotation axes of the two are perpendicular to each other, and the mechanical arm has five degrees of freedom, namely, waist swivel, boom pitch, forearm pitch, wrist pitch and wrist rotation.

3. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: A plurality of feeders are provided, corresponding to the number of pitch joints of the mechanical arm (3).

4. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: The feeder comprises a compacting transmission structure, a motor (12) and a straightening rod (13); the compacting transmission structure is mounted on a base (14); the motor (12) is connected to the compacting transmission mechanism and controls the transmission rate according to requirements; the straightening rod (13) is mounted on the base (14); and the cutting rope (11) passes through the straightening rod (13) and faces the bell mouth at the entrance of the compacting transmission structure.

5. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 4 is characterized by: The clamping transmission structure comprises a clamping connecting rod (15), the clamping connecting rod is connected to a clamping arm (16), the clamping arm (16) is driven by a hydraulic cylinder, an active clamping wheel (19) and an auxiliary clamping wheel are arranged below the clamping arm (16), the motor drives the active clamping wheel (19), the active clamping wheel (19) abuts against the active wheel (18) below, a transmission gear (17) is connected between the active wheel (18) and a driven wheel of the same height, the driven wheel abuts against the auxiliary clamping wheel above, and each pulley is provided with a groove to facilitate the clamping transmission cutting rope (11).

6. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: The cutting rope conveying disc (2) can be adjusted to wind cutting ropes (11) of different lengths according to actual feeding requirements, and is provided with a mounting port. An oxygen pipe interface for connecting the oxygen supply pipe (1) is provided at the side axis thereof.

7. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: The joint of the oxygen supply pipe (1) is configured as a rotary joint.

8. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1 is characterized by: The cutting rope (11) is made of an outer metal hose embedded with a cutting material, has an oxygen delivery channel therein, has good flexibility, and is bendable.

9. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 1, characterized in that: The mechanical arm also includes a heat insulation plate (9) installed on the execution end.

10. The continuous automatic rapid cutting device suitable for emergency rescue of uncontrolled blowout according to claim 9, characterized in that: It also includes a camera (8), which is connected to the inner side of the heat insulation board (9) to monitor the cutting status in real time.

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