A continuous automatic rapid cutting device suitable for emergency rescue of runaway wells.

Abstract

This invention discloses a continuous automatic rapid cutting device suitable for emergency rescue of well blowouts, belonging to the field of well control emergency rescue technology. It includes an oxygen supply pipe, a robotic arm, a feeding assembly, and a cutting rope. The robotic arm is a multi-joint tandem robotic arm. The feeding assembly includes a cutting rope conveyor reel and a feeder. The cutting rope conveyor reel is installed at the first pitch joint of the robotic arm. There are at least two feeders, one corresponding to the output end of the cutting rope conveyor reel and the other at the execution end of the robotic arm. Feeder I feeds the cutting rope into feeder II, which then transports the cutting rope to a designated position. The cutting rope is wound inside the cutting rope conveyor reel. The oxygen supply pipe is connected to the cutting rope conveyor reel. A straightening sleeve is installed on the feeder, and a guide pipe is provided along the conveying path. This invention specifically straightens and transports the bent cutting rope used in the rapid cutting process without damaging its structure.

Description

Technical Field

[0001] This invention relates to the field of well control emergency rescue and disaster relief technology, and more specifically to a continuous automatic rapid cutting device suitable for emergency rescue of well blowouts. Background Technology

[0002] In oil and gas well rescue operations, regaining control of out-of-control wells requires removing the old wellhead and installing a new one, necessitating rapid field demolition. Currently, the main rapid cutting technologies used are incendiary rod cutting and hydraulic blasting. Incendiary rod cutting is widely used, but it currently requires manual operation with the rod held by hand. The rods used can be up to 6 meters long, which not only increases the labor intensity of workers but also increases the risk of personal injury accidents. Furthermore, the complex environment at rescue sites makes it difficult to maintain a continuous and stable cutting state, hindering the rapid and effective cutting of the wellhead and thus delaying the progress of oil and gas well rescue operations.

[0003] Existing robotic arms can replace manual labor, significantly reducing the risk factor. The cutting ropes they use are mostly coiled and have a certain curvature. During the cutting process, the cutting rope is required to remain straight, so it is necessary to straighten the coiled cutting rope. However, since the cutting rope is made of multiple cutting wires embedded in an external metal hose, the straightening and feeding process must ensure that it can be straightened while ensuring that the metal hose is not damaged to prevent oxygen leakage. At the same time, it should be straightened and fed in simultaneously. Existing straightening machines for rebar or wire 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 in the prior art, the present invention discloses a continuous automatic rapid cutting device suitable for emergency rescue of blowout. The purpose of the present invention is to solve the problem that the straightening mechanism in the prior art will damage the cutting rope during the straightening process, and at the same time, it should be straightened and fed in simultaneously, which is not efficient.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A continuous automatic rapid cutting device suitable for emergency rescue of blowout failure includes an oxygen supply pipe, a robotic arm, a feeding assembly, and a cutting rope. The robotic arm is a multi-joint tandem robotic arm. The feeding assembly includes a cutting rope conveyor reel and a feeder. The cutting rope conveyor reel 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 reel and the other 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 reel. The oxygen supply pipe is connected to the cutting rope conveyor reel and continuously supplies combustion-supporting oxygen to the internal cutting rope. A guide sleeve is provided to cooperate 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 reel and feeder II.

[0007] Preferably, the robotic arm includes a base, on which a waist rotation joint is fixed. The waist rotation joint is connected to one end of a large arm pitch joint via a fixed shaft. The large arm pitch joint is driven by a servo cylinder to perform up-and-down pitching motion. The other end of the large arm pitch joint is connected to one end of a small arm pitch joint via a fixed shaft. The small arm pitch joint is driven by a servo cylinder to perform up-and-down pitching motion. A feeder I is mounted on the small arm pitch joint. The other end of the small arm pitch joint is connected to a wrist pitch joint via a fixed shaft. The wrist pitch joint is linearly connected to a wrist rotation joint. A feeder II is mounted on the wrist rotation joint. The rotation axes of the two are perpendicular to each other, and the robotic arm has five degrees of freedom: waist rotation, large arm pitch, small arm pitch, wrist pitch, and wrist rotation.

[0008] Preferably, there are multiple feeders, corresponding to the number of pitch joints of the robotic arm.

[0009] Preferably, the feeder includes a pressing transmission structure, a motor, and a straightening rod. The pressing transmission structure is mounted on a base, the motor is connected to the pressing transmission structure, and the conveying speed is controlled as required. The straightening rod is mounted on the base, and the cutting rope passes through the straightening rod and faces the flared opening at the inlet of the pressing transmission structure.

[0010] Preferably, the clamping transmission structure includes a clamping link connected to a clamping arm driven by a hydraulic cylinder. An active clamping wheel and an auxiliary clamping wheel are located below the clamping arm. The active clamping wheel is driven by a motor and abuts against a lower active wheel. A transmission gear connects the active wheel and a driven wheel of equal height. The driven wheel abuts against the upper auxiliary clamping wheel. Each pulley has a groove to facilitate clamping the transmission cutting rope.

[0011] Preferably, the cutting rope conveyor reel can be adjusted to wind different lengths of cutting rope according to actual feeding needs, and is provided with a mounting port, and an oxygen pipe interface for connecting to an oxygen supply pipe is provided at the center of its side axis.

[0012] Preferably, the oxygen supply pipe connector is configured as a rotary joint.

[0013] Preferably, the cutting rope is made of an outer metal hose with an embedded cutting material, has an internal oxygen delivery channel, and is flexible and bendable.

[0014] Preferably, it also includes a heat insulation plate installed at the actuator end of the robotic arm.

[0015] Preferably, it also includes a camera, which is connected to the inside of the heat insulation board to monitor the cutting status in real time.

[0016] The beneficial effects of this invention are:

[0017] 1. Compared with existing technologies, feeder I and feeder II are installed alternately. Feeder I is installed at the output end of the cutting rope conveyor, and feeder II is installed on the execution end of the robotic arm. The cutting rope is conveyed by the cutting rope conveyor set at the first joint of the robotic arm, and the cutting rope is continuously, automatically and stably fed out. When it passes through the guide sleeve I set at the outlet of feeder I, it can constrain the cutting rope and reduce the frictional resistance of the cutting rope in the subsequent transmission process. After passing through feeder II and the guide sleeve II at the outlet, the guide sleeve II can support the cutting rope to extend as far as possible in a straight line, reducing the heat radiation of the high temperature wave at the wellhead to the robotic arm and the feeding device. The requirements for cutting rope transmission in different parts are considered, and the straightening and transmission design of the cutting rope is specifically designed. The structure is reasonable, easy to use, and not easy to damage the cutting rope.

[0018] 2. In this invention, the robotic arm has five degrees of freedom: waist rotation, upper arm pitch, forearm pitch, wrist pitch, and wrist rotation. It has high degrees of freedom and strong flexibility. Using the robotic arm to replace manual labor can effectively reduce the operational risks of on-site personnel and is suitable for well control and emergency rescue work in complex situations.

[0019] 3. In this invention, the cutting rope conveyor can wind cutting ropes of different lengths according to actual needs, which facilitates the storage of cutting rope raw materials, effectively saves costs, avoids waste, and is also equipped with mounting holes for easy disassembly and replacement.

[0020] 4. In this invention, the camera and heat insulation plate set at the far end of the robotic arm can monitor the cutting status in real time and rationally design the cutting process. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a front view of the feeder of the present invention;

[0023] Figure 3 This is a perspective view of the feeder of the present invention;

[0024] Figure 4 This is a three-dimensional schematic diagram of the present invention;

[0025] Figure label:

[0026] 1. Oxygen supply pipe; 2. Cutting rope conveyor reel; 3. Robotic arm; 4. Guide pipe; 5. Feeder I; 6. Straightening sleeve I; 7. Feeder II; 8. Camera; 9. Heat insulation plate; 10. Straightening sleeve II; 11. Cutting rope; 12. Motor; 13. Straightening rod; 14. Base; 15. Clamping rod; 16. Clamping arm; 17. Transmission gear; 18. Drive wheel; 19. Driven clamping wheel. Detailed Implementation

[0027] 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 accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Detailed implementation method:

[0029] like Figure 1 As shown, a continuous automatic rapid cutting device suitable for emergency rescue of blowout failure 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 tandem robotic arm driven by a hydraulic cylinder. The feeding assembly includes a cutting rope conveyor 2 and a feeder. The cutting rope conveyor 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 2 and the other to the execution end of the robotic arm 3. Feeder I5 feeds the cutting rope into feeder II7, which then transports the cutting rope 11 to a designated position. The cutting rope 11 is wound inside the cutting rope conveyor 2 for easy transport. The oxygen supply pipe 1 is connected to the cutting rope conveyor 2 and cuts inward. Rope 11 continuously supplies combustion oxygen. The sufficiency of oxygen directly affects the cutting efficiency. A straightening sleeve is provided to work with the feeder. The straightening sleeve I6 is connected to the outlet of feeder I5. After straightening, the frictional resistance of the cutting rope 11 during transportation is reduced, making it easier to transport. The straightening sleeve II10 is connected to the outlet of feeder II7. After straightening, the cutting rope 11 can be output a longer distance, so that the wellhead to be cut is as far away from the robotic arm 3 as possible, avoiding damage to the robotic arm 3 and its connected feeding components from high temperature heat waves. A guide pipe 4 is provided on the transportation path. The guide pipe 4 is preferably a flexible pipe that can be bent, establishing the transportation channel of the cutting rope 11 at the joints and other parts of the robotic arm 3, which plays a guiding role and protects the cutting rope 11 from external influences.

[0030] like Figure 1As shown, the robotic arm 3 includes a base 31, on which a waist rotation joint 32 is fixed. The waist rotation joint 32 is connected to one end of a large arm pitch joint 33 via a fixed shaft. The large arm pitch joint 33 is driven by a servo cylinder to perform up-and-down pitching motion. The other end of the large arm pitch joint 33 is connected to one end of a forearm pitch joint 34 via a rotating shaft. The forearm pitch joint 34 is driven by a servo cylinder to perform up-and-down pitching motion and is equipped with a feeder 5. The other end of the forearm pitch joint 34 is connected to a wrist pitch joint 35 via a rotating shaft. The wrist pitch joint 35 is linearly connected to a wrist rotation joint 36. The wrist rotation joint 36 is equipped with a feeder 7. The rotation axes of the two are perpendicular to each other, and the robotic arm has five degrees of freedom: waist rotation, large arm pitch, forearm pitch, wrist pitch, and wrist rotation.

[0031] There are multiple feeders, corresponding to the number of pitch joints of the robotic arm. The movement of the pitch joints will cause a large degree of bending to the cutting rope 11 during the conveying process. Subsequent conveying requires the installation of feeders. The number of feeders can be increased or decreased according to the actual situation. The bending degree of the cutting rope 11 caused by the rotary joints is small and can be ignored. The number of rotary joints is not necessarily related to the number of feeders. They can be added according to the actual situation on site. The function of the feeders is to guide and convey, and they can be designed freely according to the project.

[0032] like Figure 2 and Figure 3 As shown, the feeder includes a pressing transmission structure, a motor 12, and a straightening rod 13. The pressing transmission structure is mounted on a base 14, and the motor 12 is connected to the pressing transmission structure to provide pressing and conveying power and control the conveying speed as required. The straightening rod 13 is mounted on the base 14. Since the cutting rope 11 is made of soft material, during the automatic conveying of the cutting rope 11, the guide tube 4 on the conveying path can ensure that the cutting rope 11 is aligned with the flared opening of the pressing transmission structure after passing the straightening rod 13, and then the pressing transmission process is carried out.

[0033] The clamping transmission structure includes a clamping link 15, which is connected to a clamping arm 16. An active clamping wheel 19 and an auxiliary clamping wheel are installed below the clamping arm 16. The active clamping wheel 19 abuts against the active wheel 18 below. A transmission gear 17 is connected between the active wheel 18 and the driven wheel at the same height. The transmission gear 17 transmits kinetic energy. The driven wheel abuts against the auxiliary clamping wheel above. The active wheel 18 feeds the material. The two clamping wheels achieve the clamping effect. Each pulley is provided with a groove to facilitate the clamping transmission cutting rope 11. After the cutting rope 11 enters the feeder, the pressing arm 16 drives the active pressing wheel 19 to press the cutting rope 11 onto the active wheel 18. The auxiliary pressing wheel presses the cutting rope 11 onto the driven wheel. The motor 12 mounted on the pressure arm 16 provides power, which is transmitted to the active wheel 18 via the active pressing wheel 19. The active wheel 18 and the driven wheel of the same height transmit kinetic energy through the transmission gear 17. All pulleys are provided with grooves to clamp the cutting rope 11 for easy transmission.

[0034] The above-mentioned cutting rope conveyor 2 can adjust the winding of cutting rope 11 of different lengths according to actual feeding needs, saving materials and avoiding waste. It is equipped with a mounting port for easy replacement, ensuring the storage and replacement of cutting rope raw materials. An oxygen pipe interface is provided at the center of its side shaft to connect to the oxygen supply pipe 1.

[0035] The oxygen supply pipe is equipped with a rotary joint to ensure that the oxygen supply pipe 1 will not get tangled or knotted when the cutting rope conveyor 2 rotates to convey the cutting rope 11.

[0036] The cutting rope 11 is made of an outer metal hose with embedded cutting material. The addition of special materials enables high-temperature and rapid cutting. It has an internal oxygen supply channel for combustion, good flexibility, and can be bent to meet the movement requirements of the robotic arm joints. It is also easy to store and transport, reducing storage space.

[0037] It also includes a heat shield 9 installed on the robotic arm's execution end, which further reduces the damage of high temperature heat waves to the robotic arm and the mounted components, ensuring that they can work normally. High temperature heat waves are very damaging to these electronic devices, and many materials have low melting points and are easily affected or directly destroyed when exposed to high temperatures.

[0038] It also includes a camera 8, which is connected to the inside of the heat insulation plate 9 to monitor the cutting status in real time and facilitate real-time updates to the cutting process. Depending on the site conditions, if the cutting efficiency is low, a faster cutting rope 11 can be replaced or the conveying speed of the cutting rope can be increased.

[0039] To better understand this invention, the working principle of this invention will be described in full below:

[0040] The cutting rope 11, wound inside the cutting rope conveyor 2, is mounted on the first section of the robotic arm 3 along with the cutting rope conveyor 2. The cutting rope conveyor 2 transmits the cutting rope 11 into the flexible guide tube 4, easily passing through the first joint of the robotic arm 3, and then into the feeder I5. The feeder I5 continues to transmit the cutting rope 11 towards the far end of the robotic arm 3. It enters the flexible guide tube 4 through the straightening 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, making it easier to transmit. Then it enters the feeder II7, and similarly, it is transmitted through compression and then enters the straightening sleeve II10. The cutting rope 11, straightened by the straightening sleeve II10, can extend straight further, allowing the robotic arm 3 to have a greater distance from the high-temperature wellhead, effectively preventing damage to the robotic arm 3 and its mounting components caused by high-temperature heat radiation.

[0041] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalents or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A continuous automatic rapid cutting device suitable for emergency rescue of runaway wells, characterized in that: The system 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. The feeding assembly includes a cutting rope conveyor (2) and a feeder. The cutting rope conveyor (2) is installed at the first joint of the robotic arm (3). There are at least two feeders, one corresponding to the output end of the cutting rope conveyor and the other to the execution end of the robotic arm. Feeder I (5) feeds the cutting rope into feeder II (7). Feeder II (7) transports the cutting rope (11) to a designated position. The cutting rope (11) is wound inside the cutting rope conveyor (2). The oxygen supply pipe (1) is connected to the cutting rope conveyor (2) and continuously supplies combustion oxygen to the internal cutting rope (11). The feeder is equipped with a guide sleeve. 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 pipe (4) is provided on the conveying path between the cutting conveyor (2) and the feeder II (7).

2. The continuous automatic rapid cutting device for emergency rescue of well blowout as described in claim 1, characterized in that: The robotic arm (3) includes a first base (31), on which a waist rotation joint (32) is fixed. The waist rotation joint (32) is connected to one end of the upper arm pitch joint (33) via a fixed shaft. The upper arm pitch joint (33) is driven by a servo cylinder to perform up and down pitching motion. The other end of the upper arm pitch joint (33) is connected to one end of the lower arm pitch joint (34) via a fixed shaft. The lower arm pitch joint (34) is driven by a servo cylinder to perform up and down pitching motion. A feeder I (5) is installed on it. The other end of the lower arm pitch joint (34) is connected to the wrist pitch joint (35) via a fixed shaft. The wrist pitch joint (35) is linearly connected to the wrist rotation joint (36). A feeder II (7) is installed on the wrist rotation joint (36). The robotic arm (3) has five degrees of freedom: waist rotation, upper arm pitch, lower arm pitch, wrist pitch, and wrist rotation.

3. The continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 1, characterized in that: There are multiple feeders, corresponding to the number of pitch joints of the robotic arm (3).

4. A continuous automatic rapid cutting device for emergency rescue of well blowouts as described in claim 1, characterized in that: The feeder includes a pressing transmission structure, a motor (12) and a straightening rod (13). The pressing transmission structure is installed on the second base (14), and the motor (12) is connected to the pressing transmission mechanism to control the transmission speed as required. The straightening rod (13) is installed on the second base (14), and the cutting rope (11) passes through the straightening rod (13) and faces the flared opening at the entrance of the pressing transmission structure.

5. A continuous automatic rapid cutting device for emergency rescue of well blowouts as described in claim 4, characterized in that: The clamping transmission structure includes a clamping link (15), which 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 provided below the clamping arm (16). The motor drives the active clamping wheel (19), which abuts against the active wheel (18) below. A transmission gear (17) is connected between the active wheel (18) and the driven wheel at the same height. The driven wheel abuts against the auxiliary clamping wheel above. Each pulley is provided with a groove to facilitate clamping the transmission cutting rope (11).

6. A continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 1, characterized in that: The cutting rope conveyor (2) can be wound with different lengths of cutting rope (11) according to actual feeding needs. It is equipped with a mounting port and an oxygen pipe interface connected to the oxygen supply pipe (1) is provided at the center of its side axis.

7. A continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 1, characterized in that: The oxygen supply pipe (1) connector is configured as a rotary joint.

8. A continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 1, characterized in that: The cutting rope (11) is made of an outer metal hose with a cutting material inside, and has an oxygen delivery channel inside.

9. A continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 1, characterized in that: It also includes a heat insulation plate (9) installed on the execution end of the robotic arm.

10. A continuous automatic rapid cutting device for emergency rescue of well blowouts according to claim 9, characterized in that: It also includes a camera (8), which is connected to the inside of the heat insulation plate (9) to monitor the cutting status in real time.

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