A mechanical arm for installing radioactive sources in a radioactive logging instrument

Abstract

The application discloses a mechanical arm for installing a radioactive source of a radioactive logging instrument, and relates to the technical field of low-carbon oil exploitation. The mechanical arm comprises a positioning base plate and a mechanical arm body fixed to the positioning base plate. An installation frame is rotationally connected to the mechanical arm body. The installation frame is provided with circumferentially distributed outlets. Part of the outlets are sealed by sealing blocks. The other part of the outlets is threadedly connected with installation rods. The installation rods are slidably connected with connecting rods. The installation frame, the installation rods and the connecting rods are all provided with cavities in communication. The outer ends of part of the connecting rods are provided with slip type grippers. The mechanical arm can automatically complete all processes from loosening a hexagonal nut, opening a can cover, clamping a neutron source, placing the neutron source into a storage body, closing a storage cover and tightening the nut, without manual intervention, frequent replacement or adjustment of tools, so that operation complexity is reduced, work efficiency is remarkably improved, and radiation exposure risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-carbon oil exploration, and particularly relates to a mechanical arm for installing a radioactive source of a radioactive logging instrument. BACKGROUND

[0002] The radioactive logging instrument is a kind of underground geological detection equipment used in oil exploration and exploitation, which can accurately determine the hydrogen content, porosity and mineral composition in the rock formation by emitting neutron rays to the formation and analyzing the return signal, so as to efficiently identify the distribution of oil and gas reservoirs, evaluate the production capacity and optimize the well location design, help low-carbon exploration, reduce invalid drilling and resource waste through accurate data, and reduce energy consumption and carbon emissions in the exploration stage.

[0003] During the installation process, the key radiation source, the neutron source, needs to be sealed in the special storage body of the logging instrument. During operation, a long rod tool with a slip type claw hand is used to clamp and take out the radioactive source from the storage tank, accurately place it into the instrument clamping groove and lock and fix it. The whole process needs to strictly guarantee the radiation safety and assembly accuracy to ensure the reliability of the detection data and the long-term operation stability.

[0004] During the installation of the neutron source of the radioactive logging instrument, the mechanical arm body can replace manual operation to reduce the radiation risk. However, the current mechanical arm body has significant limitations when performing multi-step collaborative operations. It needs to sequentially complete the opening and closing of the storage tank cover, the accurate clamping of the neutron source by the slip type claw hand, the placement of the source body into the specified position of the neutron source storage, and the locking of the multi-size screws and other complex actions. Due to the insufficient degrees of freedom or poor compatibility of the end tool of the ordinary mechanical arm body, it is difficult to realize the coherent conversion of multiple processes, resulting in fragmented operation processes, limited positioning accuracy, and the need to frequently switch auxiliary tools, which greatly reduces the overall installation efficiency and increases the additional manual intervention link. SUMMARY

[0005] In order to overcome the shortcomings that the traditional mechanical arm body cannot work collaboratively, the present application provides a mechanical arm for installing a radioactive source of a radioactive logging instrument.

[0006] A mechanical arm for installing a radioactive source of a radioactive logging instrument, comprising a positioning base and a mechanical arm body fixedly connected thereto, a mounting rack rotatably connected to the mechanical arm body, a plurality of circumferentially distributed outlets are formed in the mounting rack, a portion of the outlets are threadedly connected with sealing blocks to be sealed, and the other portion of the outlets are threadedly connected with mounting rods, a connecting rod is slidably connected in the mounting rod and the mounting rack, cavities are formed in the mounting rack, the mounting rod and the connecting rod and are in communication with each other, a slip type gripper is mounted at the outer end of a portion of the connecting rods and is used for clamping the neutron source, a knob is mounted at the outer end of the other portion of the connecting rods and is used for opening the cover, a telescopic screw sleeve is fixedly connected to the bottom of the mounting rack and is used for tightening the hexagonal bolt, and springs are fixedly connected between adjacent segments of the telescopic screw sleeve.

[0007] Further, the mounting frame is communicated with a gas injection pipe, and the gas injection pipe is communicated with the cavity of the mounting frame.

[0008] Further, a sealing ring is arranged between the mounting rod and the mounting frame, and the inner end of the connecting rod is fixedly connected with a piston ring.

[0009] Further, a positioning base is arranged on the positioning base, which is used for placing the removed hexagonal bolt.

[0010] Further, the storage tank and the neutron source bin are respectively fixedly connected to the two sides of the positioning base.

[0011] Further, a motor is further included, the motor is fixedly connected to the mounting frame, an output shaft of the motor is fixedly connected with a rotating frame, the rotating frame is fixedly connected with a sealing sleeve, and the sealing sleeve is provided with a circular hole.

[0012] Further, the rotating frame is composed of circumferentially distributed rotating rods, and the angles between adjacent rotating rods are equal.

[0013] Further, a sealing ring is further included, the sealing ring is fixedly connected in the circular hole of the sealing sleeve, and is used for sealing the gap between the outer wall of the sealing sleeve and the inner wall of the mounting frame.

[0014] Further, a first magnetic ring corresponding to the connecting rod is further included, the first magnetic ring is fixedly connected to the inner end of the corresponding connecting rod, and the mounting rod is fixedly connected with a second magnetic ring which is magnetically attracted to the adjacent first magnetic ring.

[0015] The mechanical arm can automatically complete all processes from unscrewing the hexagonal nut, opening the can cover, clamping the neutron source, putting into the bin body, closing the bin cover and tightening the nut, without manual intervention and frequent replacement or adjustment of tools, reducing the operation complexity, significantly improving the work efficiency and reducing the radiation exposure risk.

[0016] The telescopic screw sleeve of the mechanical arm adopts a segmented design, each segment is provided with a spring, and can be selectively telescopic according to the type and size of the bolt: the bottom segment is suitable for inner angle type hexagonal bolt, the upper segment is suitable for outer angle type bolt, and the larger the model is, the higher it is. By gradually shrinking the non-use segment, the corresponding size of the screw sleeve part can be accurately called, the efficient tightening and disassembly of various specifications of hexagonal bolts are realized, and the tool versatility and operation flexibility are improved.

[0017] The inner wall of the sealing ring of the mechanical arm is designed as an arch structure with high middle and low edges, under the action of gas pressure, the gas first impacts the highest point in the middle, so that the force is concentrated and expands outward preferentially, thereby enhancing the close-fitting degree of the sealing ring and the inner wall of the mounting frame, forming a self-tightening effect of "the greater the pressure, the tighter the sealing", effectively preventing the leakage of gas from the gap between the sealing sleeve and the mounting frame, and ensuring the stable operation of the pneumatic system.

[0018] The mechanical arm drives the seal sleeve to rotate through the motor drive rotary table, controls the circular hole to align the required tool (such as slip type gripper or handle), makes the compressed gas only pass into the connecting rod cavity of the target tool, realizes the independent extension of a single tool, and the remaining unused tools remain in the retracted state. The design avoids the space occupation problem caused by the synchronous extension of all components in the traditional pneumatic system, significantly reduces the operation interference, and improves the operation adaptability and safety in narrow space.

[0019] When the telescopic screw sleeve rotates, the first magnetic ring and the second magnetic ring are arranged between the connecting rod and the mounting rod, the connecting rod is fixed by magnetic attraction force, the non-instructional extension caused by centrifugal force is effectively inhibited, the rotation process is stable and reliable, the risk of collision with the mechanical arm body is reduced, and equipment damage or operation failure is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present application.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the mounting bracket, mounting rod and connecting rod of the present application.

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the mounting rod, connecting rod and slip type gripper of the present application.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the telescopic screw sleeve and spring of the present application.

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the mounting bracket, motor, rotary table and seal sleeve of the present application.

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the motor, rotary table and seal sleeve of the present application.

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the mounting bracket, seal sleeve and sealing ring of the present application.

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the sealing ring of the present application.

[0028] Figure 9 It is a schematic diagram of the three-dimensional structure of the mounting rod, connecting rod, first magnetic ring and second magnetic ring of the present application.

[0029] In the drawing marks: 1-positioning base, 101-putting disc, 102-tank, 103-neutron source warehouse, 2-mechanical arm body, 3-mounting frame, 301-gas injection pipe, 4-mounting rod, 401-sealing ring, 5-connecting rod, 501-piston ring, 6-catch type gripper, 7-pull handle, 8-sealing block, 9-telescopic screw sleeve, 10-spring, 11-motor, 12-rotary frame, 13-sealing sleeve, 14-sealing ring, 15-first magnetic ring, 16-second magnetic ring. DETAILED DESCRIPTION

[0030] The following description is only the preferred embodiment of the present application, and does not limit the protection scope of the present application.

[0031] Example 1: a radioactive logging instrument radioactive source installation with mechanical arm, as shown in Figures 1-4 shown, including positioning base 1 and fixedly connected to the mechanical arm body 2, the front side of the positioning base 1 is provided with putting disc 101, which is used to place the hexagonal bolt taken off, tank 102 and neutron source warehouse 103 are respectively fixedly connected to both sides of the positioning base 1, the mechanical arm body 2 is rotatably connected with the mounting frame 3, the mounting frame 3 is communicated with the gas injection pipe 301, the gas injection pipe 301 is communicated with the external gas control system, the periphery of the mounting frame 3 is provided with a plurality of circumferentially distributed outlets, wherein the left and right outlets are threadedly connected with the mounting rod 4, and the remaining outlets are threadedly connected with the sealing block 8 for sealing, the mounting rod 4 and the mounting frame 3 are provided with a sealing ring 401, which prevents gas from overflowing through the connection between the mounting frame 3 and the mounting rod 4, thereby improving the air tightness of the whole mechanical arm, the connecting rod 5 is slidably connected in the mounting rod 4, the mounting frame 3, the mounting rod 4 and the connecting rod 5 are provided with cavities in communication, the gas injection pipe 301 is communicated with the cavity of the mounting frame 3, the inner end of the connecting rod 5 is fixedly connected with the piston ring 501, the connecting rod 5 with the piston ring 501 cooperates with the adjacent mounting rod 4 to form a cylinder-piston structure, under the action of gas pressure, the connecting rod 5 can be extended outward along the mounting rod 4, wherein the outer end of the right connecting rod 5 is provided with a catch type gripper 6, which is used to grab the neutron source, the outer end of the left connecting rod 5 is provided with a pull handle 7, which is used to pull off the cover, the sealing block 8 can be unscrewed to open the remaining outlets of the mounting frame 3, so that the mounting rod 4 can be screwed, and then other similar catch type grippers 6 or pull handles 7 related different tools can be installed on the connecting rod 5, the bottom of the mounting frame 3 is fixedly connected with the telescopic screw sleeve 9, which is used to screw the hexagonal bolt, the adjacent segments of the telescopic screw sleeve 9 are fixedly connected with the spring 10, the telescopic section at the bottom end of the telescopic screw sleeve 9 is used to screw the internal angle type hexagonal bolt, the remaining telescopic sections of the telescopic screw sleeve 9 are used to screw the external angle type hexagonal bolt, and the larger the model is, the higher it is, for example, when the largest external angle type hexagonal bolt needs to be unscrewed, all the remaining telescopic sections are contracted section by section, and the springs 10 are also compressed section by section, so that the uppermost section of the telescopic screw sleeve 9 can be used to unscrew the largest external angle type hexagonal bolt.

[0032] The method of using the mechanical arm is as follows: the mechanical arm body 2 is started, the telescopic screw sleeve 9 is first controlled to be inserted into the hexagonal nut of the cover of the storage tank 102 through the mounting frame 3, then the telescopic screw sleeve 9 is controlled to be rotated to loosen the hexagonal nut, then the knob 7 is controlled to be opened to open the tank cover of the storage tank 102, then the slip-on gripper 6 is controlled to be inserted into the storage tank 102 to clamp the neutron source, and then the telescopic screw sleeve 9 is controlled to be rotated to loosen the hexagonal nut on the neutron source bin 103, then the knob 7 is controlled to be opened to open the bin cover of the neutron source bin 103, then the slip-on gripper 6 is controlled to be loosened and opened into the neutron source bin 103, then the knob 7 is controlled to be closed in turn to close the bin cover of the neutron source bin 103 and the cover of the storage tank 102, and finally the telescopic screw sleeve 9 is controlled to be reversed to tighten the hexagonal nuts on the bin cover of the neutron source bin 103 and the cover of the storage tank 102 in turn.

[0033] In the above process, the telescoping of the slip-on gripper 6, the knob 7 or other tools and the clamping of the slip-on gripper 6 are achieved by the following pneumatic method: gas is filled into the cavity of the mounting frame 3 through the gas injection pipe 301, the gas enters the cavity of the mounting rod 4, and then enters the cavity of the connecting rod 5. After the cavity of the connecting rod 5 is filled with gas, the connecting rod 5 is pushed outwards along the mounting rod 4 to extend under the action of gas pressure, the slip-on gripper 6 is opened under the action of gas pressure, and the slip-on gripper 6 is positioned to the neutron source. Then the gas in the cavity of the mounting frame 3 is extracted through the gas injection pipe 301, so that the slip-on gripper 6 clamps the neutron source, and the connecting rod 5 is sucked inwards along the mounting rod 4 to contract under the action of negative pressure, so that the mounting frame 3 has enough space to drive the components thereon to operate.

[0034] Example 2: based on example 1, as shown in Figures 5-8 A motor 11 is further included, the motor 11 is fixedly connected in the mounting frame 3, the output shaft of the motor 11 is fixedly connected with a rotating frame 12, the rotating frame 12 is composed of six rotating rods distributed in the circumference, the angles between adjacent rotating rods are equal, and each angle is sixty degrees. A sealing sleeve 13 is fixedly connected between the outer ends of the rotating rods of the rotating frame 12, a circular hole is opened in the sealing sleeve 13, when the circular hole is turned to any outlet of the mounting frame 3, the gas in the mounting frame 3 only enters the mounting rod 4 of the corresponding outlet through the circular hole, a sealing ring 14 is fixedly connected in the circular hole of the sealing sleeve 13, which is used to seal the gap between the outer wall of the sealing sleeve 13 and the inner wall of the mounting frame 3 to prevent the gas from escaping through the gap between the outer wall of the sealing sleeve 13 and the inner wall of the mounting frame 3. When the gas passes through the inside of the sealing ring 14 at a certain pressure, the gas exerts pressure on the inner wall of the sealing ring 14 outwardly, the sealing ring 14 is affected by the gas pressure and expands outwardly, and as Figure 6As shown, the inner wall of the sealing ring 14 is arranged in a structure of "high in the middle and low at the edge", which makes the gas first impact and concentrate at the highest point in the middle, and this area is most stressed and is easy to deform first. In this way, the outer wall of the sealing sleeve 13 is more tightly attached to the inner wall of the mounting frame 3, thereby improving the sealing effect.

[0035] In the above-mentioned pneumatic elongation process, since the gas is evenly distributed into each outlet of the mounting frame 3, all the wrenches 7, slip jacks 6 and other tools on it are elongated equally whether they are used or not, thereby occupying a large space. When space is limited, it is easy to operate inconveniently. Therefore, it is necessary to control only the tool that is used to elongate outward, and other tools remain in a retracted state. The specific operation is as follows: start the motor 11, the output shaft of the motor 11 drives the rotating frame 12 to rotate, thereby driving the sealing sleeve 13 to rotate, so that the circular hole on the sealing sleeve 13 is aligned with the tool to be used. The air injected into the cavity of the mounting frame 3 through the air injection pipe 301 enters the cavity of the connecting rod 5 connected to the tool to be used, so that the tool is elongated outward alone.

[0036] As shown in the drawings, Figure 9 It also includes a first magnetic ring 15 corresponding to the connecting rod 5, the first magnetic ring 15 is fixedly connected to the inner end of the corresponding connecting rod 5, and the mounting rod 4 is fixedly connected with a second magnetic ring 16, the second magnetic ring 16 is magnetically attracted to the adjacent first magnetic ring 15.

[0037] When the hexagonal nut is rotated and unscrewed from the telescopic sleeve 9, the mounting frame 3 will drive the tools on it to rotate, and the connecting rod 5 may automatically slide outward along the mounting rod 4 under the action of centrifugal force, thereby possibly hitting the mechanical arm body 2. Therefore, the first magnetic ring 15 and the second magnetic ring 16 are magnetically attracted to each other to fix the connecting rod 5, thereby avoiding the influence of centrifugal force.

[0038] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be limited by the protection scope of the claims.

Claims

1. A robotic arm for installing a radioactive source in a radioactive logging tool, comprising a positioning base plate (1) and a robotic arm body (2) fixed thereon, characterized in that: A mounting frame (3) is rotatably connected to the main body (2) of the robotic arm. The mounting frame (3) has circumferentially distributed outlets. One part of the outlets is sealed by a sealing block (8) threaded connection, and the other part of the outlets is threadedly connected to a mounting rod (4). A connecting rod (5) is slidably connected inside the mounting rod (4). The mounting frame (3), the mounting rod (4), and the connecting rod (5) are all provided with communicating cavities. A clamp-type gripper (6) is installed on the outer end of one part of the connecting rod (5) for gripping the neutron source. A lever (7) is installed on the outer end of the other part of the connecting rod (5) for opening the cover. A telescopic screw sleeve (9) is fixed to the bottom of the mounting frame (3) for tightening hexagonal bolts. Springs (10) are fixed between adjacent segments of the telescopic screw sleeve (9). A gas injection pipe (301) is connected to the mounting frame (3). The gas injection pipe (301) is connected to the cavity of the mounting frame (3). (4) A sealing ring (401) is provided between the connecting rod (5) and the mounting bracket (3), and a piston ring (501) is fixedly connected to the inner end of the connecting rod (5); it also includes a motor (11), which is fixedly connected to the mounting bracket (3), and the output shaft of the motor (11) is fixedly connected to a rotating frame (12), and the rotating frame (12) is fixedly connected to a sealing sleeve (13), which has a round hole; the rotating frame (12) is composed of rotating rods distributed in a circumferential direction, and the angle between adjacent rotating rods is equal; it also includes a sealing ring (14), which is fixedly connected to the round hole of the sealing sleeve (13) to seal the gap between the outer wall of the sealing sleeve (13) and the inner wall of the mounting bracket (3); it also includes a first magnetic ring (15) corresponding to the connecting rod (5), which is fixedly connected to the inner end of the corresponding connecting rod (5), and the mounting rod (4) is fixedly connected to a second magnetic ring (16) that magnetically engages with the adjacent first magnetic ring (15).

2. The robotic arm for installing a radioactive source in a radioactive logging tool as described in claim 1, characterized in that: The positioning base plate (1) is provided with a storage tray (101) for placing the removed hexagonal bolts.

3. The robotic arm for installing the radioactive source in a radioactive logging tool as described in claim 2, characterized in that: The storage tank (102) and the neutron source chamber (103) are respectively fixed to both sides of the positioning base plate (1).

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