A step-wheeled mobile operation platform suitable for oilfield well site
By designing a walking wheel mobile work platform that combines wheeled and walking motion, the stability and accessibility issues in complex terrain at oilfield well sites have been solved, achieving efficient movement and low maintenance costs under different road conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA PETROLEUM & CHEMICAL CORP
- Filing Date
- 2024-12-03
- Publication Date
- 2026-06-05
AI Technical Summary
Existing mobile platforms struggle to maintain both high stability and high mobility in complex terrain at oilfield well sites, especially on unstructured surfaces such as rugged or muddy terrain where mobility is low. Furthermore, traditional structures are complex and have high maintenance costs.
It adopts a step-wheel motion mechanism, combining wheel and step motion methods. It achieves longitudinal and lateral movement through the slide module. The outer large support and inner small support can switch motion. Electric wheels and telescopic devices provide multi-point support to ensure stable operation under different road conditions.
It improves the mobility and stability of the mobile platform in complex terrain, reduces maintenance costs, and ensures that one mechanism can still operate normally when another fails, thus enhancing the platform's load-bearing capacity and safety.
Smart Images
Figure CN122144031A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automation technology for oilfield well site operations, and specifically to a wheeled mobile operating platform suitable for oilfield well sites. Background Technology
[0002] Existing mobile platforms mainly include tracked mobile platforms and wheeled mobile platforms. Wheeled transport platforms move quickly and stably on flat ground, possessing high mobility on paved roads. However, their mobility is greatly reduced and they lose their original stability when facing rugged terrain or muddy terrain such as swamps. Tracked mobile platforms have a large ground contact area, enabling them to travel on roads with poor ground conditions. They have strong mobility in non-urban plains areas, and the tracks increase the contact area between the vehicle body and the ground, making it easier to traverse soft mud or swampy terrain. However, tracked mobile platforms have a slower movement speed, poorer flexibility, and are prone to swaying and instability on complex terrain.
[0003] Both domestic and international researchers have conducted relevant studies on mobile platforms.
[0004] The TITAN mobile platform, developed by the Tokyo Institute of Technology in Japan, is a composite structure of tracked and legged structures. It measures 5 meters in length and width and weighs approximately 7 tons. Its legged structure has four supporting legs in four directions, providing 12 degrees of freedom for traversing complex terrain and supporting climbing. It is driven by a hydraulic system. NASA in the United States has developed a wheeled mobile platform, the LATUV, which features two independent rocker arms. The platform's wheels employ an Ackermann steering mechanism, solving the problem of unequal left and right turning angles. The wheels use rubber tires, which have a softer tread and lower rolling resistance. While the wheels sink more on soft ground, they have strong traversal capabilities on hard, gravel roads.
[0005] Chongqing University has developed a new type of wheeled-legged robot, Rolling-wolf, which is symmetrically distributed in all directions, resulting in uniform load distribution. Furthermore, the robot is driven by ball screws, which improves stability during movement and enhances its ability to traverse complex terrains. Beijing Institute of Technology has independently developed a quadrupedal wheeled-legged robot with six degrees of freedom on each leg and eight wheels on each leg. Each wheel can rotate 90 degrees. When traversing complex terrain, the leg wheels are locked and fixed to the legs for gait.
[0006] In current research on mobile platforms, a composite wheel-walking robot platform with high burst dynamic characteristics (CN116215690A) adopts a tandem wheel-leg platform. However, this platform has low load-bearing capacity and low stability during walking motion. Furthermore, it requires displacement sensors to detect deformation, increasing the complexity and cost of the mobile platform. An all-terrain adaptive wheel-walking robot (CN112519913A) is designed with four wheel-leg switching assemblies and two intermediate leg assemblies, improving the robot's obstacle-crossing and adaptability. However, its structure is complex, with wheels and legs interdependent, resulting in poor stability.
[0007] In the actual conditions of oilfield well sites, the terrain is usually complex and varied, including but not limited to flat paved roads, rugged slopes, and obstacles and tools that may exist around oil facilities. Traditional mobile platforms often struggle to cope with such diverse terrain challenges, resulting in poor platform stability, increased safety risks, and even failure to meet operational requirements. Summary of the Invention
[0008] The purpose of this invention is to address the shortcomings of existing technologies by providing a wheeled mobile work platform suitable for oilfield well sites.
[0009] The technical solution of this invention is: a walking wheel mobile operating platform suitable for oilfield well sites, comprising a lightweight platform, on which a vision module and a robotic arm are installed; it also includes a sliding module, an outer large support, and an inner small support. The outer large support is fixed below the lightweight platform, and the top of the inner small support is installed on the inner side of the outer large support via the sliding module. The sliding module includes a longitudinal movement component and a lateral movement component connected together. The outer large support and the inner small support can move longitudinally or laterally following the sliding module. The bottom of the outer large support is equipped with multiple electric wheels at the same horizontal height, and at least three vertical telescopic devices are installed on the lower side of both the outer large support and the inner small support.
[0010] Preferably, the longitudinal moving component is longitudinally mounted on the outer large bracket, the lateral moving component is laterally mounted on the output end of the longitudinal moving component, and the inner small bracket is fixedly mounted at the top center of the output end of the lateral moving component.
[0011] Preferably, the longitudinal movement component includes a first motor, an optical shaft, and a first slider. The longitudinal profiles on both sides of the outer large support are each provided with a first synchronous belt assembly and a first linear guide rail. Two first sliders are slidably mounted on the two first linear guide rails, arranged opposite each other and fixedly connected to their respective synchronous belts. The pulleys at the same end of the two sets of first synchronous belt assemblies are connected via the optical shaft. The output end of the first motor is drive-connected to one end of the optical shaft. The transverse movement component includes a second motor, a crossbeam, and a second slider. The top two ends of the crossbeam are fixedly connected to the two first sliders, and the crossbeam is provided with a second synchronous belt assembly and a second linear guide rail. The second slider is slidably mounted on the second linear guide rail and fixedly connected to its corresponding synchronous belt. The output end of the second motor is drive-connected to the pulley at one end of the second synchronous belt assembly.
[0012] Preferably, each of the four corners of the outer large support is provided with an outer support leg, and a middle support leg is provided between the two rear outer support legs. The inner small support is provided with three inner support legs on its lower side, one in the middle of the front side and two in the rear side.
[0013] Preferably, each of the outer legs is equipped with an electric wheel at its bottom, and a telescopic device is installed on the middle leg, the two front outer legs, and the three inner legs, with the six telescopic devices located at the same horizontal height.
[0014] Preferably, the telescopic joints of the outer large support are all located on the outer surfaces of the outer and middle support legs, the telescopic joints of the inner small support are all located on the inner surfaces of the inner support legs, the electric wheel is located on the outer surface of the outer support leg, and both ends of its wheel axle are connected to the outer support leg through support plates.
[0015] Preferably, the telescopic device is an electric cylinder.
[0016] Preferably, the end of the electric cylinder push rod is equipped with a pressure plate to increase the contact area between the electric cylinder and the ground.
[0017] Compared with existing technologies, this invention has the following advantages: The device employs a switchable walking and wheeled motion mechanism, enabling movement on various road conditions. Through the coordinated use of these two motion modes, the mobile platform can achieve high-speed wheeled movement on structured surfaces and obstacle-crossing capabilities on unstructured surfaces, improving its passability and stability. The parallel design of the walking and wheeled structures allows for simultaneous contact with the ground during platform operation, significantly enhancing its load-bearing capacity and stability. Furthermore, the parallel design of the walking and wheeled structures ensures that the two motion mechanisms operate independently; if one mechanism fails, the other can still function normally, resulting in high stability and low maintenance costs. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the slide module structure; Figure 3 This is a schematic diagram of the outer large support structure; Figure 4 This is a schematic diagram of the inner small support structure; Figure 5 This is a schematic diagram of the platform's step-like forward movement process; Figure 6 This is a schematic diagram of the platform's step-like lateral movement process; Figure 7 This is a schematic diagram of the platform's wheeled motion.
[0019] In the diagram: 1. Lightweight platform, 2. Vision module, 3. Robotic arm, 4. Outer large support, 5. Inner small support, 6. Electric wheel, 7. Electric cylinder, 8. First motor, 9. Optical axis, 10. First slider, 11. First synchronous belt assembly, 12. First linear guide rail, 13. Second motor, 14. Crossbeam, 15. Second slider, 16. Second synchronous belt assembly, 17. Second linear guide rail, 18. Outer leg, 19. Middle leg, 20. Inner leg, 21. Support plate, 22. Pressure plate. Detailed Implementation
[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0021] Example 1
[0022] Reference Figure 1 As shown, a walking wheel mobile work platform suitable for oilfield well sites includes a lightweight platform 1, on which a vision module 2 and a robotic arm 3 are installed; it also includes a sliding table module, an outer large support 4 and an inner small support 5. The outer large support 4 is fixed below the lightweight platform 1, and the top of the inner small support 5 is installed inside the outer large support 4 through the sliding table module. The sliding table module includes a longitudinal movement component and a lateral movement component connected to each other. The outer large support 4 and the inner small support 5 can move longitudinally or laterally with the sliding table module.
[0023] Four electric wheels 6 at the same horizontal level are installed at the bottom of the outer large bracket 4, and three vertical telescopic devices are installed on the lower side of both the outer large bracket 4 and the inner small bracket 5.
[0024] More specifically, the longitudinal moving component is longitudinally mounted on the outer large bracket 4, the transverse moving component is transversely mounted on the output end of the longitudinal moving component, and the inner small bracket 5 is fixedly mounted at the top center of the output end of the transverse moving component.
[0025] Example 2
[0026] As a preferred embodiment of the present invention, this embodiment designs the structure of the slide module based on Embodiment 1, specifically as follows: Reference Figure 2 As shown, in this embodiment, the longitudinal movement component includes a first motor 8, an optical axis 9, and a first slider 10. The longitudinal profiles on both sides of the outer large bracket 4 are provided with a first synchronous belt assembly 11 and a first linear guide rail 12. The two first sliders 10 are slidably mounted on the two first linear guide rails 12 respectively. The two are arranged opposite to each other and are fixedly connected to the corresponding synchronous belts. The pulleys at the same end of the two sets of first synchronous belt assemblies 11 are connected through the optical axis 9. The output end of the first motor 8 is connected to one end of the optical axis 9 for transmission.
[0027] The lateral movement assembly includes a second motor 13, a crossbeam 14, and a second slider 15. The top two ends of the crossbeam 14 are fixedly connected to two first sliders 10, and the crossbeam 14 is provided with a second synchronous belt assembly 16 and a second linear guide rail 17. The second slider 15 is slidably mounted on the second linear guide rail 17 and is fixedly connected to the corresponding synchronous belt. The output end of the second motor 13 is connected to the pulley at one end of the second synchronous belt assembly 16, and the top center of the inner small bracket 5 is fixedly connected to the second slider 15.
[0028] In use, the first motor 8 drives the two sets of first synchronous belt assemblies 11 to rotate synchronously through the optical axis 9, and then drives the crossbeam 14 to move longitudinally through the two first sliders 10; the second motor 13 drives the synchronous belt of the second synchronous belt assembly 16 to drive the second slider 15 to move laterally along the second linear guide rail 17.
[0029] Example 3
[0030] As a preferred embodiment of the present invention, this embodiment optimizes the structure of the outer large support 4 and the inner small support 5, as well as the arrangement of the electric wheel 6 and the telescopic device, based on Embodiment 2. Specifically: Reference Figure 3-4 As shown, in this embodiment, an outer support leg 18 is provided at each of the four corners of the lower side of the outer large support 4, and a middle support leg 19 is provided between the two rear outer support legs 18. Three inner support legs 20 are provided on the lower side of the inner small support 5, one in the middle of the front side and two in the rear side.
[0031] Each outer support leg 18 is equipped with an electric wheel 6 at its bottom. A telescopic device is installed on the middle support leg 19, the two front outer support legs 18, and the three inner support legs 20. All six telescopic devices are located at the same horizontal height.
[0032] Example 4
[0033] As a preferred embodiment of the present invention, this embodiment further optimizes the arrangement of the electric wheel 6 and the telescopic device based on Embodiment 3, specifically as follows: In this embodiment, the telescopic joints of the outer large support 4 are all located on the outer surfaces of the outer support leg 18 and the middle support leg 19, and the telescopic joints of the inner small support 5 are all located on the inner surface of the inner support leg 20. This arrangement avoids interference between the two sets of telescopic joints during stepping.
[0034] The electric wheel 6 is located on the outside of the outer support leg 18, and both ends of its axle are connected to the outer support leg 18 through the support plate 21. This arrangement further improves the overall stability of the device.
[0035] Example 5
[0036] As a preferred embodiment of the present invention, this embodiment selects the type of expansion joint based on Embodiment 4, specifically as follows: In this embodiment, the telescopic device is an electric cylinder 7, and a pressure plate 22 is installed at the end of the push rod of the electric cylinder 7 to increase the contact area between the electric cylinder 7 and the ground.
[0037] The working process of this mobile work platform is as follows: Reference Figure 5 As shown, taking the platform step forward movement as an example, the sequence of movements is as follows: (1) The inner small bracket 5 is pushed by the electric cylinder 7 and retracted off the ground. The inner small bracket 5 moves forward to the target position through the longitudinal moving component. (2) The inner small bracket 5 electric cylinder 7 push rod extends to the ground, and the outer large bracket 4 electric cylinder 7 push rod retracts to the ground; (3) The outer large support 4 moves forward to the target position through the longitudinal moving component; (4) The outer large bracket 4 electric cylinder 7 push rod extends to ground.
[0038] Reference Figure 6 As shown, taking the platform step lateral movement as an example, the sequence of actions is as follows: (1) The inner small bracket 5 is retracted and lifted off the ground by the electric cylinder 7. The inner small bracket 5 moves to the target position to the left through the lateral moving component. (2) The inner small bracket 5 electric cylinder 7 push rod extends to the ground, and the outer large bracket 4 electric cylinder 7 push rod retracts to the ground; (3) The outer large support 4 moves to the target position to the left through the lateral moving component; (4) The outer large bracket 4 electric cylinder 7 push rod extends to ground.
[0039] Reference Figure 7As shown, when the wheeled mobile work platform moves, all six electric cylinders 7 push rods retract and leave the ground, and are driven by the four electric wheels 6 grounded, which can complete forward, backward, differential steering, on-the-spot steering, and on-the-spot turning actions.
[0040] During oilfield well site operations, the road surface is mostly solidified, but each oilfield has its own characteristics, and the road environment is complex and varied. The walking wheel mobile work platform can complete forward, backward, turning, and turning on the spot movements, and may encounter obstacles such as steep slopes, side slopes, trenches, and steps.
[0041] (1) Flat road surface scene: On a flat surface, when the wheeled mobile work platform moves forward or backward, such as Figure 7 As shown, it is driven by four hub motors, and the four electric wheels rotate at the same speed, achieving stable linear forward and backward movement.
[0042] On a flat surface, when the walking wheel mobile work platform turns by wheel or turns on the spot, such as Figure 7 As shown, it is driven by four hub motors and uses the speed difference of the six electric wheels on the left and right sides to turn or turn on the spot. It has a wide turning radius and strong maneuverability and flexibility.
[0043] (2) Steep slope and side slope scenarios: When encountering steep slopes, the walking wheel mobile work platform uses wheeled movement, such as... Figure 7 As shown, driven by four hub motors, the maximum climbing gradient is about 30%, which can smoothly pass through most steep slopes; when encountering side slopes, the walking wheel mobile work platform adopts a wheel movement mode, driven by four hub motors, which can smoothly pass through side slopes with a lateral gradient of about 20%.
[0044] (3) Water-related scenarios: When a wheeled mobile work platform encounters low-lying terrain or waterlogged surfaces, such as Figure 7 As shown, it adopts a wheeled movement mode, driven by four hub motors. The speed of the electric wheels is set to slow to ensure that the walking wheel mobile work platform can pass through waterlogged sections at a low speed and smoothly, with a maximum wading depth of about 60mm.
[0045] (4) Obstacle crossing scenario: When a wheeled mobile work platform encounters obstacles such as trenches or steps, such as Figure 5 , Figure 6As shown, a step-like movement method is adopted. The six electric cylinders 7 are divided into two groups. One group of electric cylinders 7 first supports the entire mobile platform off the ground at a certain height. The sliding module drives the outer large support 4 and the inner small support 5 to move relative to each other. Then, the other group of electric cylinders 7 supports the mobile platform. The sliding module drives the outer large support 4 and the inner small support 5 to move relative to each other again. The above steps are repeated to complete the step-like movement and achieve obstacle crossing and ditch crossing.
[0046] This invention is not limited to the embodiments described above. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this invention, and the changed content still falls within the protection scope of this invention.
Claims
1. A wheeled mobile work platform suitable for oilfield well sites, comprising a lightweight platform, on which a vision module and a robotic arm are mounted; characterized in that: It also includes a slide module, an outer large support, and an inner small support. The outer large support is fixed below the lightweight platform. The top of the inner small support is mounted on the inner side of the outer large support via the slide module. The slide module includes a longitudinal movement component and a lateral movement component connected to each other. The outer large support and the inner small support can move longitudinally or laterally following the slide module. The bottom of the outer large support is equipped with multiple electric wheels at the same horizontal height. At least three vertical telescopic devices are installed on the lower side of both the outer large support and the inner small support.
2. The walking wheel mobile work platform suitable for oilfield well sites according to claim 1, characterized in that: The longitudinal moving component is longitudinally mounted on the outer large bracket, the lateral moving component is laterally mounted on the output end of the longitudinal moving component, and the inner small bracket is fixedly mounted at the top center of the output end of the lateral moving component.
3. A walking wheel mobile work platform suitable for oilfield well sites according to claim 2, characterized in that: The longitudinal movement component includes a first motor, an optical shaft, and a first slider. The longitudinal profiles on both sides of the outer large support are each equipped with a first synchronous belt assembly and a first linear guide rail. Two first sliders are slidably mounted on the two first linear guide rails, arranged opposite each other and fixedly connected to their respective synchronous belts. The pulleys at the same end of the two sets of first synchronous belt assemblies are connected via the optical shaft. The output end of the first motor is drive-connected to one end of the optical shaft. The transverse movement component includes a second motor, a crossbeam, and a second slider. The top two ends of the crossbeam are fixedly connected to the two first sliders, and the crossbeam is equipped with a second synchronous belt assembly and a second linear guide rail. The second slider is slidably mounted on the second linear guide rail and fixedly connected to its corresponding synchronous belt. The output end of the second motor is drive-connected to the pulley at one end of the second synchronous belt assembly.
4. A walking wheel mobile work platform suitable for oilfield well sites according to claim 1, characterized in that: Each of the four corners of the outer large support is provided with an outer support leg, and there is also a middle support leg between the two outer support legs on the rear side. The inner small support is provided with three inner support legs on the lower side, one in the middle of the front side and two on the rear side.
5. A walking wheel mobile work platform suitable for oilfield well sites according to claim 4, characterized in that: Each of the outer outriggers is equipped with an electric wheel at its bottom. The middle outrigger, the two front outer outriggers, and the three inner outriggers are each equipped with a telescopic device. All six telescopic devices are located at the same horizontal height.
6. A walking wheel mobile work platform suitable for oilfield well sites according to claim 5, characterized in that: The telescopic joints of the outer large support are all located on the outer surfaces of the outer and middle support legs, the telescopic joints of the inner small support are all located on the inner surfaces of the inner support legs, the electric wheel is located on the outer side of the outer support leg, and both ends of its wheel axle are connected to the outer support leg through support plates.
7. A walking wheel mobile work platform suitable for oilfield well sites according to claim 1, characterized in that: The telescopic device is an electric cylinder.
8. A walking wheel mobile work platform suitable for oilfield well sites according to claim 7, characterized in that: The electric cylinder push rod end is equipped with a pressure plate to increase the contact area between the electric cylinder and the ground.