A remote automatic inspection device for oilfield steam injection boiler and a use method thereof

Abstract

This invention discloses a remote automatic inspection device and its usage method for oilfield steam injection boilers. The inspection device includes a hanging rail, a hanging rail module, and an execution module. The hanging rail is a strip-shaped hanging rail. The hanging rail module is mounted on the strip-shaped hanging rail, and the execution module is connected to the hanging rail module. The execution module is equipped with an information acquisition component. The unique strip-shaped hanging rail design of this invention not only meets the rail installation requirements of the boiler body but also simplifies the rail processing technology, such as axial and radial bending, significantly reducing the overall weight of the rail and fully meeting the inspection rail installation requirements of complex equipment such as steam injection boilers.

Description

Technical Field

[0001] This invention relates to the field of boiler inspection technology, specifically to a remote automatic inspection device and its usage method for oilfield steam injection boilers. Background Technology

[0002] A mobile steam injection boiler for oilfields is a heavy oil extraction device installed on a trailer skid. It is typically moved to different locations for steam injection. The equipment is highly compact and flexible. During operation, the steam injection boiler requires regular manual inspections. Personnel check the equipment's operating status along a predetermined inspection route, read and record the pressure gauges, temperature gauges, and other operating parameters, thus forming the boiler's raw operational data.

[0003] The existing technology has the following problems:

[0004] 1. The oilfield steam injection boiler has a compact structure, with the trailer skid about 1.5 meters off the ground. During manual inspection, it is necessary to frequently go up and down the ladder, which can easily lead to slips and falls in rainy or snowy weather.

[0005] 2. Currently, video surveillance has been installed in some parts of the boiler to reduce the frequency of manual inspections. However, video surveillance has drawbacks such as a large image size but limited coverage area, and fixed angles that are prone to obstruction by objects. For steam injection boilers, which are complex and highly integrated equipment, fixed-position video surveillance cannot effectively replace manual inspections and remains an auxiliary means of manual inspection.

[0006] 3. Oilfield steam injection boilers mostly operate continuously for long periods under high temperature and pressure. Various pumps, safety valves, high-pressure steam-water processes, gas processes, and electrical facilities all pose certain safety risks such as electric shock, burns, and slips. Furthermore, the outdoor nature of steam injection work means that inclement weather conditions such as rain and snow can affect manual inspection operations to varying degrees.

[0007] Several automated inspection solutions have also been proposed by those skilled in the art:

[0008] Publication No. CN114248277A discloses a wheeled inspection robot and its inspection and control platform. The wheeled inspection robot includes an intelligent chassis system, an electric control box, a navigation system, a vision inspection system, and an environmental parameter monitoring system. The intelligent chassis system includes a frame chassis body, drive wheels, omnidirectional wheels, a drive motor, a battery, and an on-board wireless terminal. The on-board wireless terminal is mounted on the frame chassis body and connected to the electric control box. The navigation system includes an optical barcode reader and a lidar connected to the electric control box. The optical barcode reader is installed at the bottom of the frame chassis body for reading preset QR codes on the ground. The vision inspection system includes a high-definition camera, an infrared thermal imager, and an ultrasonic module connected to the top of the electric control box. The environmental parameter monitoring system includes a gas detector and a temperature and humidity sensor connected to the electric control box.

[0009] Announcement No. CN220884610U discloses a boiler inspection vehicle for power plants, comprising an inspection vehicle body, a control box, wheels, a flying device, and a scanner. The wheels are mounted on both sides of the inspection vehicle body. A magnetic platform is mounted on the top of the inspection vehicle body. The flying device is positioned on top of the magnetic platform, and propellers are mounted on both sides of the flying device. A camera is mounted on the outer wall of the flying device, and a temperature sensor is mounted on the outer wall of the flying device below the camera. The scanner is mounted on the top of the flying device. The control box is installed inside the inspection vehicle body, and a microcontroller is installed inside the control box. A wireless transmission module is installed inside the control box on one side of the microcontroller.

[0010] Both of the aforementioned existing technologies are ground inspection vehicles, which have a narrow field of vision.

[0011] Announcement No. CN220840170U discloses an explosion-proof intelligent rail inspection robot. It features a moving mechanism with an unlimited length guide rail. A pulley in the moving mechanism slides along the guide rail for movement. An obstacle avoidance camera captures real-time images of the site and transmits them to a safety module. Upon detecting an obstacle, the safety module of the braking mechanism controls an electric push rod to pull down a sliding plate and pulley, generating significant friction between the pulley and the guide rail for braking. This provides an automatic emergency stop function. Furthermore, it communicates with the central control room via a data transmission module, enabling direct control of all parts of the conveying system and achieving intelligent operation. This allows for comprehensive system management and coordination of the conveying system, forming an integrated intelligent system for equipment control and management.

[0012] The aforementioned existing technology cameras have low mobility, the guide rails are not easy to bend axially or radially, and they are difficult to install.

[0013] In summary, the technical solutions, technical problems to be solved, and beneficial effects of the above-disclosed technologies are all different from those of the present invention. Regarding the more technical features, technical problems to be solved, and beneficial effects of the present invention, the above-disclosed technical documents do not provide any technical inspiration. Summary of the Invention

[0014] In view of the above-mentioned defects in the existing technology, the purpose of this invention is to provide a remote automatic inspection device for oilfield steam injection boilers and its usage method.

[0015] To achieve the above objectives, the present invention adopts the following technical solution:

[0016] On one hand, the present invention provides a remote automatic inspection device for oilfield steam injection boilers, including a hanging rail, a hanging rail module, and an execution module. The hanging rail is a strip-shaped hanging rail. The hanging rail module is mounted on the strip-shaped hanging rail, and the execution module is connected to the hanging rail module. The execution module is equipped with an information acquisition component.

[0017] Furthermore, the hanging rail module includes a base plate, on the upper surface of which a grooved wheel bracket is vertically fixedly connected. A grooved wheel is rotatably connected to the top of the grooved wheel bracket. The strip-shaped hanging rail passes through the space between the grooved wheel and the base plate, and the grooved wheel is hooked onto the top of the strip-shaped hanging rail.

[0018] Specifically, a G-axis motor is fixedly connected to the base plate. The output shaft axis of the G-axis motor is perpendicular to the base plate. A drive wheel is provided on the output shaft of the G-axis motor, and the drive wheel is in contact with the belt-shaped suspension rail.

[0019] Furthermore, the base plate is provided with a sliding shaft, and a correction wheel is slidably mounted on the sliding shaft. An annular groove is formed on the outer wall of the correction wheel, and the lower end of the strip-shaped suspension rail extends into the annular groove of the correction wheel.

[0020] Specifically, the base plate is provided with a correction adjuster at the end of the sliding shaft. The correction adjuster includes a fixed plate and an adjusting bolt. The adjusting bolt passes through the fixed plate and contacts the correction wheel.

[0021] Furthermore, the base plate is provided with a hollow opening, the sliding shaft is provided at the hollow opening, the correction wheel is located in the hollow opening, and the correction adjuster is provided at one or both ends of the sliding shaft;

[0022] Specifically, the G-axis motor is connected to the lower end face of the base plate, the output shaft of the G-axis motor passes through the base plate, and the drive wheel is connected to the output shaft of the G-axis motor above the base plate.

[0023] Furthermore, the execution module includes an instrument compartment and an A-axis motor;

[0024] Specifically, the instrument compartment and the A-axis motor are fixedly mounted on the lower end face of the base plate;

[0025] Specifically, the output shaft of the A-axis motor is fixedly connected to the B-axis motor;

[0026] Specifically, the output shaft of the B-axis motor is fixedly connected to the telescopic arm;

[0027] Specifically, the telescopic arm's telescopic rod end is fixedly connected to a C-axis motor;

[0028] Specifically, the output shaft of the C-axis motor is fixedly connected to the end connecting rod;

[0029] Specifically, the end of the end link is connected to the output shaft of the D-axis motor;

[0030] Specifically, the D-axis motor is fixedly connected to a first end bracket;

[0031] Specifically, an E-axis motor is fixedly mounted on the first end bracket;

[0032] Specifically, the output shaft of the E-axis motor is fixedly connected to the second end bracket;

[0033] Specifically, the second end bracket is fixedly equipped with an F-axis motor;

[0034] Specifically, the output shaft of the F-axis motor is fixedly connected to an information acquisition component.

[0035] Furthermore, the telescopic arm includes a fixed housing and a telescopic rod;

[0036] Specifically, the fixed housing is fixedly connected to the output shaft of the B-axis motor, the telescopic rod is nested in the fixed housing, the H-axis motor is installed on the outer wall of the fixed housing, and the H-axis motor is connected to the telescopic rod through an electric push rod mechanism.

[0037] Furthermore, the first end bracket is L-shaped, the D-axis motor and the E-axis motor are fixed on the horizontal part of the first end bracket, and the output shaft of the D-axis motor passes through the vertical part of the first end bracket;

[0038] Specifically, the second end bracket is U-shaped and includes a first side fork wall, a middle connecting part, and a second side fork wall; the output shaft of the E-axis motor passes through the horizontal part of the first end bracket and is fixedly connected to the middle connecting part of the second end bracket;

[0039] Specifically, the information acquisition component is rotatably connected to the first side fork wall and the second side fork wall of the second end bracket via a horizontal rotating shaft. The information acquisition component is fixedly connected to the horizontal rotating shaft. The F-axis motor is fixed to the outside of the first side fork wall or the second side fork wall. The output shaft of the F-axis motor is fixedly connected to the horizontal rotating shaft.

[0040] Furthermore, it also includes a teach pendant;

[0041] Specifically, the teach pendant includes a housing, a teach pendant bracket is disposed on the housing, and an A-axis teach pendant servo is disposed on the upper end of the teach pendant bracket;

[0042] Specifically, the output shaft of the A-axis teach pendant is fixedly connected to the B-axis teach pendant via a first adapter.

[0043] Specifically, the output shaft of the B-axis teach pendant is movably connected to the D-axis teach pendant via a second adapter.

[0044] Specifically, a small information component model is mounted on the output shaft of the D-axis teach pendant.

[0045] Specifically, the outer casing is equipped with a display screen and operating components.

[0046] Furthermore, the output shaft of the A-axis motor is perpendicular to the output shaft of the B-axis motor;

[0047] Specifically, the output shaft of the B-axis motor is parallel to the output shaft of the C-axis motor;

[0048] Specifically, the output shaft of the C-axis motor is perpendicular to the output shaft of the D-axis motor;

[0049] Specifically, the output shaft of the D-axis motor is perpendicular to the output shaft of the E-axis motor;

[0050] Specifically, the output shaft of the E-axis motor is perpendicular to the output shaft of the F-axis motor;

[0051] Specifically, the output shaft of the A-axis teach pendant is perpendicular to the output shaft of the B-axis teach pendant;

[0052] Specifically, the second adapter makes the output shaft of the B-axis teach pendant perpendicular to the output shaft of the D-axis teach pendant.

[0053] Furthermore, the teach pendant is an L-shaped bracket, with the bottom of the vertical part of the teach pendant fixed to the upper surface of the outer casing, and the A-axis teach pendant servo fixed to the upper end of the horizontal part of the teach pendant; the display screen is fixed to the upper surface of the outer casing.

[0054] Specifically, the second adapter includes an upper fixed part, a middle movable part, and a lower fixed part;

[0055] Specifically, the upper fixed member is fixedly connected to the output shaft of the B-axis teach pendant, the middle movable member is loosely rotatably connected to the upper fixed member, the middle movable member is loosely rotatably connected to the lower fixed member, and the lower fixed member is fixedly connected to the D-axis teach pendant.

[0056] Furthermore, the operating components include a power switch, a shortcut key area, a stop button, a teach button, a memory button, an auto run button, a G-axis forward / backward joystick, an H-axis forward / backward joystick, and a D-axis / F-axis cross joystick.

[0057] Furthermore, the instrument compartment is equipped with a first wireless communication module, an action control module, a storage module, and a first power management module;

[0058] Specifically, the information acquisition component is a camera, which is equipped with a three-coordinate gyroscope, a second wireless communication module, a second power management module, and a camera component.

[0059] Specifically, the teach pendant's housing contains a third wireless communication module, a programmable controller, and a third power management module.

[0060] Secondly, the present invention provides a method for using a remote automatic inspection device for oilfield steam injection boilers, comprising the following steps:

[0061] S1. Installation of the strip-shaped hanging rail: Determine the inspection points around the steam injection boiler on site, plan the automatic inspection route, process the strip-shaped hanging rail according to the route, and install the strip-shaped hanging rail on the route;

[0062] S2. Installation of the inspection device: Hang the grooved wheel of the hanging rail module 1 onto the upper end of the strip hanging rail; select and determine the stopping point of the inspection device in the boiler operating room, and install the wireless charging module on the side wall of the operating room at the stopping point;

[0063] S3. Position adjustment of the inspection device: Move the inspection device to the stopping point and adjust all shaft motors to the zero position;

[0064] S4. Set the inspection path; Step S4 includes saving actions, setting action combinations, calling actions and action combinations, deleting actions and action combinations, and intervening in temporary actions during automatic inspection.

[0065] S5, Charging of the inspection device:

[0066] After each inspection cycle, the inspection device will return to its docking point and wait for the next inspection cycle. If the battery power of the inspection device is low and needs to be charged, the system will automatically enter wireless charging mode to charge the battery.

[0067] Compared with the prior art, the present invention has the following advantages:

[0068] 1. This invention is applicable to the timed automatic inspection of steam injection boilers in oil fields, especially to the timed inspection of mobile steam injection boilers, and is also applicable to stationary steam injection boilers; it has the advantages of simple structure, high flexibility, good monitoring field of view, readily available parts and low maintenance cost.

[0069] 2. This invention uses automation and information technology to replace manual labor and realize remote automatic video inspection of steam injection boilers; that is, it realizes physical isolation between operators and on-site risk factors, while maintaining good inspection results, effectively improving the safety of daily operation and greatly reducing the labor intensity of employees.

[0070] 3. The unique strip-shaped hanging rail design of this invention can not only meet the rail installation requirements of the boiler body, but also simplify the processing technology of the hanging rail (axial and radial bending), greatly reduce the overall weight of the rail, and fully meet the inspection rail installation requirements of complex equipment such as steam injection boilers.

[0071] 4. Through targeted structural design, this invention uses a high-performance and readily available closed-loop control motor to form an automatic inspection system for steam injection boilers, which features high flexibility and low operating and maintenance costs; it can perform video inspections of most inspection points of steam injection boilers.

[0072] 5. This invention uses a teach pendant to achieve functional integration, integrating a series of functions such as motion storage, motion group editing, manual control, and 1:1 motion teaching into one device; operators can grasp the motion status of the device in real time based on video images and the 1:1 motion restoration function of the teach pendant, which greatly reduces the difficulty of operating the device and enables even older operators to complete the basic operation of the device. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of the structure of a remote automatic inspection device for an oilfield steam injection boiler according to the present invention;

[0074] Figure 2 This is a schematic diagram of the front structure of the hanging rail module in this invention;

[0075] Figure 3 This is a schematic diagram of the rear structure of the hanging rail module in this invention;

[0076] Figure 4 This is a schematic diagram of the corrective wheel in this invention;

[0077] Figure 5 This is a schematic diagram of the structure of the hanging rail fixing bolt in this invention;

[0078] Figure 6 This is a schematic diagram of the correction regulator in this invention;

[0079] Figure 7 This is a schematic diagram of the execution module in this invention;

[0080] Figure 8 This is a schematic diagram of the structure at the end of the execution module in this invention;

[0081] Figure 9 This is a schematic diagram of the structure of the teach pendant in this invention;

[0082] Figure 10 This is a table showing the functions, composition, and motion angle data of each axis motor in this invention;

[0083] Figure 11 This is a schematic diagram of the operating angle of the central shaft motor in this invention.

[0084] In the diagram: 1. Suspension rail module; 2. Execution module; 3. Base plate; 4. Grooved wheel bracket; 5. Belt suspension rail; 6. Correction wheel; 7. Drive wheel; 8. A-axis motor; 9. B-axis motor; 10. C-axis motor; 11. D-axis motor; 12. E-axis motor; 13. F-axis motor; 14. G-axis motor; 15. H-axis motor; 16. Instrument compartment; 17. Telescopic arm; 18. End link; 19. Camera; 20. First end support; 21. Second end support; 22. Teaching pendant; 23. A-axis... 24. B-axis teach servo; 25. D-axis teach servo; 26. Display screen; 27. Power switch; 28. Action shortcut key area; 29. ​​Stop button; 30. Teach button; 31. Memory button; 32. Auto run button; 33. G-axis forward / backward rocker; 34. H-axis forward / backward rocker; 35. D-axis / F-axis cross rocker; 36. Suspension rail fixing bolt; 37. Correction adjuster; 38. First adapter; 39.1. Upper fixed part; 39.2. Middle moving part; 39.3. Lower fixed part. Detailed Implementation

[0085] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0086] Example 1:

[0087] Please see Figures 1 to 9 The present invention provides a remote automatic inspection device for oilfield steam injection boilers, comprising a hanging rail module 1, an execution module 2, a strip hanging rail 5, and a teaching pendant.

[0088] The hanging rail module 1 includes a base plate 3. A grooved wheel bracket 4 is vertically fixed to the upper surface of the base plate 3. A grooved wheel 4.1 is rotatably connected to the top of the grooved wheel bracket 4. The strip-shaped hanging rail 5 passes through the space between the grooved wheel 4.1 and the base plate 3. The strip-shaped hanging rail 5 is perpendicular to the base plate 3. The grooved wheel 4.1 is hooked onto the top of the strip-shaped hanging rail 5. A G-axis motor 14 is fixedly connected to the base plate 3. The output shaft axis of the G-axis motor 14 is perpendicular to the base plate 3. A drive wheel 7 is provided on the output shaft of the G-axis motor 14. The drive wheel 7 contacts the strip-shaped hanging rail 5. By driving the drive wheel 7, the hanging rail module 1 can move along the strip-shaped hanging rail 5.

[0089] Furthermore, the base plate 3 is provided with a sliding shaft, on which a correction wheel 6 is slidably mounted. An annular groove is formed on the outer wall of the correction wheel 6. The lower end of the strip-shaped hanging rail 5 extends into the annular groove of the correction wheel 6. The base plate 3 is provided with a correction adjuster 37 at the end of the sliding shaft. The correction adjuster 37 includes a fixing plate and an adjusting bolt. The adjusting bolt passes through the fixing plate and contacts the correction wheel 6. By rotating the adjusting bolt, the position of the correction wheel 6 is adjusted, and the gap between the annular groove on the correction wheel 6 and the strip-shaped hanging rail 5 is adjusted, thereby adjusting the overall posture of the hanging rail module 1.

[0090] Among them, the G-axis motor 14, also known as the traveling axis, is used to realize the traveling function of the device.

[0091] Specifically, the strip rail 5 has openings on its side for installing rail fixing bolts 36.

[0092] Specifically, the base plate 3 is provided with a hollow opening, the sliding shaft is provided at the hollow opening, the correction wheel 6 is located in the hollow opening, and the correction adjuster 37 is provided at one or both ends of the sliding shaft.

[0093] Specifically, the G-axis motor 14 is connected to the lower end face of the base plate 3, the output shaft of the G-axis motor 14 passes through the base plate 3, and the power wheel 7 is connected to the output shaft of the G-axis motor 14 above the base plate 3.

[0094] The execution module includes an instrument compartment 16 and an A-axis motor 8. The instrument compartment 16 and the A-axis motor 8 are fixedly mounted on the lower end face of the base plate 3. The output shaft of the A-axis motor 8 is fixedly connected to a B-axis motor 9. The output shaft of the B-axis motor 9 is fixedly connected to a telescopic arm 17. The telescopic rod end of the telescopic arm 17 is fixedly connected to a C-axis motor 10. The output shaft of the C-axis motor 10 is fixedly connected to an end link 18. The end link 18 is connected to the output shaft of a D-axis motor 11. The D-axis motor 11 is fixedly connected to a first end bracket 20. An E-axis motor 12 is fixedly mounted on the first end bracket 20. The output shaft of the E-axis motor 12 is fixedly connected to a second end bracket 21. The second end bracket 21 is fixedly mounted to an F-axis motor 13. The output shaft of the F-axis motor 13 is fixedly connected to a camera 19.

[0095] Specifically, the output shaft of the A-axis motor 8 is perpendicular to the output shaft of the B-axis motor 9, the output shaft of the B-axis motor 9 is parallel to the output shaft of the C-axis motor 10, the output shaft of the C-axis motor 10 is perpendicular to the output shaft of the D-axis motor 11, the output shaft of the D-axis motor 11 is perpendicular to the output shaft of the E-axis motor 12, and the output shaft of the E-axis motor 12 is perpendicular to the output shaft of the F-axis motor 13.

[0096] Specifically, the instrument compartment 16 is equipped with a first wireless communication module, an action control module, a storage module, and a first power management module;

[0097] The motion control module controls the operation of A-axis motor 8, B-axis motor 9, C-axis motor 10, D-axis motor 11, E-axis motor 12, F-axis motor 13, G-axis motor 14, and H-axis motor 15; the first power management module includes a wireless inductive charging module and a polymer battery, used to control the contactless inductive charging of the battery.

[0098] Specifically, the telescopic arm 17 includes a fixed housing and a telescopic rod. The fixed housing is fixedly connected to the output shaft of the B-axis motor 9. The telescopic rod is nested in the fixed housing. An H-axis motor 15 is installed on the outer wall of the fixed housing. The H-axis motor 15 is connected to the telescopic rod through an electric push rod mechanism. The movement of the H-axis motor 15 drives the telescopic arm 17 to extend or retract. Preferably, the telescopic rod is a nested structure of four aluminum alloy square tubes. It should be noted that the electric push rod mechanism itself is prior art. Relevant patents include CN221806641U, a photovoltaic solar electric push rod structure, and CN221633561U, a stable electric push rod. Those skilled in the art are aware of this.

[0099] Specifically, the camera 19 is equipped with a three-coordinate gyroscope, a second wireless communication module, a second power management module, and a camera assembly.

[0100] The three-coordinate gyroscope is used to detect changes in the position of the camera and transmit the position data to the motion control module in the instrument compartment 16, which controls the C-axis motor 10, D-axis motor 11, E-axis motor 12, and F-axis motor 13 to maintain the camera 19 in a dynamic horizontal state.

[0101] The second wireless communication module is used to send the image data collected by the camera component to the first wireless communication module in the instrument compartment 16. The image data, camera position data and the action status of all axis motors are saved to the storage module. Specifically, the second wireless communication module and the first wireless communication module can be connected through short-range transmission methods, such as Bluetooth, 2.4G WIFI, 5G, etc.

[0102] The battery in the second power management module is used to power the camera assembly, wireless communication module, three-coordinate gyroscope, and C-axis motor 10, D-axis motor 11, F-axis motor 13, and E-axis motor 12; the second power management module includes a wireless inductive charging module and a polymer battery, used to control the contactless inductive charging of the battery; the A-axis motor 8 and B-axis motor 9 are the first power management modules.

[0103] The teach pendant includes a housing, on which a teach pendant bracket 22 is mounted. An A-axis teach pendant servo 23 is mounted on the upper end of the teach pendant bracket 22. The output shaft of the A-axis teach pendant servo 23 is fixedly connected to a B-axis teach pendant servo 24 via a first adapter 38. The output shaft of the B-axis teach pendant servo 24 is movably connected to a D-axis teach pendant servo 25 via a second adapter. A small camera model is mounted on the output shaft of the D-axis teach pendant servo 25 to indicate the position of the camera lens. The housing includes a display screen 26, a power switch 27, an action shortcut key area 28, a stop button 29, a teach button 30, a memory button 31, an auto-run button 32, a G-axis forward / backward joystick 33, an H-axis forward / backward joystick 34, and a D-axis / F-axis cross joystick 35. Inside the housing are a third wireless communication module, a programmable controller, and a third power management module.

[0104] Specifically, the output shaft of the A-axis teach pendant 23 is perpendicular to the output shaft of the B-axis teach pendant 24, and the second adapter makes the output shaft of the B-axis teach pendant 24 perpendicular to the output shaft of the D-axis teach pendant 25.

[0105] Specifically, the teaching pendant 22 is an L-shaped pendant, with the bottom of the vertical part of the teaching pendant 22 fixed to the upper surface of the outer casing, the A-axis teaching servo 23 fixed to the upper end of the horizontal part of the teaching pendant 22, and the display screen 26 fixed to the upper surface of the outer casing.

[0106] Specifically, the second adapter includes an upper fixed member 39.1, a middle movable member 39.2, and a lower fixed member 39.3. The upper fixed member 39.1 is fixedly connected to the output shaft of the B-axis teach pendant servo 24. The middle movable member 39.2 is loosely rotatably connected to the upper fixed member 39.1 and to the lower fixed member 39.3. The lower fixed member 39.3 is fixedly connected to the D-axis teach pendant servo 25. The upper fixed member 39.1 corresponds to the telescopic arm 17, and the middle movable member 39.2 is connected to the upper fixed member 39.1. The end link 18 is connected to the output shaft of the C-axis motor 10. The middle movable part 39.2 is connected to the lower fixed part 39.3. The corresponding end link 18 is connected to the output shaft of the D-axis motor 11. The lower fixed part 39.3 is fixedly connected to the D-axis teaching servo 25. The corresponding E-axis motor 12 is fixedly connected to the first end bracket 20 and the D-axis motor. The teaching bracket for mounting the D-axis teaching servo 25 adopts the self-vertical principle. Relying on gravity and the relatively loose second adapter, the D-axis teaching servo 25 and the camera model on its output shaft are kept in a horizontal state at all times.

[0107] The third wireless communication module receives image data, camera position data, and all axis motor motion status data forwarded by the first wireless communication module. The programmable controller can control the teach pendant servo based on the axis motor motion status data, and can also control the axis motor based on the teach pendant servo motion status. The third power management module includes a wireless inductive charging module and a polymer battery. Specifically, the third wireless communication module is connected to the first wireless communication module via a long-distance transmission method, such as a network server.

[0108] The display screen 26 is used to display the motion parameters of each axis and the images captured by the camera 19.

[0109] The action shortcut key area 28 provides 10 action combinations (circular buttons) and 42 individual action shortcut execution buttons.

[0110] When the stop button 29 is pressed, all running actions can be stopped, and the entire device will enter standby mode.

[0111] The teaching button 30 is used to turn the "teaching state" on and off. When the teaching state is turned on, the teaching servo on the teaching bracket 22 will perform a 1:1 motion restoration based on the action being performed by the execution module 2.

[0112] The memory button 31 is used in combination with the action shortcut key area 28 buttons to define the actions of the action shortcut key area buttons 28.

[0113] The automatic operation button 32 is used to switch the automatic inspection state of the device.

[0114] The G-axis rocker arm 33 is used to control the movement of the G-axis motor 14, and the rocker arm is a rocker arm that moves back and forth.

[0115] The H-axis rocker arm 34 is used to control the movement of the H-axis motor 15 of the device, and the rocker arm is a rocker arm that moves back and forth.

[0116] The D-axis / F-axis cross rocker arm 35 is used to control the movement of the D-axis and F-axis of the device. The rocker arm is a rocker arm that moves back and forth. The forward and backward direction controls the movement of the F-axis motor 13, and the left and right direction controls the movement of the D-axis motor 11.

[0117] The teaching pendant displays teaching servos on each axis and their corresponding axis motors, sharing motion parameters to achieve interactive teaching functionality. That is, after the teaching pendant activates the teaching function, the teaching servos will follow the corresponding axis motors for synchronous motion teaching. For example, if the A-axis rotates by 5°, the A-axis teaching servo on the teaching pendant will also rotate by 5°.

[0118] Manually rotating the output shaft of the teach pendant servo motor on the teach pendant causes the teach pendant servo motor to generate new angle data changes. The corresponding axis motor of the teach pendant servo motor will also make corresponding action changes according to the new angle data. This realizes the function of 1:1 reproduction of the movement of each axis of the inspection device on the teach pendant, and monitors the movement status of the inspection device in real time.

[0119] At the same time, the position of the output shaft of the corresponding axis servo motor can be changed by manually rotating the corresponding axis on the teach pendant, thereby changing the action of the corresponding axis motor of the inspection device, which facilitates quick and easy correction and control of the actions of each axis of the device.

[0120] It should be noted that the programmable controller and motion control module can be programmable devices such as PLCs and microcontrollers. The three-coordinate gyroscope, camera assembly, wireless communication module, and power management module are all existing technologies and can be obtained by purchase. Those skilled in the art are aware of this.

[0121] Example 2:

[0122] Based on Embodiment 1, in this embodiment, the A-axis motor 8, B-axis motor 9, and G-axis motor 14 are waterproof closed-loop stepper motors with worm gearboxes; the C-axis motor 10, D-axis motor 11, E-axis motor 12, and F-axis motor 13 are servo motors. The range of motion of each axis motor is as follows: Figure 10 , Figure 11 As shown.

[0123] The gearbox of the A-axis motor 8 is connected to the lower end face of the base plate 3 by bolts.

[0124] The output shaft of the A-axis motor 8 is fixedly connected to the body of the B-axis motor 9 via a rudder and bolts.

[0125] The output shaft of the B-axis motor 9 is fixedly connected to the telescopic arm via a rudder and bolts.

[0126] The telescopic rod of the telescopic arm 17 is fixedly connected to the housing of the C-axis motor 10 by bolts.

[0127] The output shaft of the C-axis motor 10 is fixedly connected to the end connecting rod 18 via a rudder disc and bolts.

[0128] The end link 18 is connected to the D-axis motor 11 via a rudder and bolts.

[0129] The first end bracket 20 is L-shaped. The D-axis motor 11 and the E-axis motor 12 are fixed to the horizontal part of the first end bracket 20 by bolts. The output shaft of the D-axis motor 11 passes through the vertical part of the first end bracket 20.

[0130] The second end bracket 21 is U-shaped and includes a first side fork wall, a middle connecting part, and a second side fork wall. The output shaft of the E-axis motor 12 passes through the horizontal part of the first end bracket 20 and is fixedly connected to the middle connecting part of the second end bracket 21 by a rudder and bolts.

[0131] The camera 19 is rotatably connected to the side fork wall of the second end bracket 21 via a horizontal rotating shaft. The camera 19 is fixedly connected to the horizontal rotating shaft. The F-axis motor 13 is fixed to the outside of one side fork wall of the second end bracket 21 by bolts. The output shaft of the F-axis motor 13 is fixedly connected to the horizontal rotating shaft via a spline.

[0132] Example 3:

[0133] Based on Example 2, this example provides a method for using a remote automatic inspection device for oilfield steam injection boilers, including the following steps:

[0134] S1. Installation of the strip-shaped hanging rail 5:

[0135] On-site, identify the inspection points around the steam injection boiler that require the use of the inspection device, and plan the automatic inspection route. Based on the route, fabricate the strip-shaped hanging rail 5, performing radial or axial bending, and drilling holes in the strip-shaped hanging rail 5;

[0136] According to the planning of the inspection route, a square entrance and exit is opened in the wall of the boiler operating room to facilitate the inspection device to enter and exit the boiler operating room.

[0137] Install rail fixing bolts 36 on the strip rail 5. One end of the rail fixing bolt 36 is inserted into the pre-drilled hole of the strip rail 5 and fixed with a nut. The other end of the rail fixing bolt is welded to the boiler body and auxiliary facilities.

[0138] S2. Installation of the inspection device:

[0139] The inner groove of the grooved wheel 4.1 on the grooved wheel bracket 4 is clamped at the upper end of the strip-shaped hanging rail 5, and the annular groove of the correction wheel 6 is clamped at the lower end of the strip-shaped hanging rail 5. The correction adjuster 37 next to the correction wheel 6 is adjusted to make the inspection device vertical.

[0140] Based on the planned inspection route, select and determine the "stop point 0" of the inspection device in the boiler control room, and install a wireless charging module for charging the first power management module and the second power management module on the side wall of the control room at stop point 0.

[0141] S3, Zero-position debugging of the inspection device:

[0142] Move the inspection device to "stop point 0" and set a conspicuous 0 position mark on the rail at this position;

[0143] The inspection device and teach pendant are powered on. The motors of each axis are adjusted to the 0 position using the debugging software of the servo motor and stepper motor, so that the inspection device remains in a natural drooping state. The 0 position debugging of the inspection device is completed.

[0144] S4. Set the inspection path:

[0145] A1. Saving actions:

[0146] Press the teach button 30 on the teach pendant and use the G-axis rocker arm 33 to control the inspection device to move on the strip rail 5 to the predetermined position.

[0147] Based on the video footage transmitted back by camera 19, manually adjust the A-axis teaching servo 23, B-axis teaching servo 24, D-axis teaching servo 25, G-axis front and rear joysticks 33, and D-axis / F-axis cross joysticks 35 on the teaching bracket to adjust the attitude of each axis of the inspection device to the predetermined position, so as to ensure that the video footage transmitted back by camera 19 can clearly cover the predetermined inspection points.

[0148] Pressing either the memory button 31 on the teach pendant or any button in the action shortcut key area 28 simultaneously will complete the storage of motion information data for each axis at that point. Up to 42 inspection action point information can be stored using this method.

[0149] A2. Setting up action combinations:

[0150] After saving the actions for each inspection point, you can start editing and saving the action combinations.

[0151] Simultaneously press and hold the memory button 31 and any one of the circular action combination buttons in the action shortcut key area 28, keeping both buttons pressed at the same time. Manually click the square single action button in the action shortcut key area 28 in sequence. The inspection device will emit two "beep-beep" sounds, indicating that the action group has been set successfully. The inspection device will automatically connect the data of the G-axis motor 14 of each action in sequence. After the G-axis motor 14 of the inspection device runs to the preset action point, it will execute the preset action at that point.

[0152] A3. Calling actions and action combinations:

[0153] Press the stop button 29 on the teach pendant to put the inspection device into standby mode;

[0154] Press the desired action button (square or round button) in the action shortcut key area 28. The inspection device will automatically execute the corresponding preset action. By default, after completing the action at each preset inspection point, the inspection device will pause for 15 seconds for video capture and recording by the camera 19, so that the background inspection and monitoring personnel can analyze the video footage of the on-site inspection points.

[0155] A4. Deletion of actions and action combinations:

[0156] Select the button (square or round) in the action shortcut key area 28 where you want to delete the action. Press and hold the button while pressing the stop button 29 for more than 5 seconds. The inspection device will emit 3 "beep-beep-beep" sounds, indicating that the action has been successfully deleted.

[0157] A5. Temporary action intervention during automatic inspection:

[0158] After the inspection device completes its inspection action, the back-end inspection and monitoring personnel can determine whether action intervention is needed based on the monitoring images and the action feedback of the teach pendant's teach servo. They can directly operate the joystick on the teach pendant and the teach servo to temporarily intervene in the action of the inspection device, thereby obtaining a better monitoring effect or perspective. After action intervention, the inspection device will pause for 15 seconds by default, and then continue to execute subsequent actions.

[0159] S5, Charging of the inspection device:

[0160] After each inspection cycle is completed, the inspection device will return to the "docking point 0" position and wait for the next cycle (the default is one inspection cycle per hour). If the battery power of the inspection device is low and needs to be charged, the system will automatically enter the wireless charging mode to charge the battery.

[0161] It should be noted that the wireless charging module itself is existing technology and can be purchased. By setting up two wireless charging modules, when the inspection device is charging, the instrument compartment 16 directly contacts one wireless charging module for wireless charging, while the camera 19 moves to the other wireless charging module via an axis motor for wireless charging.

[0162] All components not discussed in detail in this application, as well as the connection methods of these components, are well-known technologies in this field. They can be directly applied and will not be elaborated further.

[0163] In this invention, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0164] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0165] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0166] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A remote automatic inspection device for an oilfield steam injection boiler, comprising a hanging rail, a hanging rail module, and an execution module, characterized in that, The suspension rail is a strip-shaped suspension rail; The hanging rail module is mounted on a strip hanging rail, and the execution module is connected to the hanging rail module; the execution module is equipped with an information acquisition component.

2. The remote automatic inspection device for an oilfield steam injection boiler according to claim 1, characterized in that, The hanging rail module includes a base plate, on the upper surface of which a grooved wheel bracket is vertically fixedly connected. A grooved wheel is rotatably connected to the top of the grooved wheel bracket. The strip-shaped hanging rail passes through the space between the grooved wheel and the base plate, and the grooved wheel is hooked onto the top of the strip-shaped hanging rail. The base plate is fixedly connected to a G-axis motor. The output shaft axis of the G-axis motor is perpendicular to the base plate. A drive wheel is provided on the output shaft of the G-axis motor, and the drive wheel is in contact with the belt-shaped suspension rail.

3. The remote automatic inspection device for an oilfield steam injection boiler according to claim 2, characterized in that, The base plate is provided with a sliding shaft, and a correction wheel is slidably mounted on the sliding shaft. An annular groove is formed on the outer wall of the correction wheel, and the lower end of the strip-shaped suspension rail extends into the annular groove of the correction wheel. The base plate is provided with a correction adjuster at the end of the sliding shaft. The correction adjuster includes a fixed plate and an adjusting bolt. The adjusting bolt passes through the fixed plate and contacts the correction wheel.

4. The remote automatic inspection device for an oilfield steam injection boiler according to claim 3, characterized in that, The base plate is provided with a hollow opening, the sliding shaft is provided at the hollow opening, the correction wheel is located in the hollow opening, and the correction adjuster is provided at one or both ends of the sliding shaft; The G-axis motor is connected to the lower end face of the base plate, the output shaft of the G-axis motor passes through the base plate, and the drive wheel is connected to the output shaft of the G-axis motor above the base plate.

5. The remote automatic inspection device for an oilfield steam injection boiler according to claim 2, characterized in that, The execution module includes an instrument compartment and an A-axis motor; The instrument compartment and A-axis motor are fixedly mounted on the lower end face of the base plate; The output shaft of the A-axis motor is fixedly connected to the B-axis motor; The output shaft of the B-axis motor is fixedly connected to the telescopic arm; The telescopic arm's telescopic rod end is fixedly connected to a C-axis motor; The output shaft of the C-axis motor is fixedly connected to the end connecting rod. The end of the end link is connected to the output shaft of the D-axis motor; The D-axis motor is fixedly connected to a first end bracket; An E-axis motor is fixedly mounted on the first end bracket; The output shaft of the E-axis motor is fixedly connected to the second end bracket; The second end bracket is fixedly equipped with an F-axis motor; The F-axis motor output shaft is fixedly connected to the information acquisition component.

6. The remote automatic inspection device for an oilfield steam injection boiler according to claim 5, characterized in that, The telescopic arm includes a fixed housing and a telescopic rod; The fixed housing is fixedly connected to the output shaft of the B-axis motor. The telescopic rod is nested in the fixed housing. An H-axis motor is installed on the outer wall of the fixed housing. The H-axis motor is connected to the telescopic rod through an electric push rod mechanism.

7. The remote automatic inspection device for an oilfield steam injection boiler according to claim 5, characterized in that, The first end bracket is L-shaped, and the D-axis motor and E-axis motor are fixed on the horizontal part of the first end bracket. The output shaft of the D-axis motor passes through the vertical part of the first end bracket. The second end bracket is U-shaped and includes a first side fork wall, a middle connecting part, and a second side fork wall; the output shaft of the E-axis motor passes through the horizontal part of the first end bracket and is fixedly connected to the middle connecting part of the second end bracket; The information acquisition component is rotatably connected to the first and second side forks of the second end bracket via a horizontal rotating shaft. The information acquisition component is fixedly connected to the horizontal rotating shaft. The F-axis motor is fixed to the outside of the first or second side fork and the output shaft of the F-axis motor is fixedly connected to the horizontal rotating shaft.

8. The remote automatic inspection device for an oilfield steam injection boiler according to claim 5, characterized in that, It also includes a teach pendant; The teach pendant includes a housing, a teach pendant bracket is mounted on the housing, and an A-axis teach pendant servo is mounted on the upper end of the teach pendant bracket; The output shaft of the A-axis teach pendant is fixedly connected to the B-axis teach pendant via a first adapter. The output shaft of the B-axis teach pendant is movably connected to the D-axis teach pendant via a second adapter. The output shaft of the D-axis teaching servo is equipped with a small information component model. The outer casing is equipped with a display screen and operating components.

9. A remote automatic inspection device for an oilfield steam injection boiler according to claim 8, characterized in that, The output shaft of the A-axis motor is perpendicular to the output shaft of the B-axis motor. The output shaft of the B-axis motor is parallel to the output shaft of the C-axis motor. The output shaft of the C-axis motor is perpendicular to the output shaft of the D-axis motor. The output shaft of the D-axis motor is perpendicular to the output shaft of the E-axis motor. The output shaft of the E-axis motor is perpendicular to the output shaft of the F-axis motor. The output shaft of the A-axis teach pendant is perpendicular to the output shaft of the B-axis teach pendant. The second adapter makes the output shaft of the B-axis teach pendant perpendicular to the output shaft of the D-axis teach pendant.

10. A remote automatic inspection device for an oilfield steam injection boiler according to claim 8, characterized in that, The teaching pendant is an L-shaped pendant, with the bottom of the vertical part of the teaching pendant fixed to the upper surface of the outer casing, and the A-axis teaching servo fixed to the upper end of the horizontal part of the teaching pendant; the display screen is fixed to the upper surface of the outer casing. The second adapter includes an upper fixed part, a middle movable part, and a lower fixed part; The upper fixed component is fixedly connected to the output shaft of the B-axis teach pendant, the middle movable component is loosely rotatably connected to the upper fixed component, the middle movable component is loosely rotatably connected to the lower fixed component, and the lower fixed component is fixedly connected to the D-axis teach pendant.

11. A remote automatic inspection device for an oilfield steam injection boiler according to claim 8, characterized in that, The control components include a power switch, a shortcut key area, a stop button, a teach button, a memory button, an auto run button, a G-axis forward / backward joystick, an H-axis forward / backward joystick, and a D-axis / F-axis cross joystick.

12. The remote automatic inspection device for an oilfield steam injection boiler according to claim 8, characterized in that, The instrument compartment is equipped with a first wireless communication module, an action control module, a storage module, and a first power management module; The information acquisition component is a camera, which is equipped with a three-coordinate gyroscope, a second wireless communication module, a second power management module, and a camera component. The teach pendant is equipped with a third wireless communication module, a programmable controller, and a third power management module inside its casing.

13. A method for using a remote automatic inspection device for an oilfield steam injection boiler, characterized in that, Includes the following steps: S1. Installation of the strip-shaped hanging rail: Determine the inspection points around the steam injection boiler on site, plan the automatic inspection route, process the strip-shaped hanging rail according to the route, and install the strip-shaped hanging rail on the route; S2. Installation of the inspection device: Hang the grooved wheel of the hanging rail module 1 onto the upper end of the strip hanging rail; select and determine the stopping point of the inspection device in the boiler operating room, and install the wireless charging module on the side wall of the operating room at the stopping point; S3. Position adjustment of the inspection device: Move the inspection device to the stopping point and adjust all shaft motors to the zero position; S4. Set the inspection path.

14. The method of using a remote automatic inspection device for an oilfield steam injection boiler according to claim 13, characterized in that, Step S4 includes saving actions, setting action combinations, calling actions and action combinations, deleting actions and action combinations, and intervening in temporary actions during automatic inspection.

15. The method of using a remote automatic inspection device for an oilfield steam injection boiler according to claim 13, characterized in that, It also includes the following steps: S5, Charging of the inspection device: After each inspection cycle, the inspection device will return to its docking point and wait for the next inspection cycle. If the battery power of the inspection device is low and needs to be charged, the system will automatically enter wireless charging mode to charge the battery.

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