Oil field dosing robot arm motion trail evaluation device based on optical signals

Abstract

The utility model relates to the technical field of oil field liquid dosing treatment, in particular to an oil field dosing robot arm motion trail evaluation device based on optical signals, which comprises a lower page plate, a rotating shaft and a connecting shaft. The two sides of the rotating shaft are fixedly connected with connecting shafts correspondingly, the other ends of the connecting shafts are rotationally connected with a lower hinge plate and an upper hinge plate correspondingly, a modulator is installed on the upper surface of the lower hinge plate, and a demodulator is installed on the inclined surface of the upper hinge plate. In the field of oil field dosing equipment, as the dosing mode of a robot is not used, matched process tools for field protection and equipment delivery detection matched with the dosing robot in an industrial environment need to be perfected, and the device is developed for delivery detection quality guarantee measures and is convenient to use. Through bending over-limit data in the full-working-condition experiment, the quality of factory equipment can be automatically evaluated, and the technical tool blank in the application field is filled.

Description

Technical Field

[0001] The utility model relates to the technical field of oilfield liquid dosing treatment, in particular to an oilfield dosing robot arm motion trajectory evaluation device based on optical signals. Background Art

[0002] Among the various manual, semi-automatic and intelligent dosing treatment equipment in existing oil fields, due to the fixed nature of their interfaces, they can only be operated in fixed containers or pipelines, and the lid needs to be opened manually to add the medicine into the medicine tank, and the medicine cannot be obtained flexibly. Since there are many types of medicines and they are often toxic or corrosive, they cause great harm to operators. The existing dosing equipment cannot achieve full process automation (for example, a uniform viscosity reduction dosing device for oil fields CN117739280A, an automatic dosing device for oil field development CN219194543U). Other various intelligent or non-intelligent dosing in oil fields are similar to the patented technologies cited above, which solve the dosing problem after entering the tank or pipeline, and the liquid circuits use hard connections or chain protection.

[0003] In production practice, the complexity of inputting drugs and containers at the front end makes it impossible to achieve full process automation using the above-mentioned methods. If the full process of dosing production is to be automated, automation must be achieved between the front-end barreled drugs and the dosing tanks. This requires the use of a robotic arm equipped with a dosing / extraction hose to quickly achieve various complex tank-finding, can-opening, and liquid-changing operations in a three-dimensional fixed area. In the path of three-dimensional application, in an industrial production environment, the dosing delivery hose may be in a bent state, and the transmitted drug liquid is often highly corrosive or has a relatively high temperature. Reducing the bending angle of the hose can effectively protect the dosing / extraction hose and increase the service life of the equipment. From the search of the field of liquid hose protection in the industrial industry, there are some methods such as "an external transmission hose protection structure (CN219751617U)" which uses a soft chain joint to protect the first section of the hose, which is used for offshore oil production platforms. There are also methods such as "a method for protective recovery of deep-water flexible hoses (CN102588675A)" that improves the curvature of the hose through measures such as counterweights and clamps, and implements rolling through a tension control method to achieve the purpose of protecting the hose. In "a metal hose protection mechanism for hydrogen transportation (CN220891436U)", a spring is added to the outside of the hose for protection. Caterpillar's patent for multi-hose protection "hose protection cover and engineering machinery for engineering machinery (CN220102503U)" is also a protection mechanism based on a spring structure.

[0004] However, no relevant patents have been published so far on how to automatically test the influence of the oilfield dosing robot's control strategy and devices on the flexible pipeline attached to the manipulator (such as interference) during factory testing.

[0005] The main reasons for the deficiency are:

[0006] From the above, it can be seen that the ideal spatial position of the manipulator can be obtained through theoretical calculations. However, whether the hose attached to the manipulator is excessively bent or may be in a long-term fatigue state under different spatial positions of the manipulator cannot be obtained through such conventional calculations (the deformation of the flexible manipulator arm or the hose body is not easy to calculate). Therefore, pure theoretical calculations cannot obtain an engineering solution. This is why protection can only be achieved through mechanical protection (springs, sheaths, etc.). If the bending degree of the hose is measured, the complexity of the factory test of the robot / manipulator system can be simplified. Therefore, an oilfield dosing robot arm motion trajectory evaluation device based on optical signals is proposed to address the above problems. Utility Model Content

[0007] The utility model aims to provide an oilfield dosing robot arm motion trajectory evaluation device based on optical signals to solve the problems raised in the above background technology.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] As an optional solution of the motion trajectory evaluation device of the oilfield dosing robot arm based on optical signals of the utility model, wherein: the motion trajectory evaluation device of the oilfield dosing robot arm based on optical signals comprises a lower page plate, a rotating shaft and a connecting shaft;

[0010] The two sides of the rotating shaft are respectively fixedly connected with connecting shafts, and the other ends of the connecting shafts are respectively rotatably connected with the lower page plate and the upper page plate. The upper surface of the lower page plate is equipped with a modulator, and the inclined surface of the upper page plate is equipped with a demodulator.

[0011] As an optional solution of the optical signal-based oilfield dosing robot arm motion trajectory evaluation device of the utility model, wherein: the lower page plate and the upper page plate are of the same size.

[0012] As an optional solution of the optical signal-based motion trajectory evaluation device for the oilfield dosing robot arm of the utility model, the length of the modulator from the rotating shaft is consistent with the length of the demodulator from the rotating shaft.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] In the field of oilfield dosing equipment, the utility model does not use a robot for dosing, so the on-site protection of the dosing robot used in an industrial environment and the supporting process tooling for equipment factory inspection need to be improved. This device is developed for factory inspection quality assurance measures. Through the bending over-limit data in the full-condition experiment, the quality of the factory equipment can be automatically evaluated, filling the technical tooling gap in this application field. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0016] In the figure: 1. lower page plate; 2. rotating shaft; 3. connecting shaft; 4. upper page plate; 5. demodulator; 6. modulator. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Example 1: Please refer to Figure 1 , the utility model provides a technical solution:

[0019] An oilfield dosing robot arm motion trajectory evaluation device based on optical signals comprises a lower page plate 1, a rotating shaft 2 and a connecting shaft 3;

[0020] The two sides of the rotating shaft 2 are respectively fixedly connected with connecting shafts 3, and the other ends of the connecting shafts 3 are respectively rotatably connected with the lower page plate 1 and the upper page plate 4. The upper surface of the lower page plate 1 is installed with a modulator 6, and the inclined surface of the upper page plate 4 is installed with a demodulator 5.

[0021] The lower page plate 1 and the upper page plate 4 are of the same size.

[0022] The distance between the modulator 6 and the rotating shaft 2 is consistent with the distance between the demodulator 5 and the rotating shaft 2 .

[0023] The working process is as follows: the angle-based continuous optical signal flash modulator sends a signal to the data and power cable and the demodulator, and the demodulator sends a signal to the data and power cable, at which point the signal is sent to the data concentrator through the data and power cable, and the data concentrator sends the signal to the data processing and display device for data processing and data display.

[0024] Implementation method: The lower page plate 1 and the upper page plate 4 of the device are installed at the joints of the manipulator or on the surface of other flexible parts that need to detect bending data. The lower page plate 1 and the upper page plate 4 are mounted separately, and the optical path adopts optical fiber, and the lines of the modulator 6 and the demodulator 5 are externally connected to the data processing unit, the serial data concentrator and several series-connected optical signal bending sensor modules. The data processing unit can adopt PC, MCU or PLC. In the actual structure, the bending degree of the hose is obtained by measuring the optical signal bending sensor data of the device, and the bending degree data of the hose during the operation of the equipment is transmitted to the data processing unit through the data concentrator. In the production of oilfield dosing robot equipment, when the full working condition is carried out in the factory test. During testing, this device can be used to measure the bending limit of robots / manipulators and dosing hoses in real time at low cost in experimental tests. In actual use, multiple devices can be used in combination. The data and power cables can be connected in series with a sufficient number of components, using daisy chain or single bus, I2C and other connection methods. The bending data can be sent to embedded controllers or host computers and other data processing and display devices through a data concentrator to realize arm joint or hose or other large joint bending sensor data monitoring. Four lines in four directions on a hose can be installed to eliminate errors, and 3D real-time bending data synthesis of three-dimensional hoses can be realized through data fusion on the host data processing equipment.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Motion trajectory evaluation device for oilfield dosing robot arm based on optical signals, Features: It comprises a lower page plate (1), a rotating shaft (2) and a connecting shaft (3); The two sides of the rotating shaft (2) are respectively fixedly connected with connecting shafts (3), and the other ends of the connecting shafts (3) are respectively rotatably connected with a lower page plate (1) and an upper page plate (4), a modulator (6) is installed on the upper surface of the lower page plate (1), and a demodulator (5) is installed on the inclined surface of the upper page plate (4).

2. The motion trajectory evaluation device for the oilfield dosing robot arm based on optical signals according to claim 1 is characterized in that: The lower page plate (1) and the upper page plate (4) are of the same size.

3. The motion trajectory evaluation device for the oilfield dosing robot arm based on optical signals according to claim 1 is characterized in that: The length of the modulator (6) from the rotating shaft (2) is consistent with the length of the demodulator (5) from the rotating shaft (2).

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