A casing inspection robot

Abstract

The present application relates to a kind of casing detection robot, including center shaft, detector and walker, center shaft can rotate around its own axis;Detector is installed at one end of center shaft, for detecting the inside situation of casing;Walker is installed on center shaft, which is drivingly connected with center shaft, and the rotation of center shaft can drive walker to walk along the axis of center shaft.The beneficial effects of the present application are compact structure, reasonable design, through the robot carrying downhole camera to travel in casing, collect the inside image of casing, and transmit back to the ground in real time, provide direct evidence for casing cleaning quality, facilitate staff to know the cleaning condition in casing in time.

Description

Technical Field

[0001] This invention relates to the field of oil and gas exploration and development or geological drilling operations, and specifically to a casing inspection robot. Background Technology

[0002] Casing is a key component constituting the production channel of oil and gas wells. During drilling, completion, and development, impurities such as solid particles carried by the wellbore working fluid and sand and wax deposits produced by formation fluids easily adhere to the inner wall of the casing, hindering the insertion and removal of downhole tools and tubing. In severe cases, it can block the channel, causing oil and gas well production to stagnate. The cleanliness of the casing is an important parameter affecting the smooth insertion and removal of tubing and the normal operation of production in oil and gas wells.

[0003] To ensure the cleanliness of the casing's inner wall, tools such as scrapers, filters, strong magnetic retrieval devices, and spray nozzles are typically used to remove mud and other solid debris. The cleaned solid debris is then carried and circulated to the ground by the working fluid.

[0004] Currently, there are very few methods for testing the cleanliness of the casing inner wall. The main method is to test the light transmittance of the working fluid returning from the wellbore and compare the light transmittance of the working fluid entering and leaving the wellbore. If the difference between the two is less than a certain value (such as 10%), the wellbore is considered clean and the casing cleanliness meets the requirements. However, there is a lack of means to directly detect and evaluate the deposits on the casing inner wall. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a cannula inspection robot, which aims to solve the problems in the prior art.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] A cannula inspection robot includes a central axis, a detector, and a walking device. The central axis is rotatable about its own axis. The detector is installed at one end of the central axis and is used to inspect the internal condition of the cannula. The walking device is installed on the central axis and is connected to the central axis in a transmission manner. The rotation of the central axis can drive the walking device to move along the axial direction of the central axis.

[0008] The beneficial effects of this invention are: during operation, the central shaft is rotated in a manner that can be conceived by those skilled in the art; during this process, the central shaft can drive the walker to walk along its axial direction, thereby realizing the movement of the central shaft inside the sleeve and driving the detector to move inside the sleeve to detect the specific internal condition of the sleeve. The detection is convenient and it is easy for staff to understand the cleanliness of the inside of the sleeve in a timely manner.

[0009] This invention features a compact structure and a reasonable design. It uses a robot to carry a downhole detector to travel inside the casing, collect images of the inner side of the casing, and transmit them back to the surface in real time. This provides direct evidence of the casing cleaning quality and allows staff to promptly obtain information about the cleaning status inside the casing.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, the walking device includes multiple drive sections, which are evenly spaced along the axial direction of the central shaft and are respectively connected to the central shaft for transmission.

[0012] The beneficial effect of adopting the above-mentioned further solution is that during operation, the central shaft can be rotated in a way that can be conceived by those skilled in the art; in this process, the central shaft can drive multiple drive sections to travel along its axial direction, thereby realizing the movement of the central shaft inside the sleeve and driving the detector to move inside the sleeve to detect the specific internal condition of the sleeve. The detection is convenient and it is easy for staff to understand the cleanliness of the inside of the sleeve in a timely manner.

[0013] Furthermore, each of the drive sections includes a cutter cage and at least one pair of traveling claws, the cutter cage being sleeved on the central shaft; each pair of traveling claws is mounted opposite to the cutter cage, and is connected to the central shaft via a cam rod, and can extend and retract along the axial direction of the central shaft, and the central shaft drives the traveling claws at both ends of the cam rod to extend or retract.

[0014] The beneficial effect of adopting the above-mentioned further solution is that during operation, the central shaft can be rotated in a way that can be conceived by those skilled in the art; during this process, the central shaft can drive multiple cutter cages to move along its axial direction, and during the movement of the cutter cages, the traveling claws can move along the inner wall of the casing, thereby realizing the movement of the central shaft inside the casing and driving the detector to move inside the casing to detect the specific internal condition of the casing. The detection is convenient and it is easy for the staff to understand the cleanliness of the inside of the casing in a timely manner.

[0015] Furthermore, the cutter cage has a cylindrical structure, and each drive section includes multiple pairs of walking claws, which are evenly spaced along the circumference of the cutter cage.

[0016] The advantages of adopting the above-mentioned further solution are that it has a compact structure, reasonable design, and facilitates the stable movement of the tool cage and central shaft within the sleeve.

[0017] Furthermore, each of the walking claws is an anchor claw, and the cutter cage is provided with mounting holes that correspond one-to-one with the anchor claws and penetrate through the inside and outside; the anchor claws are installed at the corresponding mounting holes, and are connected to the hole wall of the corresponding mounting holes through elastic elements, and two of the anchor claws in each pair of walking claws are fixedly connected to the two ends of the corresponding cam rod.

[0018] The beneficial effect of adopting the above-mentioned further solution is that during operation, the central shaft can be rotated in a way that can be conceived by those skilled in the art; during this process, the central shaft can drive multiple cutter cages to move along its axial direction, and during the movement of the cutter cages, the anchor claws can move along the inner wall of the casing, thereby realizing the movement of the central shaft inside the casing and driving the detector to move inside the casing to detect the specific internal condition of the casing. The detection is convenient and it is easy for the staff to understand the cleanliness of the inside of the casing in a timely manner.

[0019] In addition, the traveling claw adopts an anchor claw, which can travel more stably on the inner wall of the casing, increasing the stability of the entire equipment when traveling inside the casing.

[0020] Furthermore, the central shaft is provided with a plurality of cam grooves evenly spaced along its axial direction, each corresponding to one of the plurality of drive sections. The plurality of cam grooves extend circumferentially along the central shaft and have varying depths. Each cam groove is connected to the corresponding cam rod in a transmission connection.

[0021] The advantages of adopting the above-mentioned further solution are that the structure is compact and the design is reasonable. During the rotation of the central shaft, the effective cooperation between the cam groove and the cam rod is used to realize the movement of the drive section on the central shaft, so that the walking pawl can move inside the sleeve.

[0022] Furthermore, each of the cam grooves is wavy and has a different depth; each of the cam rods is a bent rod that matches the shape of the corresponding cam groove, and a portion of it extends into the corresponding cam groove.

[0023] The advantages of adopting the above-mentioned further solution are that it has a compact structure and reasonable design. By utilizing the different depths of the cam grooves and cooperating with the cam rod, the extension and retraction of each pair of walking claws can be realized, thereby enabling the entire equipment to move within the casing.

[0024] Furthermore, it also includes a driving component, the telescopic end of which extends axially along the central shaft and is fixedly connected to the other end of the central shaft for driving the central shaft to rotate.

[0025] The beneficial effect of adopting the above-mentioned further solution is that during operation, the central shaft is driven to rotate by the driving component, thereby realizing the automatic rotation of the central shaft.

[0026] Furthermore, it also includes a guide, to which the walker is slidably connected.

[0027] The advantages of adopting the above-mentioned further solutions are that the structure is compact, the design is reasonable, and the stability of the walker can be increased by using the guide.

[0028] Furthermore, the guide includes multiple traction rods, which are evenly spaced around the central axis and are slidably connected to the walker.

[0029] The advantages of adopting the above-mentioned further solution are that it has a compact structure, reasonable design, and multiple traction rods that are slidably connected to the walking device, which can increase the stability of the walking device when it travels inside the casing. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a partial structural schematic diagram of the present invention;

[0032] Figure 3 This is a schematic diagram of the knife cage in this invention.

[0033] Figure 4 This is a schematic diagram of the structure of the present invention inside the sleeve;

[0034] Figure 5 This is a schematic diagram showing the state of the robot when it is just started up, with the cam rod in the rear drive section extended and the cam rod in the front drive section retracted.

[0035] Figure 6 This is a schematic diagram of the state in which the rear drive section is fixed on the sleeve under the action of the anchor claw when the central shaft rotates forward in this invention, and the front drive section moves forward to the maximum stroke.

[0036] Figure 7 This is a schematic diagram showing the state of the cam rod of the front drive section extending and the cam rod of the rear drive section retracting in this invention.

[0037] Figure 8 This is a schematic diagram showing the state of the rear drive unit when it moves forward along the traction rod to its maximum stroke in this invention;

[0038] Figure 9 This is a schematic diagram of the state when the robot moves forward to its maximum stroke under the drive of the front drive joint in this invention;

[0039] Figure 10 This is a schematic diagram of the state structure of the drive section cam rod when it extends and the front drive section cam rod retracts in the present invention;

[0040] Figure 11 This is a schematic diagram of the state structure of the front drive unit when it moves forward along the traction rod to its maximum stroke in this invention;

[0041] Figure 12 This is a partial structural diagram of the anchor claw when it extends in this invention;

[0042] Figure 13This is a partial structural diagram of the anchor claw retracting in this invention;

[0043] Figure 14 This invention presents a state diagram showing the complementary displacement of the cam rods installed in the front and rear drive sections during each cycle.

[0044] The attached diagram lists the components represented by each number as follows:

[0045] 1. Central shaft; 2. Detector; 4. Cage; 5. Cam rod; 6. Anchor claw; 7. Drive component; 8. Traction rod; 9. Sleeve; 10. Limiting component. Detailed Implementation

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Example 1

[0051] like Figures 1 to 14As shown, this embodiment provides a sleeve inspection robot, including a central shaft 1, a detector 2, and a walker. The central shaft 1 can rotate around its own axis. The detector 2 is installed at one end of the central shaft 1 and is used to detect the internal condition of the sleeve 9. The walker is installed on the central shaft 1 and is connected to the central shaft 1 in a transmission connection. The rotation of the central shaft 1 can drive the walker to move along the axis of the central shaft 1.

[0052] During operation, the central shaft 1 is rotated in a manner that can be conceived by those skilled in the art; in this process, the central shaft 1 can drive the walking device to move along its axial direction, thereby realizing the movement of the central shaft 1 inside the sleeve 9, and driving the detector 2 to move inside the sleeve 9 to detect the specific internal condition of the sleeve 9. The detection is convenient and allows the staff to understand the cleanliness of the inside of the sleeve 9 in a timely manner.

[0053] Preferably, in this embodiment, the detector 2 is a camera that is waterproof.

[0054] The aforementioned camera includes a camera body and a protective cover that covers the camera body, which is effective in waterproofing.

[0055] In addition, the camera is connected to the controller in the control center outside the sleeve 9 via a line, and it can transmit the relevant images it has captured to the controller.

[0056] Alternatively, a wireless transmitter can be installed inside the camera, and a wireless receiver can be installed in the controller at the control center to transmit images wirelessly.

[0057] The aforementioned camera has a field of view of over 180°, enabling it to capture images of the inner wall of the casing from all angles during robot movement and transmit the information back to the ground via cable. Ground-based analysis software analyzes the image data to determine if foreign objects are attached to the inner wall of the casing and whether the casing is deformed.

[0058] This embodiment has a compact structure and reasonable design. The robot carries a downhole detector to travel inside the casing 9, collects images of the inside of the casing 9, and transmits them back to the surface in real time. This provides direct evidence of the cleaning quality of the casing 9 and allows staff to know the cleaning status inside the casing 9 in a timely manner.

[0059] Example 2

[0060] Based on Embodiment 1, this embodiment also includes a driving component 7. The telescopic end of the driving component 7 extends along the axial direction of the central shaft 1 and is fixedly connected to the other end of the central shaft 1 for driving the central shaft 1 to rotate.

[0061] During operation, the central shaft 1 is driven to rotate by the drive component 7, thereby achieving automatic rotation of the central shaft 1.

[0062] Preferably, in this embodiment, the driving component 7 is preferably a motor, the driving end of which extends along the axial direction of the central shaft 1 and is fixedly connected to the other end of the central shaft 1.

[0063] In addition, the aforementioned motor is installed at the end of the robot, is electrically driven, and its speed is controlled by voltage. The normal operating range is 30-200 rpm. The motor can work for a long time at a high temperature of 200℃, making it suitable for deep well operations.

[0064] Preferably, the above-mentioned motor can be a brushless DC motor with a gearbox, and the speed is controlled by voltage. The voltage is 110-220V, the power is within 10kW, and the speed range is 200-300rpm. The motor rotates clockwise for forward rotation and counterclockwise for reverse rotation. By controlling the change of positive and negative poles, the motor can achieve forward and reverse rotation. The motor housing is connected to the drive section via a traction rod, and the rotor is connected to the drive shaft. The drive shaft is connected to the robot's central axis. When the motor rotor rotates, the central axis is driven to rotate.

[0065] It should be noted that the robot's start and stop are controlled by the motors; when the motors are turned off, the robot stops moving.

[0066] In addition, when the motor rotates forward, the robot moves forward; when the motor rotates in reverse, the robot moves backward.

[0067] Example 3

[0068] Based on the above embodiments, in this embodiment, the walking device includes multiple drive sections, which are evenly spaced along the axial direction of the central shaft 1 and are respectively connected to the central shaft 1 for transmission.

[0069] During operation, the central shaft 1 is driven to rotate by a motor. In this process, the central shaft 1 can drive multiple drive sections to move along its axial direction, thereby enabling the central shaft 1 to move inside the sleeve 9 and drive the detector 2 to move inside the sleeve 9 to detect the specific internal condition of the sleeve 9. The detection is convenient and allows the staff to understand the cleanliness of the inside of the sleeve 9 in a timely manner.

[0070] Preferably, in this embodiment, the number of the above-mentioned drive sections is preferably two, namely a front drive section and a rear drive section, and the two drive sections can realize the movement of the entire device within the sleeve 9.

[0071] Example 4

[0072] Based on embodiment 3, in this embodiment, each drive section includes a cutter cage 4 and at least one pair of walking claws. The cutter cage 4 is sleeved on the central shaft 1. Each pair of walking claws is mounted opposite to each other on the cutter cage 4. It is connected to the central shaft 1 through a cam rod 5 and can extend and retract along the axial direction of the central shaft 1. The central shaft 1 drives the walking claws at both ends of the cam rod 5 to extend or retract.

[0073] During operation, the central shaft 1 is driven to rotate by a motor. In this process, the central shaft 1 can drive multiple cutter cages 4 to move along its axial direction. As the cutter cages 4 move, the walking claws can move along the inner wall of the sleeve 9, thereby realizing the movement of the central shaft 1 inside the sleeve 9 and driving the detector 2 to move inside the sleeve 9 to detect the specific internal condition of the sleeve 9. The collected images are then transmitted to the controller, making detection convenient and allowing staff to understand the cleanliness of the inside of the sleeve 9 in a timely manner.

[0074] Based on the above scheme, the two cam grooves have identical structures, but their phase angles differ by 180° in the circumferential direction, thus enabling the two sets of drive rods to extend and retract alternately. The cam grooves exhibit both helix angle and radial height variations.

[0075] Example 5

[0076] Based on embodiment 4, in this embodiment, the cutter cage 4 has a cylindrical structure, and each drive section includes multiple pairs of walking claws, which are evenly spaced along the circumference of the cutter cage 4.

[0077] The scheme has a compact structure and reasonable design, which facilitates the stable movement of the tool cage 4 and the central shaft 1 within the sleeve 9.

[0078] Example 6

[0079] Based on any one of Embodiments 4 to 5, in this embodiment, each walking claw is an anchor claw 6, and the knife cage 4 is provided with mounting holes that correspond one-to-one with the anchor claws 6 and penetrate through the inside and outside; the anchor claws 6 are installed at the corresponding mounting holes, and are connected to the hole wall of the corresponding mounting holes through elastic elements, and the two anchor claws 6 in each pair of walking claws are fixedly connected to the two ends of the corresponding cam rod 5.

[0080] During operation, the central shaft 1 is driven to rotate by a motor. In this process, the central shaft 1 can drive multiple cutter cages 4 to move along its axial direction. As the cutter cages 4 move, the anchor claws 6 can travel along the inner wall of the sleeve 9, thereby enabling the central shaft 1 to travel inside the sleeve 9 and driving the detector 2 to travel inside the sleeve 9 to detect the specific internal condition of the sleeve 9. The detection is convenient and allows the staff to understand the cleanliness of the inside of the sleeve 9 in a timely manner.

[0081] In addition, the traveling claw adopts the anchor claw 6, which can travel more stably on the inner wall of the casing 9, increasing the stability of the entire equipment traveling inside the casing 9.

[0082] Preferably, in this embodiment, each of the above-mentioned elastic elements is preferably a spring.

[0083] Based on the above scheme, when the central shaft 1 rotates once, the anchor claw 6 contacts and disengages from the inner wall of the sleeve 9 once. Each time it contacts the inner wall of the sleeve 9, it simultaneously propels the robot forward by one step, thus realizing the movement of the robot by a single motor driving multiple drive sections.

[0084] In addition, a camera mounted on the front of the robot has infrared detection capabilities in turbid liquids. As the robot moves inside casing 9, it uses the downhole camera to collect images of the casing and transmits them to the surface in real time to check the cleanliness of the casing's inner wall and determine the casing's deformation.

[0085] Based on the above scheme, when the central shaft 1 rotates, the cam groove rotates accordingly. Since the radial height of the cam groove changes along the circumference, the cam rod that cooperates with it will periodically extend and retract. The retraction of the cam rod relies on the spring force.

[0086] Example 7

[0087] Based on any one of Embodiments 4 to 6, in this embodiment, the central shaft 1 is provided with a plurality of cam grooves that correspond one-to-one with a plurality of drive sections at uniform intervals along its axial direction. The plurality of cam grooves extend circumferentially along the central shaft 1 and have different depths; each cam groove is connected to the corresponding cam rod 5 in a transmission connection.

[0088] The scheme has a compact structure and reasonable design. During the rotation of the central shaft 1, the effective cooperation between the cam groove and the cam rod 5 is used to realize the movement of the drive section, i.e. the tool cage 4, on the central shaft 1, so that the walking claw can move inside the sleeve 9.

[0089] The groove depth and helix angle of the two sets of cam grooves are complementary in the circumferential direction, so the corresponding cam rods also have complementary movements.

[0090] Example 8

[0091] Based on embodiment 7, in this embodiment, each cam groove is wavy and has a different depth; each cam rod 5 is a bent rod that matches the shape of the corresponding cam groove, and part of it extends into the corresponding cam groove.

[0092] The scheme has a compact structure and reasonable design. It utilizes the different depths of the cam grooves and works in conjunction with the cam rod 5 to realize the extension and retraction of each pair of walking claws, thereby enabling the entire equipment to move within the sleeve 9.

[0093] Based on the above scheme, when there are two cutter cages 4, the two pairs of anchor claws 6 extend and retract in opposite directions. That is, when one pair of anchor claws 6 is close to the inner wall of the sleeve 9, the other pair of anchor claws 6 loosens the inner wall of the sleeve 9 and moves with the cutter cage 4, so as to realize the movement of the entire equipment inside the sleeve 9.

[0094] Example 9

[0095] Based on the above embodiments, this embodiment also includes a guide, and the walker is slidably connected to the guide.

[0096] The scheme has a compact structure and reasonable design. The guide can increase the stability of the walking device when it moves inside the sleeve 9.

[0097] Example 10

[0098] Based on embodiment 9, in this embodiment, the guide includes multiple traction rods 8, which are evenly spaced around the central axis 1 and are slidably connected to the walker.

[0099] The scheme has a compact structure and reasonable design. Multiple traction rods 8 are slidably connected to the walking device, which can increase the stability of the walking device when it moves inside the sleeve 9.

[0100] Preferably, in this embodiment, the guide includes two traction rods 8, which are distributed opposite to each other. At this time, each knife cage 4 is provided with two through holes opposite to each other. The two traction rods 8 are respectively inserted into the two through holes, and their two ends extend to the outside of the two through holes respectively.

[0101] In addition, one end of each of the two traction rods 8 is fixedly connected to the housing of the motor, and the other end is detachably fitted with a limiting component 10.

[0102] Preferably, in this embodiment, the two limiting members 10 are nuts, and the other end of the two traction rods 8 is provided with threaded sections. The two nuts are respectively threaded onto the two threaded sections, making disassembly and assembly convenient.

[0103] In addition to the above-described embodiments, two pairs of sliders can also be slidably mounted on the two traction rods 8, with each pair of sliders fixedly connected to the two sides of the corresponding cutter cage 4.

[0104] The working principle of this invention is as follows:

[0105] First, the staff manually placed the entire device into the sleeve 9;

[0106] Then, the central shaft 1 is driven to rotate by the motor, and the cam groove on the central shaft 1 is connected to multiple cam rods 5 for transmission, so that the cutter cage 4 moves along the axial direction of the central shaft 1.

[0107] During the movement of the cutter cage 4, due to the varying depths of the cam grooves, when the anchor claw 6 on one cutter cage 4 extends outward and presses tightly against the inner wall of the sleeve 9, the anchor claw 6 on the other cutter cage 4 retracts inward to loosen the inner wall of the sleeve 9 and moves along with the cutter cage 4, thereby enabling the entire device to move within the sleeve 9 (see...). Figure 4 ).

[0108] The specific principle is (see...) Figure 12 and Figure 13 ):

[0109] like Figure 12 This is a schematic diagram showing the state when the anchor claw 6 is extended. At this time, the shallower part of the cam groove applies a force to the cam rod 5 to push it out. Both ends of the cam rod 5 extend outward, driving the two anchor claws 6 to extend and fit tightly against the inner wall of the sleeve 9. At this time, the elastic elements at both ends of the cam rod 5 apply a pulling force to both ends of the cam rod 5 (see attached diagram). Figure 12 The long arrow indicates the direction of the extension of both ends of the cam rod 5, the short arrow indicates the direction of the force exerted on the cam rod 5 by the elastic element, and the rotation arrow indicates the direction of rotation of the central shaft 1.

[0110] like Figure 13 This is a schematic diagram showing the state of the anchor claw 6 when it is retracted. At this time, the deeper part of the cam groove corresponds to the cam rod 5, meaning that the cam groove does not provide any force to the cam rod 5. The elastic elements at both ends of the cam rod 5 apply a pulling force to both ends, causing the ends of the cam rod 5 to retract, thereby separating the two anchor claws 6 from the inner wall of the sleeve 9 (see attached diagram). Figure 13 The long arrow indicates the direction of the extension of both ends of the cam rod 5, the short arrow indicates the direction of the force exerted on the cam rod 5 by the elastic element, and the rotation arrow indicates the direction of rotation of the central shaft 1.

[0111] The advantages of this invention are:

[0112] (1) A motor-driven robot is used to send a downhole camera into the well casing to judge the cleanliness of the inner wall of the casing in real time, providing a reliable basis for subsequent operations;

[0113] (2) Single motor drive simplifies robot movements and ensures high reliability;

[0114] (3) The robot generates force with the well wall through the anchor claws, and the two sets of drive sections form a inchworm-like movement, which can pass through complex structure wells such as high-angle wells and horizontal wells to fully detect the internal condition of the well wall;

[0115] (4) The robot is electrically driven. When the motor rotates forward, the robot moves forward and when the motor rotates in reverse, the robot moves backward, which can realize repeated detection of specific positions.

[0116] It should be noted that all electronic components involved in this invention adopt existing technology, and all the above-mentioned components are electrically connected to the controller, and the control circuit between the controller and each component is existing technology.

[0117] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0118] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cannula inspection robot, characterized in that: The device includes a central shaft (1), a detector (2), and a walking device. The central shaft (1) is rotatable about its own axis. The detector (2) is installed at one end of the central shaft (1) and is used to detect the internal condition of the sleeve (9). The walking device is installed on the central shaft (1) and is connected to the central shaft (1) in a transmission manner. The rotation of the central shaft (1) can drive the walking device to move along the axis of the central shaft (1). The walking device includes multiple drive sections, which are evenly spaced along the axial direction of the central shaft (1) and are respectively connected to the central shaft (1) in a transmission manner. Each of the drive sections includes a cutter cage (4) and at least one pair of walking claws. The cutter cage (4) is sleeved on the central shaft (1). Each pair of walking claws is mounted opposite to the cutter cage (4). It is connected to the central shaft (1) via a cam rod (5) and can extend and retract along the axial direction of the central shaft (1). The central shaft (1) drives the walking claws at both ends of the cam rod (5) to extend or retract. The central shaft (1) is provided with a plurality of cam grooves that are evenly spaced along its axial direction and correspond one-to-one with the plurality of drive sections. The plurality of cam grooves extend circumferentially along the central shaft (1) and have different depths. Each cam groove is connected to the corresponding cam rod (5) in a transmission connection. The blade cage (4) has a cylindrical structure, and each drive section includes multiple pairs of walking claws, which are evenly spaced along the circumference of the blade cage (4). Each of the walking claws is an anchor claw (6), and the knife cage (4) is provided with mounting holes that correspond one-to-one with the anchor claws (6) and penetrate through the inside and outside; the anchor claws (6) are installed at the corresponding mounting holes, and are connected to the hole wall of the corresponding mounting holes through elastic elements, and the two anchor claws (6) in each pair of walking claws are fixedly connected to the two ends of the corresponding cam rod (5). Each of the cam grooves is wavy and has a different depth; each of the cam rods (5) is a bent rod that matches the shape of the corresponding cam groove and extends into the corresponding cam groove.

2. The cannula inspection robot according to claim 1, characterized in that: It also includes a drive member (7), the telescopic end of which extends along the axial direction of the central shaft (1) and is fixedly connected to the other end of the central shaft (1) for driving the central shaft (1) to rotate.

3. The cannula inspection robot according to claim 1, characterized in that: It also includes a guide, to which the walker is slidably connected.

4. The cannula inspection robot according to claim 3, characterized in that: The guide includes multiple traction rods (8), which are evenly spaced around the central axis (1) and are slidably connected to the walker.

Images