Borehole robot and survey system

Abstract

The application discloses a hole pipe robot and a detection system applying the hole pipe robot. The hole pipe robot comprises a frame, a plurality of walking assemblies, a driver and a plurality of transmission assemblies. The walking assemblies are arranged on the frame, and the walking assemblies are arranged at intervals along the circumference of the frame. The walking assembly comprises a supporting piece and a track belt. The track belt is sleeved on the outer circumferential side of the supporting piece. The distance between the supporting piece and the frame is adjustable to press part of the track belt against the inner wall of the hole pipe. The driver is arranged on the frame. The transmission assemblies are connected between the track belts of the walking assemblies and the driver one by one to drive the track belts of the walking assemblies to rotate synchronously. The hole pipe robot has the advantages of high walking consistency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a perforated tube robot and a detection system using the perforated tube robot. Background Technology

[0002] A perforated tube robot can move through a perforated tube under the action of multiple drive components to detect various information inside the perforated tube. The multiple drive components of the perforated tube robot contact the inner wall of the perforated tube to support and drive the perforated tube robot to move in the pipe. The walking consistency of perforated tube robots in related technologies is poor. Summary of the Invention

[0003] This invention is based on the inventor's discoveries and understanding of the following facts and problems:

[0004] In related technologies, the multiple drive components of the perforated tube robot are driven by relatively independent power sources. The poor consistency of these multiple independent power sources leads to low consistency in the movements of the multiple drive components, thereby reducing the consistency of the perforated tube robot.

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a perforated tube robot that has the advantage of high walking consistency.

[0006] This invention also proposes a detection system.

[0007] The borehole robot of this invention includes a frame; multiple walking components, each walking component disposed on the frame and arranged circumferentially around the frame; each walking component includes a support member and a track, the track being sleeved on the outer periphery of the support member, the distance between the support member and the frame being adjustable to press a portion of the track against the inner wall of the borehole; a driver and multiple transmission components, the driver being disposed on the frame, and the multiple transmission components being connected one-to-one between the track and the driver of the multiple walking components, so that the driver can simultaneously drive the track of the multiple walking components to rotate synchronously.

[0008] The tube robot of this invention has the advantage of high walking consistency.

[0009] In some embodiments, the walking assembly includes a first wheel, a second wheel, a third wheel, and a fourth wheel. The first wheel and the second wheel are located at one end of the frame and are rotatable relative to the frame. The third wheel and the fourth wheel are located at the other end of the frame and are rotatable relative to the frame. The track includes a first track and a second track. The first track is fitted onto the outer periphery of the first wheel and the third wheel. The second track is fitted onto the outer periphery of the second wheel and the fourth wheel. The first wheel is connected to the transmission assembly. The axles of the first wheel and the second wheel are connected. The axles of the third wheel and the fourth wheel are connected.

[0010] In some embodiments, the walking assembly includes a plurality of track rollers rotatably disposed on the support member. The plurality of track rollers includes a first wheel set and a second wheel set. The first wheel set is disposed within the first track to press against the first track, and the second wheel set is disposed within the second track to press against the second track.

[0011] In some embodiments, the transmission assembly includes a first bevel gear, a transmission shaft, and a second bevel gear. The first bevel gear meshes with the output shaft of the driver. The transmission shaft is connected between the first bevel gear and the second bevel gear and is rotatably coupled to the frame. The second bevel gear meshes with the first wheel to drive the first track and the second track to rotate.

[0012] In some embodiments, the tube robot includes an elastic element, a plurality of first arms and a plurality of second arms. The plurality of first arms correspond one-to-one with the plurality of supporting elements, and the first end of each first arm is rotatably connected to the supporting element. The plurality of second arms correspond one-to-one with the plurality of supporting elements, and the first end of each second arm is rotatably connected to the supporting element. The elastic element supports between the second ends of the plurality of first arms and the second ends of the plurality of second arms to adjust the distance between the second ends of the plurality of first arms and the second ends of the plurality of second arms.

[0013] In some embodiments, the support member has a maximum distance from the frame, the upper limit of the angle between the extension direction of the first arm and the axial direction of the frame is less than 90°, and the upper limit of the angle between the extension direction of the second arm and the axial direction of the frame is less than 90°.

[0014] In some embodiments, the tube robot includes a first ring and a second ring. The first ring is slidably sleeved on the outer periphery of the frame. The second ends of a plurality of first arms are rotatably connected to the first ring. The second ring is slidably sleeved on the outer periphery of the frame. The second ends of a plurality of second arms are rotatably connected to the second ring. An elastic element is sleeved on the outer periphery of the frame and acts between the first ring and the second ring.

[0015] In some embodiments, the tube robot includes an air tube, the actuator is a pneumatic motor, and the air tube is connected to the actuator to supply air to the actuator.

[0016] In some embodiments, the tube robot includes a locking member fixedly connected to the air tube. The locking member is located on the side of the actuator opposite to the output shaft of the actuator, and the locking member is connected to the frame via a connector. The elastic modulus of the connector is greater than that of the air tube to protect the connection between the air tube and the actuator.

[0017] The detection system of this invention includes the orifice robot described in any of the above embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the orifice robot according to an embodiment of the present invention.

[0019] Figure 2 This is a cross-sectional schematic diagram of the tube robot according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the supporting component of the tube robot according to an embodiment of the present invention.

[0021] Figure label:

[0022] Frame 1; Walking assembly 2; Track 21; First track 211; Second track 212; Support 22; First wheel 23; Second wheel 24; Third wheel 25; Fourth wheel 26; Driver 3; Output shaft 31; Transmission assembly 4; First bevel gear 41; Transmission shaft 42; Second bevel gear 43; Track roller 5; Locking element 6; Elastic element 7; First ring 71; Second ring 72; First arm 81; Second arm 82. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following is combined with Figures 1 to 3This invention describes a perforated tube robot according to an embodiment of the present invention.

[0025] The tube robot of this invention includes a frame 1, multiple walking components 2, a driver 3, and multiple transmission components 4.

[0026] The walking assembly 2 is located on the frame 1, and multiple walking assemblies 2 are arranged at intervals along the circumference of the frame 1. The walking assembly 2 includes a support member 22 and a track 21. The track 21 is fitted on the outer periphery of the support member 22. The distance between the support member 22 and the frame 1 is adjustable to press part of the track 21 against the inner wall of the perforated tube.

[0027] Specifically, the frame 1 extends in the front-back direction as shown in the figure, and the walking component 2 extends in the same direction as the frame 1 to drive the frame 1 to move in the front-back direction. The walking component 2 includes a track 21 and a support member 22. The distance between the support member 22 and the frame 1 is adjustable so that the end of the track 21 away from the frame 1 is stopped against the inner wall of the perforated tube. The track 21 is rotatable relative to the frame 1, and the outer periphery of the track 21 drives the frame 1 to move along the inner wall of the perforated tube under friction. Multiple walking components 2 are evenly spaced along the circumference of the frame 1 to fix the perforated tube robot of the present invention in the perforated tube and provide multiple support positions.

[0028] The driver 3 is located on the frame 1, and multiple transmission components 4 are connected one-to-one between the tracks 21 of multiple walking components 2 and the driver 3, so that the driver 3 can simultaneously drive the tracks 21 of multiple walking components 2 to rotate synchronously.

[0029] The driver 3 is located inside the frame 1. The power output end of the driver 3 is connected to multiple transmission components 4. Each transmission component 4 is connected to the track 21 of a walking component 2, thereby synchronously and evenly transmitting the power output by the driver 3 to the track 21 of multiple walking components 2. The driver 3 serves as a unified power source for the track 21 of multiple walking components 2, making the movement of the track 21 of multiple walking components 2 synchronous and unified.

[0030] The perforated tube robot of this embodiment of the invention is equipped with multiple walking components 2 evenly spaced along the circumference of the frame 1. The distance between the support members 22 of the multiple walking components 2 and the frame 1 is adjustable, and the support members 22 press the outer periphery of the track 21 against the inner wall of the perforated tube, thereby enabling the perforated tube robot of this embodiment of the invention to travel in perforated tubes with different inner diameters. By pressing the outer periphery of the track 21 against the inner wall of the perforated tube through the support members 22 of the multiple walking components 2, there are multiple contact points between the perforated tube robot of this embodiment of the invention and the inner wall of the perforated tube when traveling in the perforated tube, thereby improving the stability of the perforated tube robot of this embodiment of the invention when traveling in the perforated tube. By connecting the track 21 of the multiple walking components 2 and a single driver 3 through multiple transmission components 4, the single driver 3 can drive the track 21 of the multiple walking components 2 to move synchronously and consistently, thereby giving the perforated tube robot of this embodiment of the invention the advantage of higher walking consistency when traveling in perforated tubes compared with related technologies.

[0031] In some embodiments, the walking assembly 2 includes a first wheel 23, a second wheel 24, a third wheel 25, and a fourth wheel 26. The first wheel 23 and the second wheel 24 are located at one end of the frame 1 and are rotatable relative to the frame 1. The third wheel 25 and the fourth wheel 26 are located at the other end of the frame 1 and are rotatable relative to the frame 1. The track 21 includes a first track 211 and a second track 212. The first track 211 is fitted on the outer periphery of the first wheel 23 and the third wheel 25. The second track 212 is fitted on the outer periphery of the second wheel 24 and the fourth wheel 26. The first wheel 23 is connected to the transmission assembly 4. The axles of the first wheel 23 and the second wheel 24 are connected. The axles of the third wheel 25 and the fourth wheel 26 are connected.

[0032] Specifically, the first wheel 23 and the second wheel 24 are located at the front end of the frame 1 and are arranged opposite to each other. The first wheel 23 and the second wheel 24 are rotatable relative to the frame 1. The third wheel 25 and the fourth wheel 26 are located at the rear end of the frame 1 and are arranged opposite to each other. The third wheel 25 and the fourth wheel 26 are rotatable relative to the frame 1. The first wheel 23 and the third wheel 25 are arranged at intervals along the axial direction of the frame 1, and the second wheel 24 and the fourth wheel 26 are arranged at intervals along the axial direction of the frame 1.

[0033] Track 21 includes a first track 211 and a second track 212. The first track 211 is fitted on the outer periphery of the first wheel 23 and the third wheel 25 to reduce the friction when the first track 211 rotates relative to the frame 1. The second track 212 is fitted on the outer periphery of the second wheel 24 and the fourth wheel 26 to reduce the friction when the second track 212 rotates relative to the frame 1.

[0034] The first wheel 23 is connected to the transmission assembly 4 to serve as the driving wheel for the rotation of the first track 211 and the second track 212. The axles of the first wheel 23 and the second wheel 24 are connected, and the axles of the third wheel 25 and the fourth wheel 26 are connected, so that the first wheel 23 and the second wheel 24 rotate synchronously, and the third wheel 25 and the fourth wheel 26 rotate synchronously.

[0035] Therefore, the first track 211 fitted on the first wheel 23 and the third wheel 25 rotates synchronously with the second track 212 fitted on the second wheel 24 and the fourth wheel 26. Since the driver 3 synchronously drives the tracks 21 of multiple walking components 2 to rotate, when the perforated tube robot of the present invention walks, all tracks 21 of all walking components 2 keep moving synchronously, which further improves the consistency of the movement of the perforated tube robot of the present invention.

[0036] In some embodiments, the walking assembly 2 includes a plurality of track rollers 5, which are rotatably disposed on the support member 22. The plurality of track rollers 5 include a first wheel group and a second wheel group. The first wheel group is disposed in the first track 211 to press against the first track 211, and the second wheel group is disposed in the second track 212 to press against the second track 212.

[0037] Specifically, there are multiple track rollers 5, which are rotatable relative to the support member 22. The extension directions of the rotation axes of the multiple track rollers 5 are parallel to each other and the extension directions of the rotation axes of the track rollers 5 are orthogonal to the axis of the frame 1. The multiple track rollers are divided into a first wheel group and a second wheel group. The number of track rollers 5 in the first wheel group and the second wheel group are the same and correspond one-to-one along the width direction of the support member 22. The first track 211 is fitted on the outer periphery of the multiple track rollers 5 in the first wheel group, and the second track 212 is fitted on the outer periphery of the multiple track rollers 5 in the second wheel group.

[0038] Therefore, when the support member 22 pushes part of the track 21 and presses part of the first track 211 and part of the second track 212 against the inner wall of the tube, the first wheel set can reduce the rotational resistance of the first track 211 and the second wheel set can reduce the rotational resistance of the second track 212, so that the first track 211 and the second track 212 can rotate synchronously.

[0039] In some embodiments, the transmission assembly 4 includes a first bevel gear 41, a transmission shaft 42, and a second bevel gear 43. The first bevel gear 41 meshes with the output shaft 31 of the driver 3. The transmission shaft 42 is connected between the first bevel gear 41 and the second bevel gear 43 and is rotatably coupled to the frame 1. The second bevel gear 43 meshes with the first wheel 23 to drive the first track 211 and the second track 212 to rotate.

[0040] Specifically, the driver 3 includes an output shaft 31, which is rotatable relative to the frame 1. The output shaft 31 is located at the front end of the driver 3. The output shaft 31 extends in the front-rear direction and is rotatable in its circumferential direction. The outer circumferential side of the output shaft 31 is provided with a bevel gear. The axle of the first bevel gear 41 extends radially along the output shaft 31. The first bevel gears 41 of the plurality of transmission components 4 are all meshed with the output shaft 31.

[0041] The drive shaft 42 extends along the axial direction of the first bevel gear 41, and one end of the drive shaft 42 is connected to the axle of the first bevel gear 41 to rotate with the first bevel gear 41. The other end of the drive shaft 42 is connected to the axle of the second bevel gear 43. The second bevel gear 43 of each transmission component 4 meshes with the first wheel 23 of the corresponding walking component 2, thereby driving the first track 211 and the second track 212 of the walking component 2 to rotate.

[0042] Thus, as the distance between the support member 22 and the frame 1 changes, the multiple transmission components 4 transmit the power of the driver 3 evenly and smoothly to the multiple walking components 2, realizing the transmission of changing angle and direction while providing a stable power connection and output for the tube robot during the diameter change process. This allows the tube robot to operate reliably when adapting to the diameter change, and further enables the tube robot of the present invention to have the advantages of both diameter change and drive consistency.

[0043] In some embodiments, the tube robot includes an elastic element 7, a plurality of first arms 81 and a plurality of second arms 82. The plurality of first arms 81 correspond one-to-one with a plurality of support members 22. The first end of each first arm 81 is rotatably connected to the support member 22. The plurality of second arms 82 correspond one-to-one with a plurality of support members 22. The first end of each second arm 82 is rotatably connected to the support member 22. The elastic element 7 supports between the second ends of the plurality of first arms 81 and the second ends of the plurality of second arms 82 to adjust the spacing between the second ends of the plurality of first arms 81 and the second ends of the plurality of second arms 82.

[0044] Specifically, the elastic element 7 is provided on the frame 1, and the length of the elastic element 7 in the front-back direction is compressible. There are multiple first arms 81, and the multiple first arms 81 are connected one-to-one between the support members 22 of the multiple walking components 2 and the elastic element 7. There are multiple second arms 82, and the multiple second arms 82 are connected one-to-one between the support members 22 of the multiple walking components 2 and the elastic element 7. The first arm 81 and the second arm 82 corresponding to the support member 22 of each walking component 2 are arranged at intervals in the front-back direction.

[0045] The first end of the first arm 81 and the first end of the second arm 82 are rotatably connected to the elastic member 7, and the distance between the first end of the first arm 81 and the first end of the second arm 82 can change with the extension and retraction of the elastic member 7. The second end of the first arm 81 and the second end of the second arm 82 are rotatably connected to the walking assembly 2, and the distance between the second end of the first arm 81 and the second end of the second arm 82 is not adjustable.

[0046] The first end of the first arm 81 is rotatably connected to the elastic element 7, and the transmission shaft 42, which rotates relative to the elastic element 7, extends along the tangential direction of the frame 1. When the first arm 81 swings relative to the elastic element 7, the distance between the second end of the first arm 81 and the frame 1 changes. The first end of the second arm 82 is rotatably connected to the elastic element 7, and the transmission shaft 42, which rotates relative to the elastic element 7, extends along the tangential direction of the frame 1. When the second arm 82 swings relative to the elastic element 7, the distance between the second end of the second arm 82 and the frame 1 changes.

[0047] The first arm 81 and the second arm 82 are of the same length. The second end of the first arm 81 is rotatably connected to the support member 22 of the walking assembly 2. The transmission shaft 42 through which the first arm 81 rotates relative to the support member 22 of the walking assembly 2 is parallel to the transmission shaft 42 through which the first arm 81 rotates relative to the elastic member 7. The second end of the second arm 82 is rotatably connected to the support member 22 of the walking assembly 2. The axis through which the second arm 82 rotates relative to the support member 22 of the walking assembly 2 is parallel to the axis through which the second arm 82 rotates relative to the elastic member 7.

[0048] When the distance between the first end of the first arm 81 and the first end of the second arm 82 changes, the first arm 81 and the second arm 82 swing relative to the elastic element 7, and the swinging directions of the first arm 81 and the second arm 82 are opposite, so that the distance between the second end of the first arm 81 and the frame 1 and the distance between the second end of the second arm 82 and the frame 1 change synchronously, thereby making the distance between the support member 22 of the walking assembly 2 and the frame 1 adjustable.

[0049] The elastic element 7 is compressed between the first end of the first arm 81 and the first end of the second arm 82. When the inner diameter of the orifice on the outer periphery of the orifice robot of this embodiment changes, the elastic potential energy in the elastic element 7 is released, the distance between the first end of the first arm 81 and the first end of the second arm 82 increases, the first arm 81 and the second arm 82 swing relative to the elastic element 7 and the angle between the extension direction of the first arm 81 and the extension direction of the second arm 82 increases, and the distance between the support member 22 of the walking component 2 and the frame 1 increases, so that the support member 22 of the walking component 2 is stopped against the inner wall of the orifice.

[0050] Therefore, on the one hand, the first arm 81 and the second arm 82 have the same length, and the first arm 81 and the second arm 82 open and close synchronously, so that the support member 22 of the walking component 2 can only translate radially along the frame 1, so that the support member 22 of the walking component 2 extends axially along the frame 1, so that the support member 22 of the walking component 2 fits against the inner wall of the tube, increasing the contact area between the support member 22 of the walking component 2 and the inner wall of the tube, and improving the stability of the tube robot in the tube in this embodiment of the invention.

[0051] On the other hand, there are multiple first arms 81, which are connected one-to-one between the support members 22 and elastic members 7 of multiple walking components 2. There are multiple second arms 82, which are connected one-to-one between the support members 22 and elastic members 7 of multiple walking components 2. When the inner diameter of the tube in which the tube robot of this embodiment is located changes, the distance between the support members 22 of multiple walking components 2 and the frame 1 changes synchronously, so that the distance between the support members 22 of multiple walking components 2 and the frame 1 is the same, thereby keeping the frame 1 at the axial position of the tube and avoiding collision between the frame 1 and the inner wall of the tube, thereby improving the stability of the tube robot of this embodiment in walking in the tube.

[0052] In some embodiments, the support member 22 has a maximum distance from the frame 1, the upper limit of the angle between the extension direction of the first arm 81 and the axial direction of the frame 1 is less than 90°, and the upper limit of the angle between the extension direction of the second arm 82 and the axial direction of the frame 1 is less than 90°.

[0053] Specifically, when the distance between the support member 22 and the frame 1 is at its maximum value, the extension direction of the first arm 81 is not perpendicular to the axis of the frame 1. Since the support member 22 extends in the same direction as the frame 1, the extension direction of the first arm 81 is not perpendicular to the extension direction of the support member 22. The extension direction of the second arm 82 is not perpendicular to the axis of the frame 1. Since the support member 22 extends in the same direction as the frame 1, the extension direction of the second arm 82 is not perpendicular to the extension direction of the support member 22.

[0054] Thus, the support member 22 moves radially relative to the frame 1, and the first arm 81, the second arm 82, the support member 22 and the frame 1 form a double crank structure. When the distance between the support member 22 and the frame 1 is at its maximum value, there is an angle between the extension direction of the first arm 81 and the second arm 82 and the moving direction of the support member 22, which prevents the first arm 81 or the second arm 82 from swinging to the dead point position, thereby improving the stability of the hole tube robot of the present invention.

[0055] In some embodiments, the tube robot includes a first ring 71 and a second ring 72. The first ring 71 is slidably sleeved on the outer periphery of the frame 1. The second ends of a plurality of first arms 81 are rotatably connected to the first ring 71. The second ring 72 is slidably sleeved on the outer periphery of the frame 1. The second ends of a plurality of second arms 82 are rotatably connected to the second ring 72. An elastic member 7 is sleeved on the outer periphery of the frame 1 and acts between the first ring 71 and the second ring 72.

[0056] Specifically, the elastic element 7 is a spring. The elastic element 7 is sleeved on the outer periphery of the frame 1 and the driver 3, and the elastic element 7 extends in the front-back direction. The first ring 71 is sleeved on the outer periphery of the frame 1 and the driver 3 and at the front end of the elastic element 7, and the second ring 72 is sleeved on the outer periphery of the frame 1 and the driver 3 and at the front end of the elastic element 7.

[0057] The first ends of a plurality of first arms 81 are rotatably connected to a first ring 71, and the plurality of first arms 81 are evenly spaced along the circumference of the first ring 71. The first ends of a plurality of second arms 82 are rotatably connected to a second ring 72, and the plurality of second arms 82 are evenly spaced along the circumference of the second ring 72.

[0058] Therefore, when the length of the elastic element 7 is compressed or extended, the distance between the first ring 71 and the second ring 72 changes, and the first ring 71 and the second ring 72 translate along the axial direction of the frame 1, so that the first ends of the multiple first arms 81 move synchronously and are always evenly spaced along the circumference of the frame 1, and the first ends of the multiple second arms 82 move synchronously and are always evenly spaced along the circumference of the frame 1, so that the multiple first arms 81 swing synchronously and the multiple second arms 82 swing synchronously, further causing the multiple support members 22 to move synchronously along the circumference of the frame 1, so that the distance between the support members 22 of the multiple walking components 2 and the frame 1 remains the same.

[0059] In some embodiments, the tube robot includes an air tube (not shown), the actuator 3 is a pneumatic motor, and the air tube is connected to the actuator 3 to supply air to the actuator 3.

[0060] Specifically, the actuator 3 is a pneumatic motor, with one end of the air pipe connected to the rear end of the actuator 3, and the other end of the air pipe extending into a high-pressure air source within a perforated tube to supply air to the actuator 3.

[0061] Therefore, when the borehole robot of the present invention works in gas extraction drilling, natural gas boreholes, and other working conditions, using a pneumatic motor as the drive 3 can effectively improve the explosion-proof characteristics of the borehole robot of the present invention.

[0062] In some embodiments, the tube robot includes a locking member 6, which is fixedly connected to the air tube. The locking member 6 is located on the side of the driver 3 away from the output shaft 31 of the driver 3, and the locking member 6 is connected to the frame 1 by a connector. The elastic modulus of the connector is greater than that of the air tube to protect the connection between the air tube and the driver 3.

[0063] Specifically, the locking element 6 is located on the rear side of the frame 1. The air pipe passes through the locking element 6 in the front-to-back direction and is connected to the locking element 6. The locking element 6 and the frame 1 are connected by a steel wire rope (not shown in the figure). There are multiple steel wire ropes, which are evenly spaced along the circumference of the air pipe.

[0064] Therefore, the air tube is elastic. When the air tube is subjected to tension, it will be stretched in the front-to-back direction. The elastic modulus of the wire rope is greater than that of the air tube. When the air tube is subjected to tension, the wire rope between the locking part 6 and the frame 1 bears the tension and undergoes a small deformation, which reduces the stretched length of the air tube between the locking part 6 and the frame 1, thereby avoiding failure caused by excessive tension at the connection between the air tube and the driver 3.

[0065] The detection system of the present invention is described below.

[0066] The detection system of this invention includes the orifice robot in any of the above embodiments.

[0067] Specifically, the borehole robot of the detection system in this embodiment of the invention can be equipped with different functional modules and can be applied to different application scenarios. For example, it can be equipped with an inertial navigation system to perform borehole trajectory and depth measurement tasks; equipped with a borehole inspection device to perform borehole imaging tasks; equipped with a flaw detection device to perform the detection of the internal wall quality of steel pipes; equipped with a high-pressure water jet or mechanical rotating descaling and cutting head to perform pipeline descaling tasks; detect the gas flow distribution characteristics inside natural gas boreholes; equipped with a gamma ray detector to perform borehole lithology detection tasks; equipped with a gas detector to perform borehole and gas drainage pipeline gas detection tasks; equipped with functional modules such as a rescue payload and life detector to perform borehole rescue tasks; and equipped with a compliant electromagnetic instrument to perform borehole water control advance detection tasks.

[0068] Therefore, because the borehole robot of this embodiment is connected between the tracks 21 of multiple walking components 2 and a single driver 3 through multiple transmission components 4, the single driver 3 can drive the tracks 21 of multiple walking components 2 to move synchronously and consistently. This gives the borehole robot of this embodiment the advantage of higher walking consistency compared to related technologies when moving within boreholes. It also ensures that the functional modules of the detection system mounted on the borehole robot operate smoothly and can work continuously and stably.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element 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.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0072] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0073] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," 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 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A borehole servicing robot characterized by, include: frame; Multiple walking components are provided on the frame and are arranged at intervals along the circumference of the frame. Each walking component includes a support member and a track. The track is sleeved on the outer periphery of the support member. The distance between the support member and the frame is adjustable to press a portion of the track against the inner wall of the perforated tube. The device includes a driver and multiple transmission components. The driver is mounted on the frame, and the multiple transmission components are connected one-to-one between the tracks of multiple walking components and the driver, so that the driver can simultaneously drive the tracks of multiple walking components to rotate synchronously. The system includes an elastic element, multiple first arms, and multiple second arms. The multiple first arms correspond one-to-one with the multiple support members, and the first end of each first arm is rotatably connected to the support member. The multiple second arms also correspond one-to-one with the multiple support members, and the first end of each second arm is rotatably connected to the support member. The elastic element supports between the second ends of the multiple first arms and the second ends of the multiple second arms to adjust the distance between the second ends of the multiple first arms and the second ends of the multiple second arms, thereby making the distance between the support member and the frame adjustable. A first ring and a second ring are provided. The first ring is slidably sleeved on the outer periphery of the frame. The second ends of a plurality of first arms are rotatably connected to the first ring. The second ring is slidably sleeved on the outer periphery of the frame. The second ends of a plurality of second arms are rotatably connected to the second ring. The elastic element is sleeved on the outer periphery of the frame and acts between the first ring and the second ring. When the distance between the elastic element and the first end of the first arm and the first end of the second arm changes, the first arm and the second arm swing relative to the elastic element, and the swinging directions of the first arm and the second arm are opposite, so that the distance between the second end of the first arm and the frame and the distance between the second end of the second arm and the frame change synchronously, thereby making the distance between the support member of the walking assembly and the frame adjustable.

2. The borehole robot of claim 1, wherein, The walking assembly includes a first wheel, a second wheel, a third wheel, and a fourth wheel. The first wheel and the second wheel are located at one end of the frame and are rotatable relative to the frame. The third wheel and the fourth wheel are located at the other end of the frame and are rotatable relative to the frame. The track includes a first track and a second track. The first track is fitted onto the outer periphery of the first wheel and the third wheel. The second track is fitted onto the outer periphery of the second wheel and the fourth wheel. The first wheel is connected to the transmission assembly. The axles of the first wheel and the second wheel are connected. The axles of the third wheel and the fourth wheel are connected.

3. The tube robot according to claim 2, characterized in that, The walking assembly includes a plurality of track rollers, which are rotatably disposed on the support member. The plurality of track rollers include a first wheel set and a second wheel set. The first wheel set is disposed within the first track to press against the first track, and the second wheel set is disposed within the second track to press against the second track.

4. The tube robot according to claim 2, characterized in that, The transmission assembly includes a first bevel gear, a transmission shaft, and a second bevel gear. The first bevel gear meshes with the output shaft of the driver. The transmission shaft is connected between the first bevel gear and the second bevel gear and is rotatably fitted to the frame. The second bevel gear meshes with the first wheel to drive the first track and the second track to rotate.

5. The tube robot according to claim 2, characterized in that, The support member has a maximum distance from the frame, the upper limit of the angle between the extension direction of the first arm and the axial direction of the frame is less than 90°, and the upper limit of the angle between the extension direction of the second arm and the axial direction of the frame is less than 90°.

6. The tube robot according to claim 1, characterized in that, Includes an air tube, the actuator is a pneumatic motor, and the air tube is connected to the actuator to supply air to the actuator.

7. The tube robot according to claim 6, characterized in that, The device includes a locking member, which is fixedly connected to the air tube. The locking member is located on the side of the driver away from the output shaft of the driver, and the locking member is connected to the frame via a connector. The elastic modulus of the connector is greater than that of the air tube to protect the connection between the air tube and the driver.

8. A detection system, characterized in that, The orifice robot comprising any one of claims 1-7.

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