Downhole probe robot for geothermal wells

Abstract

This invention provides a downhole exploration robot for geothermal wells, comprising a fixed base, a movable base, a walking unit, a detection unit, and a matching controller. The fixed base has at least three mounting parts. The movable base is connected to the fixed base via a telescopic structure. The movable base has multiple connecting parts. There are at least three walking units, each capable of contacting or disengaging from the inner wall of the casing under the movement of the movable base, adapting to and traversing changes in casing diameter, and detecting the pipe diameter. The detection unit can detect water temperature and photograph the inner wall of the casing. The controller is electrically connected to the walking unit and the detection unit. The downhole exploration robot for geothermal wells provided by this invention can effectively adapt to changes in casing diameter, avoid getting stuck at these locations, ensure detection effectiveness, and is highly practical.

Description

Technical Field

[0001] This invention belongs to the field of geothermal well development technology, specifically relating to a downhole exploration robot for geothermal wells. Background Technology

[0002] Geothermal development refers to the exploitation and utilization of renewable thermal energy stored within the Earth. Geothermal energy is a special resource; while it can be developed and utilized to benefit humanity like other resources, it also differs significantly from them. After a period of operation, geothermal wells require inspection, primarily of the casing, including water temperature at different depths, corrosion levels within the casing, and the casing's inner diameter (which shrinks due to scaling).

[0003] In existing technologies, the conventional approach to detecting the above parameters is to lower a camera, temperature sensor, or pipe diameter measuring instrument into the casing via a cable. This method cannot guarantee the stability of the testing instrument. When encountering local scaling on the inner wall of the casing, or when the casing diameter changes (of course, during drilling, double or triple drilling methods are used depending on the depth, so there will also be a fixed diameter change in the casing, forming a ring platform at the diameter change point), the testing instrument often gets stuck because the end of the cable cannot be controlled, especially when transitioning from a large diameter to a small diameter. It cannot continue to descend, which will inevitably lead to the inability to carry out the testing work, resulting in poor practicality. Summary of the Invention

[0004] This invention provides a downhole exploration robot for geothermal wells, which aims to solve the problem of poor practicality in existing geothermal well post-detection work.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a downhole exploration robot for geothermal wells, comprising:

[0006] The fixed base has at least three mounting parts, and each mounting part is arranged in a ring around the fixed base along the central axis in the vertical direction;

[0007] A movable base is located above the fixed base and is connected to the fixed base via a telescopic structure. It is used to move closer to or away from the fixed base under the action of the telescopic structure. The movable base is provided with a plurality of connecting parts that correspond one-to-one with each of the mounting parts.

[0008] The walking unit is provided with at least three units, each of which is corresponding to one of the mounting parts. Each walking unit is connected to the corresponding mounting part and the corresponding connecting part. Each walking unit is used to abut against the inner wall of the sleeve under the drive of the moving seat, or to disengage from the abutment with the sleeve. It is also used to adapt to and pass through the changing diameter position of the sleeve and to detect the pipe diameter.

[0009] A detection unit, mounted on the fixed base, is used to detect water temperature and photograph the inner wall of the casing; and

[0010] The matching controller is electrically connected to the walking unit and the detection unit respectively.

[0011] In one possible implementation, each of the walking units includes a first moving component, a second moving component, a walking track, a linkage component, and an adjustment component; the second moving component is located below the first moving component and is rotatably connected to the first moving component; the walking track is annularly sleeved on the assembly formed by the first and second moving components; the linkage component is disposed on the corresponding mounting portion and connected to the corresponding connecting portion, for driving the assembly formed by the first moving component, the second moving component, and the walking track to abut against or disengage from the abutment with the inner wall of the sleeve; the adjustment component is disposed on the corresponding mounting portion and connected to the second moving component, for driving the second moving component to rotate relative to the first moving component at the diameter change point of the sleeve, so that the bottom end of the assembly formed by the first moving component, the second moving component, and the walking track moves towards the axis of the sleeve.

[0012] In one possible implementation, the first moving component includes a first moving frame, a first track wheel, and an auxiliary guide roller; the bottom end of the first moving frame has a transition portion for rotatably connecting to the second moving frame; multiple first track wheels are provided, each first track wheel is spaced apart along the vertical direction and rotatably mounted on the first moving frame, one of the first track wheels being used for driving; the auxiliary guide roller is rotatably mounted on the first moving frame and located outside the walking track, and is used to limit the bending point of the walking track during the flipping process of the second moving component.

[0013] In one possible implementation, the linkage assembly includes a short link, a long link, and a pull rod; one end of the short link is hinged to the corresponding mounting part, and the other end is hinged to the first movable frame; the long link is located above the short link and is arranged parallel to the short link, the long link is rotatably mounted on the corresponding mounting part, one end of the long link is hinged to the first movable frame, and the long link, the short link, the mounting part, and the first movable frame are combined to form a parallel four-bar linkage structure, the other end of the long link extends toward the fixed base; one end of the pull rod is hinged to the extended end of the long link, and the other end is hinged to the corresponding connecting part;

[0014] The mounting section has two first hinge shafts spaced apart along the vertical direction for hinged connection of the short connecting rod and the long connecting rod; the first movable frame has two second hinge shafts spaced along the vertical direction for hinged connection of the short connecting rod and the long connecting rod.

[0015] In one possible implementation, the second moving component includes a second moving frame and a second track wheel; the top end of the second moving frame is hinged to the adapter; multiple second track wheels are provided, each second track wheel is spaced apart on the second moving frame, and one of the second track wheels is used for driving; each second track wheel and each first track wheel are used for the walking track to be looped around.

[0016] In one possible implementation, the adjustment assembly includes a sliding seat, an adjustment link, and an electric push rod; the sliding seat is slidably disposed on the corresponding mounting portion; one end of the adjustment link is hinged to the sliding seat, and the other end of the adjustment link is hinged to the second movable frame; the electric push rod is fixed on the corresponding mounting portion and connected to the sliding seat, for driving the sliding seat to move radially along the sleeve, so as to control the second movable frame to pitch and rotate relative to the first movable frame, or to keep the second movable frame and the first movable frame vertically disposed.

[0017] In one possible implementation, the bottom end of the first movable frame is provided with a first limiting part, and the top end of the second movable frame is provided with a second limiting part adapted to the first limiting part. The first limiting part and the second limiting part are used to limit the flipping of the second movable frame so that the second movable frame and the first movable frame are kept in a vertical orientation.

[0018] In one possible implementation, each of the first track wheels and each of the second track wheels have the same structure; each of the first track wheel or the second track wheel includes a drive shaft and rollers; the drive shaft is mounted on the first moving frame or the second moving frame, and extends out of the first moving frame or the second moving frame at both ends; there are two rollers, and the two rollers are respectively mounted on the two extended ends of the drive shaft;

[0019] Each of the walking tracks includes two sub-tracks, which are located on both sides of the first moving frame and are looped around the corresponding rollers.

[0020] The auxiliary guide rollers are provided in two parts, each corresponding to one of the two sub-tracks.

[0021] In one possible implementation, the detection unit includes a turntable, a rotating shaft, a drive assembly, temperature sensors, and cameras; the turntable is located below the fixed base; the rotating shaft is coaxial with the turntable, its bottom end is fixedly connected to the turntable, and its top end extends into the fixed base and is rotatably connected to the fixed base; the drive assembly is located in the fixed base, and its power output end is poweredly connected to the rotating shaft; at least two temperature sensors are provided, each temperature sensor is disposed on the turntable and arranged annularly around the axis of the turntable, and each temperature sensor is electrically connected to the controller; at least two cameras are provided, each camera is disposed on the turntable and arranged annularly around the axis of the turntable, and each camera is electrically connected to the controller.

[0022] In one possible implementation, the telescopic structure is a servo electric cylinder and is electrically connected to the controller. The fixed end of the telescopic structure is disposed in the movable base, and the telescopic end of the telescopic structure is connected to the fixed base.

[0023] In this implementation, a movable base that can move relative to a fixed base allows the walking units to contact or disengage from the inner wall of the casing, enabling them to move downwards along the casing. Each walking unit can adapt to different casing diameters, stably navigating through diameter change points. Furthermore, the extension / retraction of the telescopic structure allows for the detection of the casing's inner diameter. Meanwhile, a detection unit mounted on the fixed base can photograph the inner wall of the casing and detect water temperature at different depths. This implementation provides a downhole exploration robot for geothermal wells that effectively adapts to casing diameter changes, avoiding jamming at these points, ensuring accurate detection, and demonstrating strong practicality. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the structure of a downhole exploration robot for geothermal wells provided in an embodiment of the present invention;

[0025] Figure 2 A top view schematic diagram of the downhole exploration robot for geothermal wells provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the front view structure of the downhole exploration robot for geothermal wells provided in an embodiment of the present invention;

[0027] Figure 4 for Figure 3 The diagram shows a partial cross-sectional view of point A of the downhole exploration robot for geothermal wells.

[0028] Figure 5 for Figure 3 The diagram shows a partial cross-sectional view of point A of the downhole exploration robot for geothermal wells (the first moving component is flipped over, and the walking track is hidden).

[0029] Explanation of reference numerals in the attached figures:

[0030] 10. Fixed base; 11. Mounting part; 20. Movable seat; 21. Connecting part; 30. Walking unit; 31. First moving component; 311. First moving frame; 312. First track wheel; 313. Auxiliary guide roller; 314. First limiting part; 32. Second moving component; 321. Second moving frame; 322. Second track wheel; 323. Second limiting part; 33. Walking track; 331. Drive shaft; 332. Roller; 333. Sub-track; 34. Linkage component; 341. Short connecting rod; 342. Long connecting rod; 343. Pull rod; 35. Adjustment component; 351. Sliding seat; 352. Adjusting connecting rod; 353. Electric push rod; 40. Detection unit; 41. Turntable; 42. Rotating shaft; 43. Temperature sensor; 44. Camera; 50. Telescopic structure. Detailed Implementation

[0031] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0032] Please refer to the following: Figures 1 to 5The following describes the downhole exploration robot for geothermal wells provided by the present invention. The downhole exploration robot for geothermal wells includes a fixed base 10, a movable base 20, a walking unit 30, a detection unit 40, and a matching controller. The fixed base 10 has at least three mounting parts 11, which are arranged in a ring around the vertical central axis of the fixed base 10. The movable base 20 is located above the fixed base 10 and is connected to the fixed base 10 via a telescopic structure 50, allowing it to move closer to or away from the fixed base 10 under the action of the telescopic structure 50. The movable base 20 has multiple connecting parts 21 corresponding one-to-one with each mounting part 11. At least three traveling units 30 are provided, each corresponding to one of the mounting parts 11. Each traveling unit 30 is connected to its corresponding mounting part 11 and its corresponding connecting part 21. Each traveling unit 30 can abut against or disengage from the inner wall of the sleeve under the drive of the moving base 20, and can also adapt to and pass through the changing diameter position of the sleeve, and detect the pipe diameter. The detection unit 40 is set on the fixed base 10 and can detect the water temperature and take pictures of the inner wall of the sleeve. The controller is electrically connected to the traveling unit 30 and the detection unit 40 respectively.

[0033] The downhole exploration robot for geothermal wells provided in this embodiment works as follows: the movable base 20 moves away from the fixed base 10 under the action of the telescopic structure 50, thereby causing each walking unit 30 to abut against the inner wall of the casing. Through the abutment of multiple walking units 30 against the inner wall of the casing, the fixed base 10 and the movable base 20 are fixed, and their central axes are located on the central axis of the casing. Because a controller is involved, the controller can record the changes in the telescopic structure 50 at different depths, thereby enabling the detection of the specific inner diameter of the casing. The detection unit 40 can directly photograph the inner wall of the casing and also measure the water temperature at different depths.

[0034] It should be noted that a cable is connected to the movable base 20 to ensure signal transmission. A safety rope can also be installed to pull it back to the ground after testing or in the event of a mechanical failure. The controller can be located on the ground and connected to the display unit, and electrically connected to the cable.

[0035] Compared with existing technologies, the downhole exploration robot for geothermal wells provided in this embodiment, through a movable base 20 that can move relative to the fixed base 10, can control the walking unit 30 to abut against or disengage from the inner wall of the casing, thereby enabling it to move downwards along the casing. Furthermore, each walking unit 30 can adapt to the casing diameter, stably traversing variable diameter locations. Additionally, the extension and retraction of the telescopic structure 50 can detect the inner diameter of the casing. The detection unit 40, mounted on the fixed base 10, can photograph the inner wall of the casing and detect water temperature at different depths. The downhole exploration robot for geothermal wells provided in this embodiment…

[0036] In some embodiments, the walking unit 30 may employ, for example... Figure 1 The structure shown. See also Figure 1 Each traveling unit 30 includes a first moving component 31, a second moving component 32, a traveling track 33, a linkage component 34, and an adjustment component 35. The second moving component 32 is located below the first moving component 31 and is rotatably connected to it. The traveling track 33 is annularly fitted onto the assembly formed by the first and second moving components 32. The linkage component 34 is disposed on the corresponding mounting part 11 and connected to the corresponding connecting part 21, and can drive the assembly formed by the first moving component 31, the second moving component 32, and the traveling track 33 to abut against or disengage from the inner wall of the sleeve. The adjustment component 35 is disposed on the corresponding mounting part 11 and connected to the second moving component 32, and can drive the second moving component 32 to rotate relative to the first moving component 31 at the diameter change point of the sleeve, so that the bottom end of the assembly formed by the first moving component 31, the second moving component 32, and the traveling track 33 moves towards the axis of the sleeve.

[0037] The first moving component 31 and the second moving component 32 together provide a winding assembly for the traveling track 33. The linkage component 34, driven by the moving seat 20, adjusts the first moving component 31 and the second moving component 32 to move them closer to or further away from the inner wall of the casing. This structure ensures adaptability to changes in the inner diameter of the casing. Furthermore, the adjustment component 35 adjusts the second moving component 32 to allow it to pitch relative to the first moving component 31. This ensures that the bottom end of the assembly formed by the first moving component 31, the second moving component 32, and the traveling track 33 moves towards the axis of the casing. This structure allows the bottom end of the assembly to tilt upwards, thus enabling it to directly cross the diameter change position.

[0038] It should be noted that when the diameter changes from large to small, after the bottom of the assembly formed by the first moving component 31, the second moving component 32, and the walking track 33 crosses the diameter change position and comes into contact with it, the linkage component 34, driven by the telescopic structure 50 and the moving seat 20, needs to adjust the first moving component 31 so that it disengages from its position before the diameter change. Simultaneously, the adjustment component 35 and the telescopic structure 50 adjust adaptively to ensure that the first and second moving components 31 and 32 remain vertically aligned, allowing them to directly enter the smaller diameter sleeve. Furthermore, when the diameter changes from small to large, a pressure sensor can be installed inside the telescopic structure 50, with a preset value. When the preset value decreases, the moving seat 20 is promptly moved away from the fixed base 10.

[0039] In some embodiments, the first moving component 31 described above may employ, for example... Figures 3 to 5 The structure shown. See also Figures 3 to 5 The first moving component 31 includes a first moving frame 311, first track wheels 312, and auxiliary guide rollers 313. The bottom end of the first moving frame 311 has a transition section for rotatably connecting to a second moving frame 321. Multiple first track wheels 312 are provided, spaced vertically and rotatably mounted on the first moving frame 311, with one of the first track wheels 312 being drivable. The auxiliary guide rollers 313 are rotatably mounted on the first moving frame 311 and located outside the track 33, limiting the bending points of the track 33 during the rotation of the second moving component 32. The first moving frame 311 primarily ensures the connection of the linkage component 34 and also ensures the installation of the first track wheels 312 and the auxiliary track wheels. When the bottom of the assembly formed by the first moving component 31, the second moving component 32, and the track 33 tilts upwards, the corresponding track 33 will become loose, which may reduce the transmission effect and may also cause it to detach from the first moving component 31 and the second moving component 32. The auxiliary guide roller 313 can limit the track 33 between the first moving frame 311 and the second moving component 32 to ensure its tension. One of the first track wheels 312 is a drive wheel. Preferably, a servo motor can be mounted on the first track wheel 312 and electrically connected to the controller.

[0040] In some embodiments, the aforementioned linkage component 34 may employ, for example... Figures 4 to 5 The structure shown. See also Figures 4 to 5The linkage assembly 34 includes a short connecting rod 341, a long connecting rod 342, and a pull rod 343. One end of the short connecting rod 341 is hinged to the corresponding mounting part 11, and the other end is hinged to the first movable frame 311. The long connecting rod 342 is located above the short connecting rod 341 and is arranged parallel to the short connecting rod 341. The long connecting rod 342 is rotatably mounted on the corresponding mounting part 11, and one end of the long connecting rod 342 is hinged to the first movable frame 311. The long connecting rod 342, the short connecting rod 341, the mounting part 11, and the first movable frame 311 are combined to form a parallel four-bar linkage structure. The other end of the long connecting rod 342 extends toward the fixed base 10. One end of the pull rod 343 is hinged to the extended end of the long connecting rod 342, and the other end is hinged to the corresponding connecting part 21.

[0041] The mounting section 11 has two first hinge shafts spaced apart vertically for hinge connection between the short connecting rod 341 and the long connecting rod 342. The first movable frame 311 has two second hinge shafts spaced vertically for hinge connection between the short connecting rod 341 and the long connecting rod 342.

[0042] The short connecting rod 341, the long connecting rod 342, the two first hinge shafts, and the two second hinge shafts together form a parallel four-bar linkage structure. This structure ensures that the first moving frame 311 remains in a vertical position, thereby ensuring stable contact with the inner wall of the casing. The extended end of the long connecting rod 342 is hinged to the moving seat 20 via the pull rod 343, which allows for the rotation and adjustment of the parallel four-bar linkage structure, thereby ensuring that the first moving frame 311 moves closer to or further away from the inner wall of the casing.

[0043] In some embodiments, the second moving component 32 described above may employ, for example... Figures 4 to 5 The structure shown. See also Figures 4 to 5 The second moving component 32 includes a second moving frame 321 and second track wheels 322. The top end of the second moving frame 321 is hinged to the adapter. Multiple second track wheels 322 are provided, spaced apart on the second moving frame 321, with one of the second track wheels 322 being driveable. Each second track wheel 322 and each first track wheel 312 can be looped around the walking track 33. The second moving frame 321 primarily ensures the connection of the linkage component 34 and also ensures the installation of the second track wheels 322. One of the second track wheels 322 is a drive wheel; preferably, a servo motor can be mounted on this second track wheel 322 and electrically connected to the controller.

[0044] In some embodiments, the adjustment component 35 may employ, for example... Figures 4 to 5 The structure shown. See also Figures 4 to 5The adjusting assembly 35 includes a sliding seat 351, an adjusting rod 352, and an electric push rod 353. The sliding seat 351 is slidably mounted on the corresponding mounting part 11. One end of the adjusting rod 352 is hinged to the sliding seat 351, and the other end of the adjusting rod 352 is hinged to the second movable frame 321. The electric push rod 353 is fixed on the corresponding mounting part 11 and connected to the sliding seat 351, and can drive the sliding seat 351 to move radially along the sleeve to control the pitch and rotation of the second movable frame 321 relative to the first movable frame 311, or to keep the second movable frame 321 and the first movable frame 311 vertically positioned. By driving the sliding seat 351 closer to the fixed base 10 through the electric push rod 353, the adjusting rod 352 can pull the second moving frame 321, causing the second moving frame 321 to flip relative to the first moving frame 311. This structure can effectively control the pitch rotation of the second moving frame 321, ensuring that the bottom end of the second moving frame 321 drives the walking track 33 to tilt up, so as to ensure that it passes through the variable diameter position.

[0045] In addition, in this embodiment, it should be noted that the length of the adjusting link 352 can be equal to the length of the short link 341, and the extreme position of the sliding seat 351 away from the fixed base 10 (the hinge axis of the adjusting link 352) can be located directly below the first hinge axis. This structure can ensure that the second moving frame 321 and the first moving frame 311 can both be set vertically.

[0046] The mounting section 11 is provided with a long limiting slide for the sliding seat 351 to limit the sliding.

[0047] In some embodiments, the first movable frame 311 and the second movable frame 321 described above can be adopted as follows: Figure 5 The structure shown. See also Figure 5 The first movable frame 311 has a first limiting part 314 at its bottom end, and the second movable frame 321 has a second limiting part 323 at its top end that is adapted to the first limiting part 314. The first limiting part 314 and the second limiting part 323 can limit the flipping of the second movable frame 321 so that the second movable frame 321 and the first movable frame 311 are set in a vertical direction. The initial state is set when both the first movable frame 311 and the second movable frame 321 are in a vertical state. The first limiting part 314 and the second limiting part 323 can mainly control the flipping angle of the second movable frame 321 relative to the first movable frame 311 to ensure that the second movable frame 321 returns to the initial state.

[0048] In some embodiments, the first track wheel 312 and the second track wheel 322 may be adopted as follows: Figures 1 to 2 The structure shown. See also Figures 1 to 2Each first track wheel 312 and each second track wheel 322 have the same structure. Each first track wheel 312 or second track wheel 322 includes a drive shaft 331 and rollers 332. The drive shaft 331 is mounted on the first moving frame 311 or the second moving frame 321, and extends out of the first moving frame 311 or the second moving frame 321 at both ends. Two rollers 332 are provided, and the two rollers 332 are respectively mounted on the two extended ends of the drive shaft 331.

[0049] Each track 33 includes two sub-tracks 333, which are located on both sides of the first moving frame 311 and are arranged in a ring around the corresponding rollers 332.

[0050] Two auxiliary guide rollers 313 are provided, each corresponding to one of the two sub-tracks 333.

[0051] The drive shaft 331 and two rollers 332 ensure connection with the first moving frame 311 or the second moving frame 321, while also ensuring the utilization of space resources. The two sub-tracks 333 ensure the stability of the walking operation. Even if one sub-track 333 fails, the other sub-track 333 can still be used for operation.

[0052] It should also be noted that when the first track wheel 312 or the second track wheel 322 is a drive wheel, its drive shaft 331 can be rotatably connected to the shafts of the two rollers 332. The corresponding servo motor is fixed on the first moving frame 311 or the second moving frame 321 and is poweredly connected to the drive shaft 331. For the other first track wheels 312 and second track wheels 322, their drive shafts 331 can be directly fixedly connected to the first moving frame 311 or the second moving frame 321, and each roller 332 is rotatably connected to the extended end of the corresponding drive shaft 331. Furthermore, preferably, the two second hinge shafts can be two non-drive drive shafts 331.

[0053] In some embodiments, the detection unit 40 may employ, for example, Figure 1 The structure shown. See also Figure 1The feature detection unit 40 includes a turntable 41, a rotating shaft 42, a drive assembly, temperature sensors 43, and cameras 44. The turntable 41 is located below the fixed base 10. The rotating shaft 42 is coaxially arranged with the turntable 41, with its bottom end fixedly connected to the turntable 41 and its top end extending into the fixed base 10 and rotatably connected to it. The drive assembly is located in the fixed base 10, and its power output end is electrically connected to the rotating shaft 42. At least two temperature sensors 43 are provided, each mounted on the turntable 41 and spaced annularly around the axis of the turntable 41. Each temperature sensor 43 is electrically connected to the controller. At least two cameras 44 are provided, each mounted on the turntable 41 and spaced annularly along the axis of the turntable 41. Each camera 44 is electrically connected to the controller.

[0054] The turntable 41 and the rotating shaft 42 can rotate under the drive of the drive assembly, thereby ensuring that each camera 44 can cover and capture images of the inner wall of the sleeve, while the temperature sensor 43 can also measure multiple points. The cameras 44 and the temperature sensor 43 are existing technologies and will not be described in detail here.

[0055] Correspondingly, the drive component can be a servo motor installed inside the fixed base 10, and the power end of the servo motor is connected to the rotating shaft 42.

[0056] In some embodiments, the telescopic structure 50 may adopt the following... Figure 3 The structure shown. See also Figure 3 The telescopic structure 50 is a servo electric cylinder and is electrically connected to the controller. The fixed end of the telescopic structure 50 is located in the movable base 20, and the telescopic end of the telescopic structure 50 is connected to the fixed base 10. The servo electric cylinder is easy to control, thus ensuring the control of the movement of the movable base 20. A pressure sensor is installed inside the servo electric cylinder to monitor the pressure value of the servo electric cylinder, avoiding excessive pressure on the inner wall of the sleeve by the traveling unit 30, and also preventing the traveling unit 30 from failing to make tight contact with the inner wall of the sleeve.

[0057] In addition, multiple guide cylinders may be provided around the fixed base 10, and multiple guide columns corresponding to each guide cylinder may be provided on the movable base 20.

[0058] 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, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A downhole exploration robot for geothermal wells, characterized in that, include: The fixed base has at least three mounting parts, and each mounting part is arranged in a ring around the fixed base along the central axis in the vertical direction; A movable base is located above the fixed base and is connected to the fixed base via a telescopic structure. It is used to move closer to or away from the fixed base under the action of the telescopic structure. The movable base is provided with a plurality of connecting parts that correspond one-to-one with each of the mounting parts. The walking unit is provided with at least three units, each of which is corresponding to one of the mounting parts. Each walking unit is connected to the corresponding mounting part and the corresponding connecting part. Each walking unit is used to abut against the inner wall of the sleeve under the drive of the moving seat, or to disengage from the abutment with the sleeve. It is also used to adapt to and pass through the changing diameter position of the sleeve and to detect the pipe diameter. A detection unit, mounted on the fixed base, is used to detect water temperature and photograph the inner wall of the casing; and The matching controller is electrically connected to the walking unit and the detection unit respectively; Each of the aforementioned walking units includes a first moving component, a second moving component, a walking track, a linkage component, and an adjustment component; the second moving component is located below the first moving component and is rotatably connected to the first moving component; the walking track is annularly sleeved on the assembly formed by the first moving component and the second moving component; the linkage component is disposed on the corresponding mounting part and connected to the corresponding connecting part, for driving the assembly formed by the first moving component, the second moving component, and the walking track to abut against or disengage from the abutment with the sleeve; the adjustment component is disposed on the corresponding mounting part and connected to the second moving component, for driving the second moving component to rotate relative to the first moving component at the diameter change point of the sleeve, so that the bottom end of the assembly formed by the first moving component, the second moving component, and the walking track moves towards the axis of the sleeve; The first moving component includes a first moving frame, first track wheels, and an auxiliary guide roller; the bottom end of the first moving frame has a transition part for rotatably connecting to the second moving component; multiple first track wheels are provided, each first track wheel is spaced apart along the vertical direction and rotatably mounted on the first moving frame, one of the first track wheels being used for driving; the auxiliary guide roller is rotatably mounted on the first moving frame and located outside the walking track, used to limit the bending point of the walking track during the flipping process of the second moving component; The linkage assembly includes a short connecting rod, a long connecting rod, and a pull rod; one end of the short connecting rod is hinged to the corresponding mounting part, and the other end is hinged to the first movable frame; the long connecting rod is located above the short connecting rod and is arranged parallel to the short connecting rod, the long connecting rod is rotatably mounted on the corresponding mounting part, one end of the long connecting rod is hinged to the first movable frame, the long connecting rod, the short connecting rod, the mounting part, and the first movable frame are combined to form a parallel four-bar linkage structure, and the other end of the long connecting rod extends toward the fixed base; one end of the pull rod is hinged to the extended end of the long connecting rod, and the other end is hinged to the corresponding connecting part; The mounting section has two first hinge shafts spaced apart along the vertical direction for hinged connection of the short connecting rod and the long connecting rod; the first movable frame has two second hinge shafts spaced along the vertical direction for hinged connection of the short connecting rod and the long connecting rod.

2. The downhole inspection robot for geothermal wells as claimed in claim 1, wherein The second moving component includes a second moving frame and a second track wheel; the top end of the second moving frame is hinged to the adapter; multiple second track wheels are provided, and each second track wheel is spaced apart on the second moving frame, one of which is used for driving; each second track wheel and each first track wheel are used for the walking track to be looped around.

3. The downhole exploration robot for geothermal wells as described in claim 2, characterized in that, The adjustment assembly includes a sliding seat, an adjustment link, and an electric push rod; the sliding seat is slidably mounted on the corresponding mounting part; one end of the adjustment link is hinged to the sliding seat, and the other end of the adjustment link is hinged to the second movable frame; the electric push rod is fixed on the corresponding mounting part and connected to the sliding seat, and is used to drive the sliding seat to move radially along the sleeve, so as to control the second movable frame to tilt and rotate relative to the first movable frame, or to keep the second movable frame and the first movable frame vertically mounted.

4. The downhole inspection robot for geothermal wells according to claim 3, characterized in that, The bottom end of the first movable frame is provided with a first limiting part, and the top end of the second movable frame is provided with a second limiting part adapted to the first limiting part. The first limiting part and the second limiting part are used to limit the flipping of the second movable frame so that the second movable frame and the first movable frame are kept in a vertical position.

5. The downhole inspection robot for geothermal wells as recited in claim 3, wherein Each of the first track rollers and each of the second track rollers have the same structure; each of the first track rollers or the second track rollers includes a drive shaft and rollers; the drive shaft is mounted on the first moving frame or the second moving frame, and both ends extend out of the first moving frame or the second moving frame; there are two rollers, and the two rollers are respectively mounted on the two extended ends of the drive shaft; Each of the walking tracks includes two sub-tracks, which are located on both sides of the first moving frame and are looped around the corresponding rollers. The auxiliary guide rollers are provided in two parts, each corresponding to one of the two sub-tracks.

6. The downhole inspection robot for geothermal wells of claim 1, wherein, The detection unit includes a turntable, a rotating shaft, a drive assembly, temperature sensors, and cameras. The turntable is located below the fixed base. The rotating shaft is coaxial with the turntable, with its bottom end fixedly connected to the turntable and its top end extending into the fixed base and rotatably connected to it. The drive assembly is located in the fixed base, and its power output end is poweredly connected to the rotating shaft. At least two temperature sensors are provided, each mounted on the turntable and spaced annularly around the axis of the turntable, and each temperature sensor is electrically connected to the controller. At least two cameras are provided, each mounted on the turntable and spaced annularly along the axis of the turntable, and each camera is electrically connected to the controller.

7. The downhole inspection robot for geothermal wells of claim 1, wherein, The telescopic structure is a servo electric cylinder and is electrically connected to the controller. The fixed end of the telescopic structure is located in the movable base, and the telescopic end of the telescopic structure is connected to the fixed base.

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