A micro robot multiple release short section based on pin and groove reversing

Abstract

The application provides a micro-robot multiple-release short section based on pin and groove reversing, which comprises a driving mechanism, a reversing mechanism and a releasing mechanism; the reversing mechanism comprises a reversing mechanism shell, a rotating body is nested in the reversing mechanism shell in a rotating manner, and a rotating pin connecting body is nested in the rotating body; a plurality of straight guide grooves are formed on the inner surface of the rotating body along the axial direction of the rotating body, and a plurality of spiral grooves are formed on the inner surface of the rotating body, each spiral groove being located between two adjacent straight guide grooves; a plurality of rotating pins are arranged on the outer surface of the rotating pin connecting body; the plurality of rotating pins are configured to perform radial expansion and contraction movement along the rotating pin connecting body; the releasing mechanism comprises an upper end cover, and a load cabin is nested in the upper end cover in a rotating manner; a plurality of micro-robot storage cavities are formed on the outer periphery of the load cabin, and a release port is formed in the upper end cover. The micro-robot is released multiple times, the full wellbore temperature and pressure profile is dynamically monitored, and the timeliness of data is improved.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling engineering technology, and in particular to a micro-robot based on pin-groove reversal that releases short sections multiple times. Background Technology

[0002] As exploration and development continue to advance into deeper formations, the complex downhole conditions, such as complex phase changes in the wellbore, narrow safety density windows, and poor wellbore stability, bring a series of challenges to drilling safety. Efficient and accurate monitoring of key wellbore flow field parameters such as temperature and pressure is crucial for making informed judgments and controlling these complex downhole conditions. Existing downhole parameter measurement technologies are costly and can only measure parameters at the instrument installation location, failing to provide dynamic monitoring of the entire wellbore temperature and pressure profile. Data transmission based on mud pulses is inefficient and cannot meet the field's demand for large amounts of real-time data; stored data recording methods can only be obtained during tripping out of the well, resulting in insufficient data timeliness. Summary of the Invention

[0003] This invention provides a micro-robot based on pin groove reversal that releases short sections multiple times, in order to solve the technical problems of low data transmission efficiency, insufficient data timeliness, and inability to dynamically monitor the temperature and pressure profile of the entire wellbore in the prior art.

[0004] The technical solution provided by this invention is as follows:

[0005] One object of the present invention is to provide a microrobot for multiple release of short sections based on pin slot reversal, the microrobot for multiple release of short sections comprising a drive mechanism, a reversal mechanism and a release mechanism;

[0006] The reversing mechanism includes a reversing mechanism housing, a rotating body nested inside the reversing mechanism housing in a rotatable manner, and a rotating pin connector nested inside the rotating body.

[0007] The inner surface of the rotating body has multiple straight guide grooves along the axial direction of the rotating body, and multiple spiral grooves are formed on the inner surface of the rotating body, with each spiral groove located between two adjacent straight guide grooves.

[0008] Each of the spiral grooves is connected to the top of one of the two adjacent straight guide grooves, and each of the spiral grooves is connected to the bottom of the other of the two adjacent straight guide grooves;

[0009] The outer surface of the rotary pin connector is provided with a plurality of rotary pins; the plurality of rotary pins are configured to extend and retract radially along the rotary pin connector.

[0010] When the rotating pin connector moves downward within the rotating body, the rotating pin slides along the straight guide groove;

[0011] When the rotating pin connector moves upward within the rotating body, the rotating pin slides along the helical groove, driving the rotating body to rotate relative to the reversing mechanism housing.

[0012] The driving mechanism is used to drive the rotary pin connector to move downward or upward within the rotating body;

[0013] The release mechanism includes an upper cover, within which a load chamber is rotatably nested; multiple micro-robot storage cavities are formed on the outer periphery of the load chamber, and a release port is formed on the upper cover;

[0014] When the rotating body rotates relative to the reversing mechanism housing, the rotating body drives the load chamber to rotate relative to the upper cover, so that one of the microrobot storage cavities is aligned with the release port.

[0015] In a preferred embodiment, the drive mechanism includes an upper cylinder and a lower cylinder;

[0016] One end of the lower cylinder is fixed to the upper cylinder, and the other end of the lower cylinder is fixed to a connecting body. A piston is installed axially inside the upper cylinder and the lower cylinder.

[0017] A piston disc is fixed to one end of the piston body, and the other end of the piston body is fixed to the rotating pin connector.

[0018] The upper cylinder body has a conical ramp on its inner surface, and the piston disc has multiple release pins on its outer surface. The multiple release pins are configured to extend and retract radially along the piston disc.

[0019] Wherein, a piston ring is fixed to the outer periphery of the piston body, and multiple piston body shaft holes are opened on the piston ring. A light shaft is installed in each piston body shaft hole. One end of the light shaft is fixed to the upper cylinder body, and the other end of the light shaft is fixed to the connecting body.

[0020] Each of the optical axes is fitted with a return spring, which is located between the piston ring and the connecting body.

[0021] In a preferred embodiment, a first boss and a first ramp are provided in the straight guide groove, and the straight guide groove extends to the surface of the first boss via the first ramp;

[0022] The spiral groove is provided with a second boss and a second ramp, and the spiral groove extends to the surface of the second boss via the second ramp.

[0023] When the rotating pin connector moves downward within the rotating body, the rotating pin slides through the first ramp to the surface of the first boss in the straight guide groove, and then slides from the surface of the first boss to the bottom of the straight guide groove.

[0024] When the rotating pin connector moves upward within the rotating body, the rotating pin enters the spiral groove from the bottom of the straight guide groove, slides along the second ramp to the surface of the second boss, and slides from the surface of the second boss to the top of the straight guide groove.

[0025] In a preferred embodiment, a plurality of fixing plates are fixed to the outer surface of the rotating pin connector, and each fixing plate has a fixing plate pin hole, and the rotating pin is slidably installed in the fixing plate pin hole.

[0026] In a preferred embodiment, a first bearing is installed between the reversing mechanism housing and the rotating body.

[0027] In a preferred embodiment, a rotating body boss is provided at the bottom of the rotating body, and a load chamber boss is provided at the top of the load chamber;

[0028] When the rotating body rotates relative to the reversing mechanism housing, the rotating body boss drives the load chamber boss to rotate, driving the load chamber to rotate relative to the upper end cover, so that one of the micro-robot storage cavities is aligned with the release port.

[0029] In a preferred embodiment, a stepped platform is formed on the outer periphery of the payload compartment, and the stepped platform has multiple pawl slots, in which a pawl is hingedly installed;

[0030] The inner surface of the upper end cover is provided with multiple ratchet-like structures, and the multiple pawls and the ratchet-like structures form a ratchet-pawl structure, so that the load chamber can rotate unidirectionally relative to the upper end cover.

[0031] In a preferred embodiment, the stepped platform has a pin hole, a pin is installed in the pin hole, and the pawl is installed in the pawl groove via the pin.

[0032] In a preferred embodiment, a second bearing is installed between the upper end cover and the load chamber.

[0033] In a preferred embodiment, the release mechanism further includes a lower end cap, the upper end cap being fixed to the lower end cap.

[0034] The above-described technical solution of the present invention has at least the following beneficial effects compared with the prior art:

[0035] This invention provides a microrobot-based multi-release sub with pin-groove reversal. The microrobot is used to measure key parameters such as wellbore temperature and pressure. The microrobot is stored in a multi-release sub, which is connected to the drill string system near the drill bit. The microrobot is released by deploying a pressure-reducing ball when measurement is needed. After entering the annulus, the microrobot travels with the drilling fluid back to the surface for recovery. A flow meter continuously measures and records wellbore temperature, pressure, and other parameters, and the data is retrieved at the surface, achieving the goal of monitoring dynamic downhole environmental parameters.

[0036] This invention provides a micro-robot that releases short sections multiple times based on pin groove reversal. The reversal mechanism of the pin groove reversal drives the release mechanism to release the micro-robot multiple times, thereby dynamically monitoring the temperature and pressure profile of the entire wellbore, improving the timeliness of data and meeting the field's need for a large amount of real data.

[0037] This invention provides a micro-robot based on pin groove reversal that can release short sections multiple times, seamlessly connecting with the drill pipe on site. It can realize on-demand and controllable release of the micro-robot according to wellbore measurement needs, and has higher stability, adaptability and economy. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a cross-sectional view of the overall structure of a microrobot based on pin groove reversal that releases short sections multiple times according to the present invention.

[0040] Figure 2 This is a schematic diagram of the piston disk of the present invention.

[0041] Figure 3 This is a schematic diagram of the piston body of the present invention.

[0042] Figure 4 This is a schematic diagram of the reversing mechanism of the present invention.

[0043] Figure 5 This is an assembly diagram of the reversing mechanism housing and the rotating body of the present invention.

[0044] Figure 6 This is a schematic diagram of the structure of the rotating body of the present invention.

[0045] Figure 7 yes Figure 6A cross-sectional view along the AA direction.

[0046] Figure 8 This is a schematic diagram of the structure of the rotary pin connector of the present invention.

[0047] Figure 9 This is a schematic diagram of the structure of the fixing plate of the present invention.

[0048] Figure 10 This is a schematic diagram showing the unfolded straight guide groove and spiral groove of the present invention.

[0049] Figure 11 This is a schematic diagram of the release mechanism of the present invention.

[0050] Figure 12 This is a schematic diagram of the payload compartment of the present invention.

[0051] Figure 13 This is a schematic diagram of the structure of the upper end cover of the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0053] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the device or object preceding the term encompasses the device or object listed following the term and its equivalents, without excluding other devices or objects. The terms “connected,” “linked,” or “connected,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0054] It should be noted that the terms "up", "down", "left", "right", "front", and "back" used in this invention are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0055] like Figure 1As shown in the embodiment of the present invention, a microrobot based on pin slot reversal that releases multiple segments is provided, comprising a drive mechanism 1, a reversal mechanism 2, and a release mechanism 3.

[0056] Combination Figure 1 , Figure 2 and Figure 3 The drive mechanism 1 includes an upper cylinder 101 and a lower cylinder 102. One end of the lower cylinder 102 is fixed to the upper cylinder 101, and the other end of the lower cylinder 102 is fixed to a connecting body 109. A piston body 103 is axially installed inside the upper cylinder 101 and the lower cylinder 102. The piston body 103 has a hollow structure. One end of the piston body 103 is fixed to a piston disc 106, and the other end of the piston body 103 is fixed to a rotating pin connecting body 203 (described below).

[0057] An upper cylinder body 101 has an upper cylinder body conical slope 1011 on its inner surface, and a plurality of release pins 107 are provided on the outer surface of the piston disc 106. The plurality of release pins 107 are configured to move radially and retract along the piston disc 106.

[0058] Specifically, a plurality of piston disk guide holes 108 are formed on the outer surface of the piston disk 106, and a plurality of release pins 107 are installed in the plurality of piston disk guide holes 108. Each release pin 107 is clearance-fitted with the corresponding piston disk guide hole 108, and the release pin 107 is radially extended and retracted within the piston disk guide hole 108 by means of a spring or spring sheet.

[0059] A piston ring 1031 is fixed to the outer circumference of the piston body 103. Multiple piston body shaft holes 1032 are formed on the piston ring 1031. A smooth shaft 104 is installed in each piston body shaft hole 1032, with a clearance fit between the piston body shaft hole 1032 and the smooth shaft 104. One end of the smooth shaft 104 is fixed to the upper cylinder body 101, and the other end is fixed to the connecting body 109. A return spring 105 is sleeved on each smooth shaft 104, located between the piston ring 1031 and the connecting body 109.

[0060] When the microrobot needs to be released, the pressure-holding ball 4 is placed on the piston plate 106. The pressure-holding ball 4 contacts multiple release pins 107. The multiple release pins 107 prevent the pressure-holding ball 4 from entering the hollow channel in the piston body 103, thereby blocking the hollow channel in the piston body 103. The drilling fluid cannot flow normally, and the drilling fluid pressure increases.

[0061] Under the pressure of the drilling fluid, the piston body 103 overcomes the elastic force of the return spring 105 and moves downward along the optical axis 104, compressing the return spring 105. The piston disc 106 drives the release pin 107 to move downward with the piston body 103. When the piston disc 106 moves to the cylinder cone slope 1011 on the inner surface of the upper cylinder body 101, the release pin 107 extends radially along the piston disc 106 to the cylinder cone slope 1011. Multiple release pins 107 release the pressure-holding ball 4, which enters the hollow channel in the piston body 103, allowing the drilling fluid to flow normally and reducing the drilling fluid pressure.

[0062] Under the elastic force of the return spring 105, the piston body 103 moves upward along the optical axis 104. The piston disc 106 drives the release pin 107 to move upward with the piston body 103. The release pin 107 leaves the cylinder cone surface ramp 1011 and retracts radially along the piston disc 106 to the piston disc guide hole 108.

[0063] Combination Figure 1 , Figures 4 to 9 According to an embodiment of the present invention, the reversing mechanism 2 includes a reversing mechanism housing 201, which is fixed to the connecting body 109. A rotating body 202 is nested rotatably inside the reversing mechanism housing 201, and a rotating pin connecting body 203 is nested inside the rotating body 202. The rotating body 202 and the rotating pin connecting body 203 are both hollow structures.

[0064] Furthermore, a first bearing 204 is installed between the reversing mechanism housing 201 and the rotating body 202, causing the rotating body 202 to rotate relative to the reversing mechanism housing 201, such as... Figure 1 , Figure 4 and Figure 5 As shown.

[0065] Furthermore, a first retaining ring 205 is nested on the outer surface of the rotating body 202, and the first retaining ring 205 contacts the first bearing 204 to restrict the axial movement of the rotating body 202.

[0066] Combination Figure 1 , Figure 6 , Figure 7 and Figure 8 According to an embodiment of the present invention, a plurality of straight guide grooves 2021 are formed on the inner surface of the rotating body 202 along the axial direction of the rotating body 202, and a plurality of spiral grooves 2022 are formed on the inner surface of the rotating body 202, with each spiral groove 2022 located between two adjacent straight guide grooves 2021.

[0067] Each spiral groove 2022 is connected to the top of one of two adjacent straight guide grooves 2021, and each spiral groove 2022 is connected to the bottom of the other of the two adjacent straight guide grooves 2021. A first boss 2024 and a first ramp 2023 are provided within the straight guide groove 2021, and the straight guide groove 2021 extends to the surface of the first boss 2024 via the first ramp 2023. A second boss 2026 and a second ramp 2025 are provided within the spiral groove 2022, and the spiral groove 2022 extends to the surface of the second boss 2026 via the second ramp 2025.

[0068] Multiple rotating pins 2033 are provided on the outer surface of the rotating pin connector 203, and the multiple rotating pins 2033 are configured to move radially and telescopically along the rotating pin connector 203.

[0069] Specifically, such as Figure 9 As shown, multiple fixing plates 2031 are fixed to the outer surface of the rotating pin connector 203. Each fixing plate 2031 has a fixing plate pin hole 2032, and the rotating pin 2033 is slidably installed in the fixing plate pin hole 2032. Each rotating pin 2033 is clearance-fitted with the corresponding fixing plate pin hole 2032, and the rotating pin 2033 is radially extended and retracted within the fixing plate pin hole 2032 by a spring or spring sheet (e.g., ...). Figure 8 (As indicated by the middle arrow c).

[0070] In this embodiment, there are five rotating pins 2033 and ten straight guide grooves 2021. The five rotating pins 2033 are embedded in the ten straight guide grooves 2021 at intervals.

[0071] The driving mechanism 1 of this invention is used to drive the rotating pin connector 203 to move downward or upward within the rotating body. Specifically, the piston body 103 is fixed to the rotating pin connector 203. During the downward movement of the piston body 103 along the optical axis 104, it pushes the rotating pin connector 203 downward. During the upward movement of the piston body 103 along the optical axis 104, it drives the rotating pin connector 203 upward.

[0072] When the rotating pin connector 203 moves downward within the rotating body 202, the rotating pin 2033 slides along the straight guide groove 2021. When the rotating pin connector 203 moves upward within the rotating body 202, the rotating pin 2033 slides along the spiral groove 2022, driving the rotating body 202 to rotate relative to the reversing mechanism housing 201.

[0073] Specifically, when the rotating pin connector 203 moves downward within the rotating body 202, the rotating pin 2033 slides along the first ramp 2023 to the surface of the first boss 2024 within the straight guide groove 2021, and then slides from the surface of the first boss 2024 to the bottom of the straight guide groove 2021 (e.g., ...). Figure 7 (As indicated by the middle arrow a).

[0074] When the rotating pin connector 203 moves upward within the rotating body 202, the rotating pin 2033 enters the spiral groove 2022 from the bottom of the straight guide groove 2021, slides along the second ramp 2025 to the surface of the second boss 2026, and then slides from the surface of the second boss 2026 to the top of the straight guide groove 2021 (e.g., Figure 7 As shown by arrow b), during the sliding process of the rotating pin 2033 along the spiral groove 2022, it drives the rotating body 202 to rotate relative to the reversing mechanism housing 201.

[0075] The rotary pin connector 203 reciprocates up and down for one stroke, and the rotary body 202 rotates once relative to the reversing mechanism housing 201. For example... Figure 10 As shown, the axial length of the straight guide groove 2021 is S, and the width of the straight guide groove 2021 depends on the diameter of the rotating pin 2033.

[0076] Let the length of the spiral groove 2022 be L, the radius of the rotating body 202 be R, the number of rotations of the rotating body 202 in one revolution be n (the number of straight guide grooves 2021 n, the number of spiral grooves 2022 n), and the helix angle of the spiral groove 2022 be α. Then the length L of the spiral groove 2022 satisfies the following relationship:

[0077]

[0078] Combination Figure 1 , Figures 11 to 13 According to an embodiment of the present invention, the release mechanism 3 includes an upper end cover 301 and a lower end cover 305. One end of the upper end cover 301 is fixed to the reversing mechanism housing 201, and the other end of the upper end cover 301 is fixed to the lower end cover 305. A load chamber 302 is rotatably nested inside the upper end cover 301. The load chamber 302 is a hollow structure, and the lower end cover 305 is also a hollow structure.

[0079] Furthermore, a second bearing 303 is installed between the upper end cover 301 and the load chamber 302, allowing the load chamber 302 to rotate relative to the upper end cover 301, such as... Figure 1 and Figure 11 As shown.

[0080] Furthermore, a second retaining ring 304 is nested on the outer surface of the load chamber 302, and the second retaining ring 304 contacts the second bearing 303 to restrict the axial movement of the load chamber 302.

[0081] Combination Figure 1 , Figure 7 and Figure 11According to an embodiment of the present invention, a rotating body boss 206 is provided at the bottom of the rotating body 202, and a load chamber boss 306 is provided at the top of the load chamber 302. The side of the rotating body boss 206 contacts the side of the load chamber boss 306. When the rotating body 202 rotates relative to the reversing mechanism housing 201, the rotating body boss 206 drives the load chamber boss 306 to rotate around the center of the load chamber 302, thereby driving the load chamber 302 to rotate relative to the upper end cover 301.

[0082] like Figure 12 and Figure 13 As shown, multiple microrobot storage cavities 3021 are formed on the outer periphery of the payload compartment 302, and each microrobot storage cavity 3021 stores a microrobot. A release port 3012 is provided on the upper end cover 301. When the rotating body 202 rotates relative to the reversing mechanism housing 201, the rotating body boss 206 drives the payload compartment boss 306 to rotate around the center of the payload compartment 302. The rotating body 202 drives the payload compartment 302 to rotate relative to the upper end cover 301, aligning one microrobot storage cavity 3021 with the release port 3012.

[0083] The rotating pin connector 203 moves up and down for one stroke, the rotating body 202 rotates once relative to the reversing mechanism housing 201, the rotating body 202 drives the load chamber 302 to rotate once relative to the upper end cover 301, a micro robot storage cavity 3021 is aligned with the release port 3012, and a micro robot is released.

[0084] This invention uses a reversing mechanism 2 with pin groove reversing to drive a release mechanism 3 to release a micro-robot multiple times, thereby dynamically monitoring the temperature and pressure profile of the entire wellbore, improving the timeliness of data and meeting the field's need for a large amount of real data.

[0085] According to an embodiment of the present invention, a stepped platform 3022 is formed on the outer periphery of the load compartment 302. The stepped platform 3022 has multiple pawl grooves, and a pawl 3023 is hingedly installed in each pawl groove. Further, the stepped platform 3022 has pin holes 3024, and pins 3025 (such as...) are installed in the pin holes 3024. Figure 1 As shown), the pawl 3023 is mounted in the pawl groove via a pin 3025, causing the pawl 3023 to reciprocate around the pin 3025 (as shown). Figure 12 (As indicated by the middle arrow d).

[0086] Multiple ratchet-like structures 3011 are provided on the inner surface of the upper end cover 301, and multiple pawls 3023 form a ratchet-pawl structure with the ratchet-like structures 3011, so that the load chamber 302 can rotate unidirectionally relative to the upper end cover 301.

[0087] During the multiple release of the short section by the micro-robot based on pin groove reversal provided by this invention, when the micro-robot needs to be released, the pressure-holding ball 4 is placed on the piston plate 106. The pressure-holding ball 4 contacts multiple release pins 107. The multiple release pins 107 prevent the pressure-holding ball 4 from entering the hollow channel in the piston body 103, thereby blocking the hollow channel in the piston body 103. The drilling fluid cannot flow normally, and the drilling fluid pressure increases.

[0088] Under the pressure of the drilling fluid, the piston body 103 overcomes the elastic force of the return spring 105 and moves downward along the optical axis 104, compressing the return spring 105. The piston disc 106 drives the release pin 107 to move downward with the piston body 103. When the piston disc 106 moves to the cylinder cone slope 1011 on the inner surface of the upper cylinder body 101, the release pin 107 extends radially along the piston disc 106 to the cylinder cone slope 1011. Multiple release pins 107 release the pressure-holding ball 4, which enters the hollow channel in the piston body 103, allowing the drilling fluid to flow normally and reducing the drilling fluid pressure.

[0089] Under the elastic force of the return spring 105, the piston body 103 moves upward along the optical axis 104. The piston disc 106 drives the release pin 107 to move upward with the piston body 103. The release pin 107 leaves the cylinder cone surface ramp 1011 and retracts radially along the piston disc 106 to the piston disc guide hole 108.

[0090] As the piston body 103 moves downward along the optical axis 104, it pushes the rotating pin connector 203 downward. When the rotating pin connector 203 moves downward in the rotating body 202, the rotating pin 2033 slides through the first ramp 2023 to the surface of the first boss 2024 in the straight guide groove 2021, and then slides from the surface of the first boss 2024 to the bottom of the straight guide groove 2021.

[0091] As the piston body 103 moves upward along the optical axis 104, it drives the rotating pin connector 203 to move upward. When the rotating pin connector 203 moves upward within the rotating body 202, the rotating pin 2033 enters the spiral groove 2022 from the bottom of the straight guide groove 2021, slides along the second ramp 2025 to the surface of the second boss 2026, and then slides from the surface of the second boss 2026 to the top of the straight guide groove 2021 (e.g., ...). Figure 7 As shown by arrow b), during the sliding process of the rotating pin 2033 along the spiral groove 2022, it drives the rotating body 202 to rotate relative to the reversing mechanism housing 201.

[0092] The rotating pin connector 203 moves up and down for one stroke, and the rotating body 202 rotates once relative to the reversing mechanism housing 201. The rotating body 202 drives the load chamber 302 to rotate to one side relative to the upper end cover 301. A micro robot storage cavity 3021 is aligned with the release port 3012, and a micro robot is released.

[0093] When the micro-robot needs to be released again, the pressure ball 4 is placed on the piston plate 106 again, and the above process is repeated to complete the release of the micro-robot again, thus realizing multiple controllable releases of the micro-robot.

[0094] After the pressure ball 4 enters the hollow channel of the piston body 103, it falls into the wellbore through the hollow channels of the rotating pin connector 203, the hollow channel of the rotating body 202, the hollow channel of the load chamber 302, and the hollow channel of the lower end cover 305.

[0095] After the microrobot enters the annulus of the wellbore, it travels back to the surface with the drilling fluid for recovery. Along the way, the measuring device continuously measures and records parameters such as wellbore temperature and pressure, and reads the data at the surface, thus achieving the purpose of monitoring dynamic environmental parameters downhole.

[0096] This invention uses a reversing mechanism 2 with pin groove reversing to drive a release mechanism 3 to release micro-robots multiple times, thereby dynamically monitoring the temperature and pressure profiles at different locations throughout the wellbore, improving the timeliness of data and meeting the field's need for a large amount of real data.

[0097] The following points need to be explained:

[0098] (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0099] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the present invention; that is, these drawings are not drawn to scale. It is understood that when a device such as a layer, film, region, or substrate is referred to as being “above” or “below” another device, the device may be “directly” located “above” or “below” the other device or there may be intermediate devices.

[0100] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0101] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A microrobot based on pin-groove reversal that repeatedly releases short sections, characterized in that, The microrobot's multiple release of the short section includes a drive mechanism, a reversing mechanism, and a release mechanism; The reversing mechanism includes a reversing mechanism housing, a rotating body nested inside the reversing mechanism housing in a rotatable manner, and a rotating pin connector nested inside the rotating body; The inner surface of the rotating body has multiple straight guide grooves along the axial direction of the rotating body, and multiple spiral grooves are formed on the inner surface of the rotating body, with each spiral groove located between two adjacent straight guide grooves. Each of the spiral grooves is connected to the top of one of the two adjacent straight guide grooves, and each of the spiral grooves is connected to the bottom of the other of the two adjacent straight guide grooves; The outer surface of the rotary pin connector is provided with a plurality of rotary pins; the plurality of rotary pins are configured to extend and retract radially along the rotary pin connector. When the rotating pin connector moves downward within the rotating body, the rotating pin slides along the straight guide groove; When the rotating pin connector moves upward within the rotating body, the rotating pin slides along the helical groove, driving the rotating body to rotate relative to the reversing mechanism housing. The driving mechanism is used to drive the rotary pin connector to move downward or upward within the rotating body; The release mechanism includes an upper cover, within which a load chamber is rotatably nested; multiple micro-robot storage cavities are formed on the outer periphery of the load chamber, and a release port is formed on the upper cover; When the rotating body rotates relative to the reversing mechanism housing, the rotating body drives the load chamber to rotate relative to the upper end cover, so that one of the micro-robot storage cavities is aligned with the release port; The drive mechanism includes an upper cylinder and a lower cylinder; one end of the lower cylinder is fixed to the upper cylinder, and the other end of the lower cylinder is fixed to a connecting body; a piston is axially installed inside the upper and lower cylinders; one end of the piston is fixed to a piston disc, and the other end of the piston is fixed to a rotating pin connecting body; wherein, an upper cylinder conical ramp is formed on the inner surface of the upper cylinder, and multiple release pins are provided on the outer surface of the piston disc, the multiple release pins being configured to: move radially and retract along the piston disc; wherein, a piston ring is fixed to the outer periphery of the piston, and multiple piston shaft holes are formed on the piston ring, each piston shaft hole is fitted with a light shaft, one end of the light shaft is fixed to the upper cylinder, and the other end of the light shaft is fixed to the connecting body; a return spring is sleeved on each light shaft, the return spring being located between the piston ring and the connecting body; When the microrobot needs to be released, the pressure-holding ball is placed on the piston disc. The pressure-holding ball contacts multiple release pins, which prevent the pressure-holding ball from entering the hollow channel of the piston body, thus blocking the hollow channel and preventing the drilling fluid from flowing normally, increasing the drilling fluid pressure. Under the action of the drilling fluid pressure, the piston body overcomes the elastic force of the return spring and moves downward along the optical axis. The return spring is compressed, and the piston disc drives the release pins to move downward with the piston body. When the piston disc moves to the cylinder cone slope on the inner surface of the upper cylinder, the release pins extend radially along the piston disc to the cylinder cone slope, and the multiple release pins release the pressure-holding ball, which enters the hollow channel of the piston body, allowing the drilling fluid to flow normally and reducing the drilling fluid pressure.

2. The microrobot that repeatedly releases segments according to claim 1, characterized in that, The straight guide groove is provided with a first boss and a first ramp, and the straight guide groove extends to the surface of the first boss via the first ramp. The spiral groove is provided with a second boss and a second ramp, and the spiral groove extends to the surface of the second boss via the second ramp. When the rotating pin connector moves downward within the rotating body, the rotating pin slides through the first ramp to the surface of the first boss in the straight guide groove, and then slides from the surface of the first boss to the bottom of the straight guide groove. When the rotating pin connector moves upward within the rotating body, the rotating pin enters the spiral groove from the bottom of the straight guide groove, slides along the second ramp to the surface of the second boss, and slides from the surface of the second boss to the top of the straight guide groove.

3. The microrobot that repeatedly releases segments according to claim 1, characterized in that, Multiple fixing plates are fixed to the outer surface of the rotating pin connector. Each fixing plate has a fixing plate pin hole, and the rotating pin is slidably installed in the fixing plate pin hole.

4. The microrobot that repeatedly releases segments according to claim 1, characterized in that, A first bearing is installed between the reversing mechanism housing and the rotating body.

5. The microrobot that repeatedly releases segments according to claim 1, characterized in that, A rotating body boss is provided at the bottom of the rotating body, and a load chamber boss is provided at the top of the load chamber; When the rotating body rotates relative to the reversing mechanism housing, the rotating body boss drives the load chamber boss to rotate, driving the load chamber to rotate relative to the upper end cover, so that one of the micro-robot storage cavities is aligned with the release port.

6. The microrobot that repeatedly releases segments according to claim 1, characterized in that, The outer periphery of the payload compartment forms a stepped platform, and the stepped platform has multiple pawl slots, with a pawl hingedly installed in each pawl slot. The inner surface of the upper end cover is provided with multiple ratchet-like structures, and the multiple pawls and the ratchet-like structures form a ratchet-pawl structure, so that the load chamber can rotate unidirectionally relative to the upper end cover.

7. The microrobot that repeatedly releases segments according to claim 6, characterized in that, The stepped platform has a pin hole, a pin is installed in the pin hole, and the pawl is installed in the pawl groove through the pin.

8. The microrobot that repeatedly releases segments according to claim 1, characterized in that, A second bearing is installed between the upper end cover and the load chamber.

9. The microrobot that repeatedly releases segments according to claim 1, characterized in that, The release mechanism also includes a lower end cover, and the upper end cover is fixed to the lower end cover.

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