Intelligent Variable-diameter Electromagnetic Fishing Robot

Abstract

The present invention provides an intelligent variable-diameter electromagnetic fishing robot for downhole fishing operations, which includes a control module, an electromagnetic module, a variable-diameter module, and a clamping module. A vacuum pump, a control board, and a power supply are placed inside the control module, and the lower end of the control module is connected to a hollow outer shell. An iron core is provided inside the outer shell, coils are wound around the outer wall of the iron core, the coils are connected to the wires inside the control module, a specific variable-diameter wheel set is arranged on the outer wall of the outer shell, and the lower surface of the outer shell is connected to the clamping module. The clamping module includes a clamping frame, flexible suction cups, and a laser rangefinder. The laser rangefinder is used to detect the position of the dropped object relative to the robot. The flexible suction cups have an adsorption effect on the dropped object after fishing to prevent the dropped object from falling again. The present invention uses electromagnetic technology to fish for downhole dropped objects, enhancing the success rate of fishing for dropped objects and intelligent fishing compared with traditional downhole fishing technologies, and its variable-diameter module is applicable to various pipe diameters.

Description

Technical Field

[0001] The present invention is applicable to the field of downhole fishing, and particularly relates to an intelligent variable-diameter electromagnetic fishing robot. Background Art

[0002] With the increase in drilling depth and complexity, the frequent occurrence of downhole accidents has brought great challenges to drilling operations. To ensure the smooth progress of drilling operations, downhole fishing technology has emerged. This technology is crucial for solving the obstacles and accidents encountered during drilling. If the fishing cannot be carried out in a timely and effective manner, the drilling operation may be forced to stop, or even require re-drilling, resulting in a huge economic burden. Therefore, the effectiveness of downhole fishing technology is directly related to the success or failure of drilling operations.

[0003] At present, downhole fishing equipment mainly relies on traditional mechanical tools. Although this method can solve problems to a certain extent, there are many deficiencies. The traditional fishing method usually has low efficiency, complex operation, and insufficient accuracy, which is likely to cause secondary damage or fail to completely solve the problem. With the increase in drilling depth and complexity, these disadvantages become more prominent and cannot be ignored. With the continuous progress of technology, downhole fishing technology also needs to keep pace with the times. Combining fishing technology with intelligence is an important development direction. Intelligent fishing technology can achieve more accurate and efficient fishing operations by integrating advanced sensors, automatic control systems, and data analysis technologies. Intelligent equipment can monitor the downhole conditions in real time, detect and locate the fault points in a timely manner, and perform accurate fishing through automated operations, greatly improving the fishing efficiency. Summary of the Invention

[0004] The purpose of the present invention is to propose an intelligent variable-diameter electromagnetic fishing robot to solve the problems in the above background. By using electromagnetic technology as the core of the fishing operation and combining intelligent control, the present invention effectively improves the efficiency of the fishing operation.

[0005] To solve the above problems, the technical solution adopted by the present invention is: the intelligent variable-diameter electromagnetic fishing robot includes a control module, an electromagnetic module, a clamping module, and a variable-diameter module.

[0006] The control module includes an upper end cover, an upper end cover flow channel cover plate, a vacuum pump, a micro-control unit, a power supply, and an O-ring. The upper end cover is connected to the cover plate by threads. The vacuum pump is connected to the upper end cover by bolts and is circumferentially evenly distributed inside the upper end cover at 120°. The micro-control unit is connected to the upper end cover by bolts. The power supply is connected to the upper end cover through a lower bracket. The vacuum pump is connected to the upper end cover flow channel by threads. The upper end cover is connected to the housing by taper threads. The O-ring is placed between the upper end cover and the housing to prevent liquid from entering the robot interior. The power supply is connected to the micro-control unit by wires to supply power to the micro-control unit. The micro-control unit includes a laser drive circuit, a signal receiving circuit, an operational amplifier circuit, a filtering circuit, an AD conversion circuit, a time measurement circuit, an MCU, and a motor drive circuit, and is integrated on a PCB board.

[0007] The electromagnetic module includes a housing, a housing flow channel, a coil, and an iron core. The housing is connected to the iron core by threads. The coil is connected to the micro-control unit by wires, and the micro-control unit controls the energization of the coil. The coil is wound around the outer surface of the iron core. During operation, the micro-control unit realizes the salvage of the dropped object by operating the on-off state of the coil. When the laser rangefinder detects the dropped object, the micro-control unit energizes the coil, and the iron core generates an electromagnetic force to adsorb the dropped object.

[0008] The clamping module includes a laser rangefinder, a lower end cover, a lower end cover flow channel, a buckle groove, a lower end cover spring buckle, a collision-proof plate, a clamping frame, a clamping frame flow channel, a buckle, a clamping frame spring buckle, a flexible suction cup, a return spring, and an air pipe. The laser rangefinder is connected to the center of the lower end cover by bolts to avoid misjudgment of obstacles at the edge of the pipe wall. The lower end cover is connected to the housing by threads and an O-ring is placed. The collision-proof plate is connected to the lower end cover by threads and is made of aluminum-magnesium-silicon glass to avoid sharp objects damaging the laser rangefinder. The clamping frame is connected to the lower end cover by a return spring and an air pipe. The flexible suction cup is connected to the hinge support of the clamping frame by bolts. During operation, the vacuum pump extracts air to form a negative pressure near the flexible suction cup, causing the flexible suction cup to adsorb on the surface of the dropped object to prevent the dropped object from falling again. The buckle groove and the buckle are impacted by the dropped object on the clamping frame, causing the buckle to snap into the buckle groove to form a self-lock. The return spring is connected between the lower end cover spring buckle and the clamping frame spring buckle through hooks reserved at both ends of the spring, and the clamping frame is restored to its original position by the return spring when the work is completed. The air pipe is connected to the lower end cover flow channel and the clamping frame flow channel by threaded joints at both ends.

[0009] The variable diameter module includes a roller, a motor, an axle flattening part, a variable diameter bracket, and a tension spring. The roller shaft is connected to the variable diameter bracket through a clearance fit, the motor is connected to the variable diameter bracket through a bolt, and the motor is connected to the wheel axle through an interference fit through the motor shaft. The motor transmits the torque to the roller through the axle flattening part to realize the movement of the robot. The variable diameter bracket is connected to the hinge support on the surface of the shell through a bolt, so that the variable diameter bracket can rotate around the axis within a range of 90°. There are two variable diameter brackets distributed on the same busbar, and they are distributed 120° circumferentially, for a total of six. The tension spring is connected between the two variable diameter brackets on the same busbar through hooks reserved at both ends of the spring. When the pipe diameter becomes smaller during work, the angle formed by the two variable diameter brackets on the same busbar will increase, and the tension spring will be stretched. The restoring force of the tension spring makes the roller firmly attached to the pipe wall. The variable diameter bracket is connected through the tension spring, and when encountering pipe wall obstacles, it has an obvious shock-absorbing effect on the robot.

[0010] As a further technical solution of the present invention, the air passes through the upper end cover flow channel, the outer shell flow channel, the air pipe, the lower end cover flow channel, and the clamping frame flow channel in sequence. The upper end cover flow channel, the outer shell flow channel, the air pipe, the lower end cover flow channel, and the clamping frame flow channel are coaxially arranged in pairs and distributed at 120° in the circumferential direction inside each part.

[0011] As a further technical solution of the present invention, the clamping frame is connected to the inner wall of the lower end cover through a hinge, so that the clamping frame can move around the axis within a range of 40°, and the reset spring restores the clamping frame to its original position after the coil is powered off.

[0012] As a further technical solution of the present invention, the laser rangefinder is arranged at the lower end of the lower end cover to detect the distance between the robot and the falling object.

[0013] As a further technical solution of the present invention, the upper end cover, cover plate, shell, lower end cover and clamping frame are all made of Ti-6Al-4V material, the flexible suction cup is made of FKM material, which has super high temperature and high pressure resistance, corrosion resistance and wear resistance to adapt to the extreme environment underground, the iron core is made of iron-nickel alloy, which has good magnetic permeability, making salvage more reliable, and the anti-collision plate is made of aluminum-magnesium-silicon glass to prevent sharp objects from damaging the laser rangefinder.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Electromagnetic technology is used to replace traditional salvage devices, providing stronger magnetic attraction, greatly improving the success rate of salvaging metal objects, and arranging variable diameter wheels around the shell to buffer the collision with the casing wall.

[0016] 2. Equipped with a laser ranging module to accurately detect the distance to the fallen object, so that the robot can accurately approach and salvage, improving the accuracy of salvage.

[0017] 3. A secondary-drop prevention device is provided at the lower end to improve the adsorption force of the dropped object through a vacuum pump and a flexible suction cup, enhancing the salvage success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present invention;

[0019] Figure 2 is an axonometric view of the present invention;

[0020] Figure 3 is an axonometric view of the lower end cover of the present invention;

[0021] Figure 4 is an axonometric view of the clamping bracket of the present invention;

[0022] Figure 5 is an axonometric view of the motor of the present invention;

[0023] Figure 6 is a control flow chart of the present invention;

[0024] In the figures: 1 - upper end cover, 101 - upper end cover flow channel, 2 - cover plate, 3 - vacuum pump, 4 - micro control unit, 5 - power supply, 6 - O-ring seal, 7 - housing, 701 - housing flow channel, 8 - coil, 9 - iron core, 10 - laser rangefinder, 11 - lower end cover, 1101 - lower end cover flow channel, 1102 - buckle groove, 1103 - lower end cover spring buckle, 12 - anti-collision plate, 13 - clamping bracket, 1301 - clamping bracket flow channel, 1302 - buckle, 1303 - clamping bracket spring buckle, 14 - flexible suction cup, 15 - return spring, 16 - air pipe, 17 - roller, 18 - motor, 1801 - shaft flat position, 19 - variable diameter bracket, 20 - tension spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The technical solutions of the embodiments of the present invention will be described in detail below with reference to the drawings. These embodiments are only a part of the present invention, not all of it. Other embodiments obtained by those of ordinary skill in the art without creative work based on these embodiments are also within the protection scope of the present invention.

[0026] Refer to Figure 1 , an intelligent variable-diameter electromagnetic salvage robot, characterized in that: the intelligent variable-diameter electromagnetic salvage robot includes a control module, an electromagnetic module, a clamping module, and a variable-diameter module.

[0027] The control module includes an upper end cover 1, a cover plate 2 for the upper end cover flow channel 101, a vacuum pump 3, a micro-control unit 4, a power supply 5, and an O-ring 6. The upper end cover 1 is threadedly connected to the cover plate 2. The vacuum pump 3 is connected to the upper end cover 1 by bolts and is circumferentially evenly distributed inside the upper end cover 1 at 120°. The micro-control unit 4 is connected to the upper end cover 1 by bolts. The power supply 5 is connected to the upper end cover 1 through a lower bracket. The vacuum pump 3 is threadedly connected to the upper end cover flow channel 101. The upper end cover 1 is connected to the housing 7 by tapered threads. The O-ring 6 is placed between the upper end cover 1 and the housing 7 to prevent liquid from entering the robot interior. The power supply 5 is connected to the micro-control unit 4 by wires to supply power to the micro-control unit 4. The micro-control unit 4 includes a laser drive circuit, a signal receiving circuit, an operational amplifier circuit, a filtering circuit, an AD conversion circuit, a time measurement circuit, and an MCU, and is integrated on a PCB board.

[0028] The electromagnetic module includes a housing 7, a housing flow channel 701, a coil 8, and an iron core 9. The housing 7 is threadedly connected to the iron core 9. The coil 8 is connected to the micro-control unit 4 by wires, and the micro-control unit 4 controls the energization of the coil 8. The coil 8 is wound around the outer surface of the iron core 9. During operation, the micro-control unit 4 realizes the salvage of the dropped object by operating the on-off state of the coil 8. When the laser rangefinder 10 detects the dropped object, the micro-control unit 4 energizes the coil 8, and the iron core 9 generates an electromagnetic force to adsorb the dropped object.

[0029] The clamping module includes a laser rangefinder 10, a lower end cover 11, a lower end cover flow channel 1101, a snap groove 1102, a lower end cover spring catch 1103, a collision prevention plate 12, a clamping frame 13, a clamping frame flow channel 1301, a snap 1302, a clamping frame spring catch 1303, a flexible suction cup 14, a return spring 15, and an air pipe 16. The laser rangefinder 10 is connected to the center of the lower end cover 11 by bolts to avoid misjudgment of obstacles at the edge of the pipe wall. The lower end cover 11 is threadedly connected to the housing 7 and an O-ring 6 is placed. The collision prevention plate 12 is threadedly connected to the lower end cover 11. The clamping frame 13 is connected to the lower end cover 11 through the return spring 15 and the air pipe 16. The flexible suction cup 14 is connected to the hinge support of the clamping frame 13 by bolts. During operation, the vacuum pump 3 extracts air to form a negative pressure near the flexible suction cup 14, causing the flexible suction cup 14 to adsorb on the surface of the dropped object to prevent the dropped object from falling again. The snap groove 1102 and the snap 1302 are such that when the dropped object impacts the clamping frame 13, the snap 1302 snaps into the snap groove 1102 to form a self-lock. The return spring 15 is connected between the lower end cover spring catch 1103 and the clamping frame spring catch 1303 through hooks reserved at both ends of the spring, and the clamping frame 13 is restored to its original position by the return spring 15 at the end of the work. The air pipe 16 is connected to the lower end cover flow channel 1101 and the clamping frame flow channel 1301 by threaded connections at both ends.

[0030] The diameter-changing module includes a roller 17, a motor 18, a flat position 1801 of the shaft, a diameter-changing bracket 19, and a tension spring. The shaft of the roller 17 is connected to the diameter-changing bracket 19 through clearance fit. The motor 18 is connected to the diameter-changing bracket 19 by bolts. The motor 18 is connected to the wheel shaft through interference fit of the motor shaft. The motor 18 transmits torque to the roller 17 through the flat position 1801 of the shaft to realize the movement of the robot. The diameter-changing bracket 19 is connected to the hinge support on the surface of the housing 7 by bolts, so that the diameter-changing bracket 19 can rotate around the axis within a range of 90°. There are two diameter-changing brackets 19 distributed on the same generatrix and are circumferentially distributed at 120°, with a total of six. The tension spring 20 is connected between the two diameter-changing brackets 19 on the same generatrix through reserved hooks at both ends of the spring. When the pipe diameter becomes smaller during operation, the angle formed by the two diameter-changing brackets 19 on the same generatrix will increase, and the tension spring 20 will be stretched. The restoring force of the tension spring 20 makes the roller firmly adhere to the pipe wall. The diameter-changing bracket 19 is connected by the tension spring 20, which has an obvious shock-absorbing effect on the robot when encountering pipe wall obstacles.

[0031] In this example, the electromagnetic module and the control module are the core modules of the intelligent diameter-changing electromagnetic fishing robot. The microcontroller unit 4 accurately sends instructions to the robot through a laser drive circuit, a signal receiving circuit, an operational amplifier circuit, a filtering circuit, an AD conversion circuit, a time measurement circuit, an MCU, and a motor drive circuit. When the laser rangefinder 10 detects that the distance between the dropped object and the robot is less than or equal to the set value, the microcontroller unit 4 energizes the coil 8 to generate an electromagnetic force around the iron core 9 to fish the dropped object. When the distance between the dropped object and the robot is greater than the set value, the microcontroller unit 4 will control the robot to move forward through the motor drive circuit.

[0032] Refer to Figure 2 , Figure 3 , Figure 4 , in this example, the clamping module and the diameter-changing module are auxiliary functions of the robot. When the pipe diameter changes during operation, the angle between the clamping frames 19 on the same generatrix will change, and the tension of the tension spring 20 will change. The tension spring 20 will cause the two clamping frames 19 to receive an inward tension, so that the roller 17 firmly adheres to the pipe wall. The clamping module makes the clamping frame 13 perform a rotational movement around the axis within a range of 40°, so that when the clamping frame 13 is impacted by the dropped object, the buckle 1302 snaps into the buckle groove 1102 to form self-locking, and the clamping frame 13 clamps the dropped object to prevent the dropped object from falling again.

[0033] In a specific working example, during the salvage process of the intelligent variable-diameter electromagnetic salvage robot, the micro-control unit 4 enables the laser rangefinder 10 to emit laser through the laser drive circuit, and calculates the distance between the dropped object and the robot through the signal receiving circuit, operational amplifier circuit, filtering circuit, AD conversion circuit, and time measurement circuit. The micro-control unit 4 makes the robot move towards the dropped object by driving the motor 18. When encountering a change in pipe diameter, the angle between the variable-diameter brackets 19 changes, and the tensile force of the tension spring 20 changes accordingly, causing the rollers 17 to firmly adhere to the pipe wall. When the position of the dropped object and the robot reaches the target value, the micro-control unit 4 energizes the coil 8 to generate an electromagnetic force by the iron core 9 to adsorb the dropped object. The dropped object is adsorbed to the lower end of the robot by the electromagnetic force, hitting the clamping frame 13 to make the buckle 1302 snap into the buckle groove 1102 for self-locking, clamping the dropped object. At the same time, the micro-control unit 4 drives the vacuum pump 3 to work, generating negative pressure around the flexible suction cup 14, and the flexible suction cup 14 adsorbs on the surface of the dropped object to prevent the dropped object from falling again. When the robot salvages the dropped object, the micro-control unit 4 drives the motor 18 to make the robot carry the dropped object and move to the wellhead. The micro-control unit 4 controls the coil 8 to power off, and the reset spring 15 resets the clamping frame 11 to release the dropped object.

Claims

1. The intelligent variable-diameter electromagnetic fishing robot is characterized in that: The intelligent variable-diameter electromagnetic fishing robot includes a control module, an electromagnetic module, a clamping module, and a variable-diameter module; The control module includes an upper end cover (1), an upper end cover flow channel (101), a cover plate (2), a vacuum pump (3), a micro control unit (4), a power supply (5), and an O-ring (6). The upper end cover (1) is threadedly connected to the cover plate (2). The vacuum pump (3) is connected to the upper end cover (1) by bolts and is circumferentially distributed at 120° inside the upper end cover (1). The micro control unit (4) is connected to the upper end cover (1) by bolts. The power supply (5) is connected to the upper end cover (1) through a lower bracket. The vacuum pump (3) is threadedly connected to the upper end cover flow channel (101). The upper end cover (1) is connected to the outer shell (7) by tapered threads. The O-ring (6) is placed between the upper end cover (1) and the outer shell (7) to prevent liquid from entering the robot interior. The power supply (5) is connected to the micro control unit (4) through wires to supply power to the micro control unit (4). The micro control unit (4) includes a laser drive circuit, a signal receiving circuit, an operational amplifier circuit, a filtering circuit, an AD conversion circuit, a time measurement circuit, and an MCU, which are integrated on a PCB board; The electromagnetic module includes an outer shell (7), an outer shell flow channel (701), a coil (8), and an iron core (9). The outer shell (7) is threadedly connected to the iron core (9). The coil (8) is connected to the micro control unit (4) through wires, and the micro control unit (4) controls the energization of the coil (8). The coil (8) is wound around the outer surface of the iron core (9). During operation, the micro control unit (4) realizes the fishing of the dropped object by operating the energization and de-energization states of the coil (8). When the laser rangefinder (10) detects the dropped object, the micro control unit (4) energizes the coil (8), and the iron core (9) generates an electromagnetic force to adsorb the dropped object; The clamping module includes a laser rangefinder (10), a lower end cover (11), a lower end cover flow channel (1101), a buckle groove (1102), a lower end cover spring buckle (1103), a collision prevention plate (12), a clamping bracket (13), a clamping bracket flow channel (1301), a buckle (1302), a clamping bracket spring buckle (1303), a flexible suction cup (14), a return spring (15), and an air pipe (16). The laser rangefinder (10) is bolted to the center of the lower end cover (11) below to avoid misjudgment of obstacles at the edge of the pipe wall. The lower end cover (11) is threadedly connected to the outer shell (7) and an O-ring (6) is placed. The collision prevention plate (12) is threadedly connected to the lower end cover (11). The clamping bracket (13) is connected to the lower end cover (11) through the return spring (15) and the air pipe (16). The flexible suction cup (14) is hinge-supported to the clamping bracket (13) by bolts. During operation, the vacuum pump (3) evacuates air to form a negative pressure near the flexible suction cup (14), causing the flexible suction cup (14) to adsorb on the surface of the falling object to prevent the falling object from falling again. The buckle groove (1102) and the buckle (1302) cause the buckle (1302) to snap into the buckle groove (1102) to form self-locking when the falling object impacts the clamping bracket (13). The return spring (15) is connected between the lower end cover spring buckle (1103) and the clamping bracket spring buckle (1303) through hooks reserved at both ends of the spring, and the clamping bracket (13) is restored to its original position by the return spring (15) at the end of the work. The air pipe (16) is threadedly connected to the lower end cover flow channel (1101) and the clamping bracket flow channel (1301) through connectors at both ends; The diameter-changing module includes rollers (17), a motor (18), a flat shaft position (1801), a diameter-changing bracket (19), and a tension spring. The shaft of the roller (17) is connected to the diameter-changing bracket (19) by clearance fit. The motor (18) is bolted to the diameter-changing bracket (19). The motor (18) is connected to the wheel shaft by interference fit of the motor shaft. The motor (18) transmits torque to the roller (17) through the flat shaft position (1801) to realize the movement of the robot. The diameter-changing bracket (19) is hinge-supported to the surface of the outer shell (7) by bolts, enabling the diameter-changing bracket (19) to rotate around the axis within a range of 90°. There are two diameter-changing brackets (19) distributed on the same generatrix and circumferentially distributed at 120°, a total of six. The tension spring (20) is connected between the two diameter-changing brackets (19) on the same generatrix through hooks reserved at both ends of the spring. When the pipe diameter becomes smaller during operation, the angle formed by the two diameter-changing brackets (19) on the same generatrix increases, and the tension spring (20) is stretched. The restoring force of the tension spring (20) makes the rollers firmly adhere to the pipe wall. The diameter-changing brackets (19) are connected by the tension spring (20), which has an obvious shock-absorbing effect on the robot when encountering pipe wall obstacles.

2. The intelligent variable-diameter electromagnetic fishing robot according to claim 1, wherein: Air sequentially passes through the upper end cap flow channel (101), the housing flow channel (701), the air pipe (16), the lower end cap flow channel (1101), and the clamping bracket flow channel (1301). The above-mentioned upper end cap flow channel (101), housing flow channel (701), air pipe (16), lower end cap flow channel (1101), and clamping bracket flow channel (1301) are coaxially arranged in pairs and are circumferentially distributed at 120° inside their respective parts.

3. The intelligent variable-diameter electromagnetic fishing robot according to claim 1 is characterized in that: The clamping bracket (13) is connected by a hinge provided on the inner wall of the lower end cap (11), so that the clamping bracket (13) makes a rotational motion around the axis within a range of 40°. The return spring (15) restores the clamping bracket (13) to its original position after the coil (8) is powered off.

4. The intelligent variable-diameter electromagnetic fishing robot according to claim 1, wherein: The laser rangefinder (10) is placed at the lower end of the lower end cap (11) to judge the distance between the robot and the falling object.

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