A self-correcting detection and salvaging device for drilling

Abstract

The present invention discloses a self-correcting detection and salvaging device for drilling, and relates to the technical field of detection and salvaging devices. The device comprises a main body component, a driving component for controlling the lifting and lowering of the main body component, an extension component for controlling the extension and retraction of the driving component, and an adsorption component for salvaging the detector. The main body component comprises a salvage box body, and the driving component comprises a plurality of rotating shafts and a main shaft, and the rotating shafts are respectively arranged at both ends of the salvage box body. The present invention obtains the tilt data of the adsorption plate according to the distance sensor, divides the tilt data items and the position information items into three levels, divides the levels according to the tilt data of the adsorption plate captured in real time, and adjusts the position of the adsorption plate according to the divided results, thereby achieving the effect of self-correcting the posture of the detector at the bottom of the adsorption plate, and ensuring that the detection and salvaging device can work smoothly.

Description

Technical Field

[0001] The invention relates to the technical field of detection salvage devices, in particular to a self-correcting detection salvage device for drilling. Background Art

[0002] The detection salvage device, also known as the drilling salvage device, is a special device used in oil and gas drilling and mining operations. It is mainly used to salvage objects that fall into the well during the drilling process, such as drill bits, drill rods, tools or other equipment. The fall of these objects may cause the operation to be interrupted, so the role of the salvage device is crucial. It can effectively capture and salvage objects that fall into the well to prevent them from causing further blockage or damage. The drilling salvage device is of great significance to improving the safety of drilling operations, reducing downtime and economic losses. When using a detector to detect the drilling, it is also necessary to salvage the completed detector to the ground, and the salvage device will also be used.

[0003] Patent publication number CN113374405A discloses a screw drill for coiled tubing salvage and a salvage method thereof. The power assembly design adopts turbine blades. Compared with the power assembly design of the traditional stator rubber, the rotor rotates more smoothly, a universal shaft design is no longer required, and the screw drill structure is simpler. The turbine blades adopted can realize constant concentric rotation of the rotor, thereby improving the reliability of the screw drill for coiled tubing salvage. A reduction assembly can be provided, which can output a lower speed after the liquid flows through the turbine blades to drive the rotor to rotate, thereby driving the salvage tool connected to the transmission shaft to rotate and guiding the fish head into the salvage tool.

[0004] When the above and similar technical solutions go deep into a borehole to carry out salvage work, the depth of the borehole can reach several thousand meters. Therefore, the salvage cannot be pulled out or put into the bottom of the borehole for salvage by conventional pulling methods. At this time, the salvage needs to be able to rise and fall on the inner wall of the borehole by itself. When the salvage captures the detector and brings it to the ground, it is impossible to determine the position of the captured salvage. Therefore, the detector may shake during the ascent, and may hit the inner wall of the exploration hole, causing certain damage to the detector. The deeper the depth of the borehole, the more humid the inner wall of the borehole will be. After going deep into the ground for a certain distance, the salvage will enter the groundwater, and the impurities in the water will cause certain interference to the ascent and descent of the salvage. Summary of the invention

[0005] The object of the present invention is to provide a self-correcting detection and fishing device for drilling to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a self-correcting detection and salvaging device for drilling, comprising a main body component, a driving component for controlling the lifting and lowering of the main body component, an extension component for controlling the extension and retraction of the driving component, and an adsorption component for salvaging the detector, wherein the main body component comprises a salvage box body, and a battery panel for stable power supply is fixed inside the salvage box body;

[0007] The driving assembly includes a plurality of rotating shafts and a main shaft, the rotating shafts are respectively arranged at both ends of the salvage box body, driving wheels are fixed to the outer walls on both sides of the rotating shaft, a plurality of supporting plates are arranged at both ends of the salvage box body, the rotating shaft and the main shaft are respectively arranged at both ends of the supporting plates, and a rotating belt is sleeved between the rotating shaft and the main shaft, wherein a main driving motor is fixed on one side of the two supporting plates, and the main driving motor is connected to the main shaft, when the main shaft rotates, under the action of the rotating belt, the rotating shaft and the driving wheel can be driven to rotate, and when the driving wheel is attached to the inner wall of the exploration hole, the salvage box body can be driven to rise and fall;

[0008] The extension assembly includes two extension motors, and the extension motors are respectively connected to extension rods, and the support plate is sleeved on the outside of the extension rods through threads. The extension motors can respectively drive the extension rods to rotate and drive the entire drive assembly to move horizontally in the salvage box body;

[0009] The adsorption assembly includes a first frame and a second frame, the first frame and the second frame are both arranged at the bottom of the salvage box body, and the first frame and the second frame are respectively provided with a first driving rod and a second driving rod, and the first frame and the second frame are respectively fixed with an adjusting motor for controlling the rotation of the first driving rod and the second driving rod, and the first driving rod and the second driving rod are respectively provided with a first moving rod and a second moving rod on the outer walls, and the first moving rod and the second moving rod are slidably sleeved with a moving disk on the outer walls, and an adsorption disk is fixedly connected to the bottom of the moving disk, and a plurality of distance sensors are arranged at the bottom of the moving disk, and when the adsorption disk contacts the detector, the detector can be adsorbed to realize the capture of the detector, and the position of the adsorption disk is adjusted by the correction method to realize the self-correction of the detector position.

[0010] Furthermore, the correction method includes:

[0011] Step 1: optimal state acquisition, obtain the state information of the adsorption disk under normal state, and obtain the normal state item;

[0012] Step 2: data acquisition, based on the normal state item, the tilt data of the adsorption plate is captured by the distance sensor to obtain multiple sets of tilt data items, and the position information of the adsorption plate is obtained to obtain the position information item;

[0013] Step 3: Classification: Classify the tilted data items and the position information items into at least two levels, and the tilted data items and the position information items corresponding to each level correspond to each other;

[0014] Step 4: Position adjustment. Obtain the tilt data of the adsorption plate captured by the distance sensor in real time to obtain the real-time tilt item. By judging the level of the real-time tilt item, match the corresponding position information item, and adjust the position of the adsorption plate according to the position information item to achieve self-adjustment of the position of the adsorption plate and self-correction.

[0015] Furthermore, the method for obtaining the normal status item includes: based on the area information of the first frame and the second frame, setting the center point position of the first frame and the second frame to obtain the center position item, judging whether the position information of the adsorption plate is in the center position item, and when the position information of the adsorption plate is in the center position item, obtaining the normal status item.

[0016] Furthermore, the position adjustment method includes: direction selection, based on the level judgment result of the real-time tilt item, selecting the position information item of the corresponding level as the adjustment distance, and selecting the direction with the same level as the real-time tilt item as the adjustment direction, and combining the adjustment distance and the adjustment direction to adjust the position of the suction plate.

[0017] Furthermore, a second cleaning assembly and a first cleaning assembly are provided in the salvage box body to ensure the lifting of the driving assembly, and the second cleaning assembly and the first cleaning assembly include a plurality of second cleaning pumps and a plurality of first cleaning pumps, the second cleaning pump and the first cleaning pump are respectively fixed to the bottom and the top of the salvage box body, and support frames are fixed to the top and the bottom of the support plate, and a second cleaning box and a first cleaning box are respectively provided at one end of the support frame, and the second cleaning box and the first cleaning box are respectively connected to the second cleaning pump and the first cleaning pump with connecting pipes. When the second cleaning pump and the first cleaning pump are working, the second cleaning box and the first cleaning box are respectively controlled through the connecting pipe to absorb the mud and sand on the top and the bottom of the driving assembly, so as to reduce the mud and sand residue at the contact point between the driving assembly and the inner wall of the cave.

[0018] Furthermore, a buffer assembly is provided between the first cleaning box, the second cleaning box and the support frame, and the buffer assembly includes a plurality of limit rods, the limit rods are slidably inserted into the outer walls of both ends of the support frame, and a buffer spring sleeved on the outer wall of the limit rod is fixedly connected between the first cleaning box, the second cleaning box and the support frame. When the extension assembly controls the driving assembly to extend outward, the first cleaning box and the second cleaning box will squeeze the buffer spring when they contact the inner wall of the exploration hole, so that the first cleaning box and the second cleaning box can be close to the inner wall of the exploration hole, thereby improving the cleaning effect.

[0019] Furthermore, the outer walls of one end of the first cleaning box and the second cleaning box are rotatably connected to a rotating rod. When the first cleaning box and the second cleaning box are close to the inner wall of the exploration cave, as the salvage box body rises and falls, the rotating rod can roll on the inner wall of the exploration cave, thereby eliminating the friction between the first cleaning box and the second cleaning box and the inner wall of the exploration cave, and preventing the first cleaning box and the second cleaning box from wear.

[0020] Furthermore, a plurality of clamping rods are rotatably connected between the inner walls on both sides of the support plate, and the rotating belt contacts the clamping rods respectively. When the rotating belt rotates, the clamping rods can limit the rotating belt, increase the friction between the rotating belt and the rotating shaft and the main shaft, and improve the driving force.

[0021] Furthermore, a cross bar is fixedly connected between the inner walls at both ends of the salvage box body, and a support plate is sleeved on the outer wall of the cross bar. When the entire driving assembly moves laterally, the cross bar can provide a limiting effect on the driving assembly to ensure the stability of the movement of the driving assembly. A counterweight cylinder is fixedly connected to the other side of the support plate.

[0022] Furthermore, the outer walls of the first cleaning pump and the second cleaning pump are respectively fixedly connected with the first cleaning pipe and the second cleaning pipe, and the first cleaning pipe is directed downward and the second cleaning pipe is directed upward. When the salvage box body rises, it is necessary to clean the mud and sand materials above the driving assembly. At this time, the first cleaning pump, when sucking mud and water into the first cleaning pump, sprays out the mud and sand through the downward first cleaning pipe, thereby assisting the salvage box body to rise; when the salvage box body descends, it is necessary to clean the mud and sand materials below the driving assembly. At this time, when the second cleaning pump, when sucking mud and water into the second cleaning pump, sprays out the mud and sand through the upward second cleaning pipe, thereby assisting the salvage box body to descend.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The drilling posture self-correcting detection and salvage device first needs to obtain the position information of the adsorption plate in a normal state, and on this basis, obtain the inclination data of the adsorption plate according to the distance sensor. Since the adsorption plate is in a horizontal state under normal conditions, multiple groups of inclination data items are obtained, and the multiple groups of inclination data items are the same, and the position information of the adsorption plate is in the exact center of the first frame and the second frame. The inclination data items and the position information items are divided into three levels. The levels are divided according to the inclination data of the adsorption plate captured in real time, and the position of the adsorption plate is adjusted according to the results of the division, thereby achieving the effect of self-correction of the posture of the detector at the bottom of the adsorption plate, ensuring that the detector can rise smoothly.

[0025] At the same time, the extension motor can drive the extension rod to rotate respectively, and drive the entire driving assembly to move laterally in the salvage box body. When the main shaft rotates, under the action of the rotating belt, the rotating shaft and the driving wheel can be driven to rotate. When the driving wheel is attached to the inner wall of the exploration cave, the salvage box body can be driven to rise and fall. When the second cleaning pump and the first cleaning pump are working, the second cleaning box and the first cleaning box are controlled by the connecting pipe to absorb the mud and sand on the top and bottom of the driving assembly respectively, so as to reduce the mud and sand residue at the contact point between the driving assembly and the inner wall of the exploration cave.

[0026] Moreover, when the salvage box body rises, it is necessary to clean the mud and sand above the driving assembly. At this time, when the first cleaning pump sucks mud and water into the first cleaning pump, it sprays the mud through the downward first cleaning pipe to assist the salvage box body to rise; when the salvage box body descends, it is necessary to clean the mud and sand below the driving assembly. At this time, when the second cleaning pump sucks mud and water into the second cleaning pump, it sprays the mud through the upward second cleaning pipe to assist the salvage box body to descend. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the overall bottom-up structure of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the adsorption component of the present invention;

[0030] Figure 4 It is a schematic diagram of the distance sensor structure of the present invention;

[0031] Figure 5 It is a schematic structural diagram of the first cleaning component and the buffer component of the present invention;

[0032] Figure 6 It is a schematic diagram of the internal structure of the salvage box body of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the extension component and the driving component of the present invention;

[0034] Figure 8 It is a schematic flow chart of the correction method of the present invention.

[0035] In the figure: 1, main assembly; 101, salvage box body; 102, battery panel; 2, second cleaning assembly; 201, second cleaning pump; 202, second cleaning pipe; 203, second cleaning box; 3, driving assembly; 301, main driving motor; 302, driving wheel; 303, supporting plate; 304, rotating belt; 305, rotating shaft; 306, clamping rod; 307, main shaft; 308, cross bar; 309, counterweight cylinder; 4, first cleaning assembly; 401, first cleaning box; 402, rotating stick; 403, connecting pipe; 404, first cleaning pump; 405, first cleaning pipe; 406, supporting frame; 5, adsorption assembly; 501, first frame; 502, adjusting motor; 503, second frame; 504, first moving rod; 505, moving disk; 506, adsorption disk; 507, first driving rod; 508, second driving rod; 509, distance sensor; 6, buffer assembly; 601, limit rod; 602, buffer spring; 7, extension assembly; 701, extension motor; 702, extension rod. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the process of raising and lowering the salvage device inside the cave, the mud and other materials in the water will cause certain interference to the raising and lowering of the salvage device. At this time, after the contact position of the salvage device and the cave is contaminated with mud and sand in the water, the friction between the salvage device and the cave will be reduced. Especially when the mass of the salvaged object is large, it is easy for the total mass to exceed the friction between the salvage device and the cave, resulting in the failure to successfully complete the salvage work and aggravating the shaking of the detector. The technical solution provided by the present application is to set a salvage box body, and set a plurality of extension components with freely adjustable lengths around the salvage box body, and the extension components are provided with drive components that can rotate forward and reverse. When the salvage box body needs to be sent into the cave, the plurality of drive components are sent out through the extension components and contact with the inner wall of the cave, so that the raising and lowering of the salvage box body can be controlled by the rotation direction of the drive components, so that the salvage box body can freely move inside the cave. The salvage box body is lifted and lowered, and the detector in the exploration cave is adsorbed and fixed by an adsorption component arranged at the bottom of the salvage box body. The detector is salvaged as the salvage box body rises. Independent cleaning components are respectively arranged on the extension components. In the process of lifting and lowering the salvage box body, the contact point between the driving component and the inner wall of the exploration cave is taken as the starting point, and the inner wall of the exploration cave in the upper and lower directions of the starting point is cleaned respectively, so as to increase the friction between the contact point between the driving component and the inner wall of the exploration cave, thereby improving the stable working performance of the salvage box body. After the adsorption component captures the detector, the normal posture of the center of gravity of the detector in a specified state is input in advance, and the position of the adsorption component is adjusted according to the actual posture obtained from the center of gravity of the detector obtained in real time, so that the real-time posture can meet the position of the center of gravity in the normal posture after adjustment, thereby realizing the effect of posture self-correction and ensuring that the detector can rise smoothly.

[0038] like Figure 1-Figure 7As shown, the present invention provides a technical solution: a self-correcting detection and salvaging device for drilling, comprising a main component 1, a driving component 3 for controlling the lifting and lowering of the main component 1, an extension component 7 for controlling the extension and retraction of the driving component 3, and an adsorption component 5 for salvaging the detector, wherein the main component 1 comprises a salvage box body 101, and a battery panel 102 for stable power supply is fixed inside the salvage box body 101; the driving component 3 comprises a plurality of rotating shafts 305 and a main shaft 307, the rotating shafts 305 are respectively arranged at both ends of the salvage box body 101, and driving wheels 302 are fixed on the outer walls of both sides of the rotating shaft 305, and the salvage box body 101 is provided with a plurality of rotating shafts 305 and a main shaft 307, wherein the rotating shafts 305 are respectively arranged at both ends of the salvage box body 101, and the driving wheels 302 are fixed on the outer walls of both sides of the rotating shaft 305, and the salvage box body 101 is provided with a plurality of rotating shafts 305 and a main shaft 307, wherein the rotating shafts 305 are provided with a plurality of rotating shafts 305 and a main shaft 307, and ... A plurality of support plates 303 are arranged at both ends of the support plates 303, a rotating shaft 305 and a main shaft 307 are arranged at both ends of the support plates 303, and a rotating belt 304 is sleeved between the rotating shaft 305 and the main shaft 307, wherein a main driving motor 301 is fixed on one side of the two support plates 303, and the main driving motor 301 is connected to the main shaft 307. When the main shaft 307 rotates and drives the main shaft 307 to rotate, the rotating shaft 305 and the driving wheel 302 can be driven to rotate under the action of the rotating belt 304. When the driving wheel 302 is attached to the inner wall of the exploration hole, the salvage box body 101 can be driven to rise and fall; the extension assembly 7 includes two extension components. The extension motor 701 is connected to the extension rod 702, and the support plate 303 is connected to the extension rod 702 through a threaded sleeve. The extension motor 701 can drive the extension rod 702 to rotate and drive the entire drive assembly 3 to move horizontally in the salvage box body 101; the adsorption assembly 5 includes a first frame 501 and a second frame 503, both of which are arranged at the bottom of the salvage box body 101, and the first frame 501 and the second frame 503 are respectively provided with a first driving rod 507 and a second driving rod 508, and the first frame 501 and the second frame 503 are respectively provided with a first driving rod 507 and a second driving rod 508. Both are fixed with an adjusting motor 502 for controlling the rotation of the first driving rod 507 and the second driving rod 508. The outer walls of the first driving rod 507 and the second driving rod 508 are respectively provided with a first moving rod 504 and a second moving rod. The outer walls of the first moving rod 504 and the second moving rod are slidably sleeved with a moving disk 505. The bottom of the moving disk 505 is fixedly connected with an adsorption disk 506. The bottom of the moving disk 505 is provided with a plurality of distance sensors 509. When the adsorption disk 506 contacts the detector, it can adsorb the detector to achieve the capture of the detector. Through the correction method, the position of the adsorption disk 506 is adjusted to achieve self-correction of the detector position.

[0039] like Figure 8As shown, the correction method includes: step one: optimal state acquisition, acquiring the state information of the adsorption disk 506 in the normal state, and obtaining the normal state item; step two: data acquisition, based on the normal state item, capturing the tilt data of the adsorption disk 506 through the distance sensor 509, obtaining multiple groups of tilt data items, and acquiring the position information of the adsorption disk 506, and obtaining the position information item; step three: level division, dividing the tilt data items and the position information items into at least two levels, and the tilt data items corresponding to each level correspond to the position information items; step four: position adjustment, acquiring the tilt data of the adsorption disk 506 captured by the distance sensor 509 in real time, and obtaining the real-time tilt item, by judging the level of the real-time tilt item, matching the corresponding position information item, adjusting the position of the adsorption disk 506 according to the position information item, realizing self-adjustment of the position of the adsorption disk 506, and realizing self-correction.

[0040] It should be noted that it is first necessary to obtain the position information of the adsorption plate 506 under normal conditions, and on this basis, obtain the tilt data of the adsorption plate 506 according to the distance sensor 509. Since the adsorption plate 506 is in a horizontal state under normal conditions, and there are four distance sensors 509, which are in four different directions, four groups of tilt data items are obtained at this time, and the four groups of tilt data items are the same. The position information of the adsorption plate 506 is in the exact center of the first frame 501 and the second frame 503. The tilt data items and the position information items are divided into three levels, namely normal, slight and severe, and the division standards are 0, 25% and 50% of the tilt data items and the position information items, respectively. The position of the adsorption plate 506 is adjusted according to the tilt data of the adsorption plate 506 captured in real time.

[0041] The method for obtaining the normal state item includes: based on the area information of the first frame 501 and the second frame 503, setting the center point position of the first frame 501 and the second frame 503 to obtain the center position item, and judging whether the position information of the adsorption plate 506 is in the center position item; when the position information of the adsorption plate 506 is in the center position item, obtaining the normal state item.

[0042] The method for position adjustment includes: direction selection, based on the level judgment result of the real-time tilt item, selecting the position information item of the corresponding level as the adjustment distance, and selecting the direction with the same level as the real-time tilt item as the adjustment direction, and combining the adjustment distance and the adjustment direction to adjust the position of the adsorption plate 506.

[0043] During the specific implementation process, the distance sensor 509 obtains the tilt data of the adsorption plate 506 of 20 cm, which means that the adsorption plate 506 is in a horizontal state at this time, and the distance between it and the distance sensor 509 is 20 cm, and when the adsorption plate 506 is in the center position, the distance from the first frame 501 and the second frame 503 is 40 cm. At this time, according to the divided levels, the tilt data item and the position information item in the normal state are 0, the tilt data item and the position information item in the slight state are 5 cm and 10 cm respectively, and the tilt data item and the position information item in the severe state are 10 cm and 20 cm respectively. At this time, when the adsorption plate 506 captures the detector, the distance sensor at the leftmost position detects a tilt data item of 3 cm, which means that the left position of the adsorption plate 506 is reduced by 3 cm upward and is in a slight level. At this time, the matching position information item is 10 cm, and according to the adjustment direction, the adsorption plate 506 is moved 10 cm to the left to complete the self-correction of the adsorption plate 506.

[0044] like Figure 1 , Figure 2 and Figure 5 As shown, a second cleaning component 2 and a first cleaning component 4 for ensuring the lifting of the driving component 3 are arranged in the salvage box body 101, and the second cleaning component 2 and the first cleaning component 4 include a plurality of second cleaning pumps 201 and a plurality of first cleaning pumps 404, the second cleaning pump 201 and the first cleaning pump 404 are respectively fixed at the bottom and the top of the salvage box body 101, and a support frame 406 is fixed at the top and the bottom of the support plate 303, and a second cleaning box 203 and a first cleaning box 401 are respectively arranged at one end of the support frame 406, and a connecting pipe 403 is connected between the second cleaning box 203 and the first cleaning box 401 and the second cleaning pump 201 and the first cleaning pump 404 respectively. When the second cleaning pump 201 and the first cleaning pump 404 are working, the second cleaning box 203 and the first cleaning box 401 are respectively controlled by the connecting pipe 403 to absorb the mud and sand on the top and the bottom of the driving component 3, so as to reduce the mud and sand residue at the contact point between the driving component 3 and the inner wall of the cave.

[0045] like Figure 5 As shown, a buffer assembly 6 is arranged between the first cleaning box 401, the second cleaning box 203 and the support frame 406, and the buffer assembly 6 includes a plurality of limit rods 601, the limit rods 601 are slidably inserted into the outer walls of the two ends of the support frame 406, and a buffer spring 602 sleeved on the outer wall of the limit rod 601 is fixedly connected between the first cleaning box 401, the second cleaning box 203 and the support frame 406. When the extension assembly 7 controls the driving assembly 3 to extend outward, the first cleaning box 401 and the second cleaning box 203 will squeeze the buffer spring 602 when they contact the inner wall of the exploration cave, so that the first cleaning box 401 and the second cleaning box 203 can be close to the inner wall of the exploration cave, thereby improving the cleaning effect.

[0046] like Figure 5 As shown, the outer walls of one end of the first cleaning box 401 and the second cleaning box 203 are rotatably connected to a rotating rod 402. When the first cleaning box 401 and the second cleaning box 203 are close to the inner wall of the exploration cave, as the salvage box body 101 rises and falls, the rotating rod 402 can roll on the inner wall of the exploration cave, eliminating the friction between the first cleaning box 401 and the second cleaning box 203 and the inner wall of the exploration cave, and preventing the first cleaning box 401 and the second cleaning box 203 from wear.

[0047] like Figure 7 As shown, a plurality of clamping rods 306 are rotatably connected between the inner walls on both sides of the support plate 303, and the rotating belt 304 is in contact with the clamping rods 306 respectively. When the rotating belt 304 rotates, the clamping rods 306 can limit the rotating belt 304, thereby increasing the friction between the rotating belt 304 and the rotating shaft 305 and the main shaft 307, and improving the driving force.

[0048] like Figure 7 As shown, a cross bar 308 is fixedly connected between the inner walls at both ends of the salvage box body 101, and the support plate 303 is sleeved on the outer wall of the cross bar 308. When the entire driving assembly 3 moves laterally, the cross bar 308 can provide a limiting effect on the driving assembly 3 to ensure the stability of the movement of the driving assembly 3. A counterweight cylinder 309 is fixedly connected to the other side of the support plate 303.

[0049] It should be noted that the counterweight cylinder 309 is used to balance the main drive motor 301 to improve the stability of the salvage box body 101 as much as possible.

[0050] like Figure 1 As shown, the outer walls of the first cleaning pump 404 and the second cleaning pump 201 are respectively fixedly connected with the first cleaning pipe 405 and the second cleaning pipe 202, and the first cleaning pipe 405 is directed downward and the second cleaning pipe 202 is directed upward. When the salvage box body 101 rises, it is necessary to clean the mud and sand materials above the driving component 3. At this time, the first cleaning pump 404, when sucking mud and water into the first cleaning pump 404, sprays the mud and sand through the downward first cleaning pipe 405, thereby assisting the salvage box body 101 to rise; when the salvage box body 101 descends, it is necessary to clean the mud and sand materials below the driving component 3. At this time, when the second cleaning pump 201, when sucking mud and water into the second cleaning pump 201, sprays the mud and sand through the upward second cleaning pipe 202, thereby assisting the salvage box body 101 to descend.

[0051] It should be noted that the extension motor 701 can respectively drive the extension rod 702 to rotate, and drive the entire drive assembly 3 to move horizontally in the salvage box body 101. When the main shaft 307 rotates and drives the main shaft 307 to rotate, under the action of the rotating belt 304, the rotating shaft 305 and the driving wheel 302 can be driven to rotate. When the driving wheel 302 is attached to the inner wall of the exploration hole, the salvage box body 101 can be driven to rise and fall. When the adsorption plate 506 contacts the detector, it can adsorb the detector to capture the detector. Correct method: adjust the position of the adsorption plate 506 to realize self-correction of the detector position. When the second cleaning pump 201 and the first cleaning pump 404 are working, they control the second cleaning box 203 and the first cleaning box 401 through the connecting pipe 403 to adsorb the silt on the top and bottom of the driving component 3, thereby reducing the silt residue at the contact point between the driving component 3 and the inner wall of the cave. When the extension component 7 controls the driving component 3 to extend outward, the first cleaning box 401 and the second cleaning box 203 will squeeze the buffer spring 602 when they contact the inner wall of the cave. , so that the first cleaning box 401 and the second cleaning box 203 can be close to the inner wall of the exploration hole, improving the cleaning effect. When the first cleaning box 401 and the second cleaning box 203 are close to the inner wall of the exploration hole, as the salvage box body 101 rises and falls, the rotating rod 402 can roll on the inner wall of the exploration hole, eliminating the friction between the first cleaning box 401 and the second cleaning box 203 and the inner wall of the exploration hole, preventing the first cleaning box 401 and the second cleaning box 203 from being worn. When the salvage box body 101 rises, it is necessary to adjust the upper part of the driving assembly 3. The mud and sand materials are cleaned. At this time, the first cleaning pump 404, when sucking mud and water into the first cleaning pump 404, sprays the mud and sand through the downward first cleaning pipe 405, so as to assist the salvage box body 101 to rise; when the salvage box body 101 descends, it is necessary to clean the mud and sand materials under the driving component 3. At this time, the second cleaning pump 201, when sucking mud and water into the second cleaning pump 201, sprays the mud and sand through the upward second cleaning pipe 202, so as to assist the salvage box body 101 to descend.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A self-correcting detection and salvaging device for drilling, comprising a main body component (1), a driving component (3) for controlling the lifting and lowering of the main body component (1), an extension component (7) for controlling the extension and retraction of the driving component (3), and an adsorption component (5) for salvaging a detector, characterized in that: The main body component (1) comprises a salvage box body (101), and a battery panel (102) for stable power supply is fixed inside the salvage box body (101); The driving assembly (3) comprises a plurality of rotating shafts (305) and a main shaft (307), the rotating shafts (305) being respectively arranged at two ends of the salvage box body (101), driving wheels (302) being fixed to the outer walls on both sides of the rotating shafts (305), a plurality of supporting plates (303) being respectively arranged at two ends of the supporting plates (303), and the rotating shafts (305) and the main shafts (307) being respectively arranged at two ends of the supporting plates (303), and the rotating shafts (305) and the main shafts (307) A rotating belt (304) is sleeved between the two support plates (303), wherein a main driving motor (301) is fixed on one side of each of the two support plates (303), and the main driving motor (301) is connected to the main shaft (307). When the main shaft (307) rotates and drives the main shaft (307) to rotate, under the action of the rotating belt (304), the rotating shaft (305) and the driving wheel (302) can be driven to rotate. When the driving wheel (302) is attached to the inner wall of the exploration hole, the salvage box body (101) can be driven to rise and fall; The extension assembly (7) comprises two extension motors (701), and the extension motors (701) are respectively connected to extension rods (702), and the support plates (303) are sleeved on the outside of the extension rods (702) through threads. The extension motors (701) can respectively drive the extension rods (702) to rotate, and drive the entire drive assembly (3) to move horizontally in the salvage box body (101); The adsorption assembly (5) comprises a first frame (501) and a second frame (503), wherein the first frame (501) and the second frame (503) are both arranged at the bottom of the salvage box body (101), and the first frame (501) and the second frame (503) are respectively provided with a first driving rod (507) and a second driving rod (508), and an adjustment motor (502) for controlling the rotation of the first driving rod (507) and the second driving rod (508) is fixed outside the first frame (501) and the second frame (503), and the first driving rod (507) and the second driving rod (508) are respectively provided inside the first frame (501) and the second frame (503). ) and the second driving rod (508) are respectively provided with a first moving rod (504) and a second moving rod on their outer walls, the first moving rod (504) and the second moving rod are slidably sleeved with a moving disk (505) on their outer walls, a suction disk (506) is fixedly connected to the bottom of the moving disk (505), a plurality of distance sensors (509) are provided at the bottom of the moving disk (505), and the suction disk (506) can adsorb the detector when it contacts the detector to achieve capture of the detector, and the position of the suction disk (506) is adjusted by a correction method to achieve self-correction of the position of the detector; The correction method includes: Step 1: Get the best state, get the state information of the adsorption plate (506) under normal state, and get the normal state item; Step 2: data acquisition, based on the normal state item, the tilt data of the adsorption plate (506) is captured by the distance sensor (509) to obtain multiple sets of tilt data items, and the position information of the adsorption plate (506) is obtained to obtain the position information item; Step 3: Classification: Classify the tilted data items and the position information items into at least two levels, and the tilted data items and the position information items corresponding to each level correspond to each other; Step 4: Position adjustment, obtaining the tilt data of the adsorption plate (506) captured by the distance sensor (509) in real time, obtaining a real-time tilt item, matching the corresponding position information item by judging the level of the real-time tilt item, adjusting the position of the adsorption plate (506) according to the position information item, realizing self-adjustment of the position of the adsorption plate (506), and realizing self-correction.

2. The drilling self-correcting detection and salvage device according to claim 1, characterized in that: The method for obtaining the normal state item includes: based on the area information of the first frame (501) and the second frame (503), setting the center point position of the first frame (501) and the second frame (503) to obtain the center position item, judging whether the position information of the adsorption plate (506) is in the center position item, and obtaining the normal state item when the position information of the adsorption plate (506) is in the center position item.

3. The drilling self-correcting detection and salvage device according to claim 1, characterized in that: The position adjustment method comprises: direction selection, based on the level judgment result of the real-time tilt item, selecting the position information item of the corresponding level as the adjustment distance, and selecting the direction with the same level as the real-time tilt item as the adjustment direction, combining the adjustment distance and the adjustment direction to adjust the position of the adsorption plate (506).

4. The drilling self-correcting detection and salvage device according to claim 1, characterized in that: The salvage box body (101) is provided with a second cleaning component (2) and a first cleaning component (4) for ensuring the lifting of the driving component (3). The second cleaning component (2) and the first cleaning component (4) include a plurality of second cleaning pumps (201) and a plurality of first cleaning pumps (404). The second cleaning pumps (201) and the first cleaning pumps (404) are respectively fixed to the bottom and top of the salvage box body (101). The top and bottom of the support plate (303) are both fixed with a support frame (406). One end of the support frame (406) is respectively provided with A second cleaning box (203) and a first cleaning box (401) are provided. A connecting pipe (403) is connected between the second cleaning box (203) and the first cleaning box (401) and the second cleaning pump (201) and the first cleaning pump (404) respectively. When the second cleaning pump (201) and the first cleaning pump (404) are in operation, the second cleaning box (203) and the first cleaning box (401) are controlled by the connecting pipe (403) to absorb the silt on the top and bottom of the driving component (3), thereby reducing the silt residue at the contact point between the driving component (3) and the inner wall of the cave.

5. The drilling self-correcting detection and salvage device according to claim 4, characterized in that: A buffer assembly (6) is provided between the first cleaning box (401), the second cleaning box (203) and the support frame (406), and the buffer assembly (6) comprises a plurality of limit rods (601), the limit rods (601) are slidably inserted into the outer walls of both ends of the support frame (406), and a buffer spring (602) sleeved on the outer walls of the limit rods (601) is fixedly connected between the first cleaning box (401), the second cleaning box (203) and the support frame (406). When the extension assembly (7) controls the driving assembly (3) to extend outward, the first cleaning box (401) and the second cleaning box (203) will squeeze the buffer spring (602) when they contact the inner wall of the exploration hole, so that the first cleaning box (401) and the second cleaning box (203) can be closely attached to the inner wall of the exploration hole, thereby improving the cleaning effect.

6. The drilling self-correcting detection and salvage device according to claim 4, characterized in that: The outer walls of one end of the first cleaning box (401) and the second cleaning box (203) are both rotatably connected to a rotating rod (402). When the first cleaning box (401) and the second cleaning box (203) are in close contact with the inner wall of the exploration cave, as the salvage box body (101) is raised or lowered, the rotating rod (402) can roll on the inner wall of the exploration cave, thereby eliminating friction between the first cleaning box (401) and the second cleaning box (203) and the inner wall of the exploration cave, thereby preventing the first cleaning box (401) and the second cleaning box (203) from being worn.

7. The drilling self-correcting detection and salvage device according to claim 1, characterized in that: A plurality of clamping rods (306) are rotatably connected between the inner walls on both sides of the support plate (303), and the rotating belt (304) is in contact with the clamping rods (306) respectively. When the rotating belt (304) rotates, the clamping rods (306) can limit the rotating belt (304), thereby increasing the friction between the rotating belt (304) and the rotating shaft (305) and the main shaft (307), thereby improving the driving force.

8. The drilling self-correcting detection and salvage device according to claim 1, characterized in that: A cross bar (308) is fixedly connected between the inner walls at both ends of the salvage box body (101), and the support plate (303) is sleeved on the outer wall of the cross bar (308). When the entire drive assembly (3) moves laterally, the cross bar (308) can provide a limiting effect on the drive assembly (3) to ensure the stability of the movement of the drive assembly (3). A counterweight cylinder (309) is fixedly connected to the other side of the support plate (303).

9. The drilling self-correcting detection and salvage device according to claim 4, characterized in that: The outer walls of the first cleaning pump (404) and the second cleaning pump (201) are respectively fixedly connected with a first cleaning pipe (405) and a second cleaning pipe (202), and the first cleaning pipe (405) is directed downwards, and the second cleaning pipe (202) is directed upwards. When the salvage box body (101) rises, it is necessary to clean the mud and sand above the drive assembly (3). At this time, when the first cleaning pump (404) sucks mud and water into the first cleaning pump (404), the mud and sand are ejected through the downward first cleaning pipe (405), thereby assisting the salvage box body (101) to rise. When the salvage box body (101) descends, it is necessary to clean the mud and sand below the drive assembly (3). At this time, when the second cleaning pump (201) sucks mud and water into the second cleaning pump (201), the mud and sand are ejected through the upward second cleaning pipe (202), thereby assisting the salvage box body (101) to descend.

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