Underground hydrogen storage shaft defect detection and coating robot and method

Abstract

The invention discloses a defect detecting and coating robot for an underground hydrogen storage shaft. The robot is composed of an anchoring walking device, a feeding device, a coating device, a visual monitoring device, a take-up and pay-off device and a remote control operation table. The roller type coating device is adopted, and the auger disc stirring rod is adopted for stirring and feeding, so that the problems that the thickness of a coating at the connection damage position of a shaft sleeve is not uniform, and the coating range is difficult to control are solved; a static visual monitoring device is adopted to collect clearer and more stable images, so that the problem that the operation state of the robot and the gluing quality are difficult to monitor is solved; an anchoring walking device is adopted, an anchoring mechanism and a walking mechanism are integrated, automatic reducing can be achieved, obstacles in a pipe can be crossed, and the problem that an anchoring mechanism is too complex, cannot pass through the obstacles and is blocked in a well is solved. The remote automatic control system is adopted to achieve remote real-time adjustment of the operation state of the robot, and the problems that the operation requirements of the robot are variable, and the operation state cannot be switched in time are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrogen storage equipment detection and maintenance, and in particular to a robot and method for detecting and coating defects in underground hydrogen storage wellbores. Background Art

[0002] Hydrogen is a widely used, clean and safe energy carrier that can be used as a power fuel or industrial raw material. At present, the world's major developed economies have raised the use of hydrogen energy to the height of national strategy and formulated long-term research and development plans at the national level. With the country's high attention to the use of hydrogen energy, underground hydrogen storage technology has received widespread attention due to its large scale and low comprehensive cost. Although large-scale underground hydrogen storage has broad application prospects, hydrogen is very active in the process of underground hydrogen storage, and steel is prone to hydrogen blistering, hydrogen embrittlement, hydrogen cracks, etc. due to its chemical properties. In addition, hydrogen can accumulate at the defective position of the metal surface, generating strong internal pressure or plastic deformation nearby, resulting in damage to the underground casing connection, hydrogen leakage, waste of resources, safety accidents, and personnel and environmental safety risks. Therefore, there is an urgent need for an underground hydrogen storage pipeline repair robot to solve the problem of hydrogen leakage at the damaged connection of the underground casing, so as to improve the efficiency of underground hydrogen storage injection and production and the safety of personnel operations, and realize the simple, efficient, safe and stable underground hydrogen storage. Although the development of underground robots has been relatively mature, the research found that the research on underground hydrogen storage pipeline repair robots is still in the exploration and development stage. In view of the special environment and working conditions underground, underground hydrogen storage pipeline repair robots need to achieve and meet the following functions and requirements:

[0003] (1) To address the problems of uneven coating thickness and difficult-to-control coating range at the damaged parts of the wellbore casing connection, a roller-type glue coating device is set up. The auger disc stirring rod is used for feeding and stirring, and the roller is used for glue coating. The thickness and coating range of the coating can be controlled, making the coating quality more stable;

[0004] (2) In order to solve the problem that the robot's operating status and glue coating quality are difficult to monitor, a static visual monitoring device should be set up, and three wide-angle lenses and three right-angle lenses should be set up to realize visual monitoring operations to provide clearer and more stable images;

[0005] (3) In order to solve the problem that the robot's anchoring mechanism is too complicated and cannot pass through obstacles and gets stuck underground, an external anchoring and walking integrated device should be set up to achieve automatic diameter change to pass obstacles in the pipe and reliable centering, while reducing the complexity of the robot at the same time.

[0006] (4) In order to address the problem of changing robot operation requirements and the inability to switch operation status in a timely manner, a remote automatic control system should be set up to achieve remote and real-time adjustment of the robot's operation status.

[0007] Therefore, in order to address the problems of uneven coating thickness at damaged well casing connections, difficult coating range, difficulty in monitoring the robot's operating status and glue coating quality, the robot's anchoring mechanism being too complicated, getting stuck due to obstacles, and inability to switch operating status in a timely manner due to changing operating requirements, an underground hydrogen storage wellbore defect detection and coating robot was invented. Summary of the invention

[0008] 1. Technical problems solved:

[0009] In order to solve the above problems, the present invention adopts a roller coating device and a auger disc stirring rod for stirring and feeding. The glue is applied by the roller, which can control the thickness and coating range of the coating and make the coating quality more stable; a static visualization monitoring device is provided to collect clearer and more stable images, which solves the problem that the robot's operating status and glue coating quality are difficult to monitor; an anchoring walking device is provided to integrate the anchoring and walking mechanisms of the present invention, and can realize automatic diameter change to cross obstacles in the pipe, which can solve the problem that the anchoring mechanism is too complicated and cannot pass through obstacles and is stuck underground; a remote automatic control system is provided to realize remote real-time adjustment of the robot's operating status, which solves the problem that the robot's operating requirements are changeable and the operating status cannot be switched in time.

[0010] (II) Technical solution:

[0011] The objective of the present invention is achieved through the following technical solutions: an underground hydrogen storage wellbore defect detection and coating robot, which is composed of an anchoring walking device, a feeding device, a coating device, a visual monitoring device, a wire-retracting device, and a remote control operating table; the anchoring walking device is composed of a shell, a shell end cover, a rocker I, a support rod, a rocker II, a support, a rocker III, a ball screw, a ball screw outer cylinder, a motor shell end cover, and a motor I. The shell and the shell end cover are fixedly connected by threads, and the support mechanism composed of the rocker I, the support rod, the rocker II, the support, and the rocker III is arranged along the There are 4 evenly distributed around the shell, one end of rocker I is connected to the support rod, and the other end is connected to the shell end cover, one end of rocker II is connected to the storage barrel end cover, and the other end is connected to the support rod, one end of rocker III is connected to the storage barrel, and the other end is connected to the support rod, and 2 supports are installed on the support rod, the ball screw is fixedly installed on the shell through threaded holes II and I, the outer tube of the ball screw is fixedly installed on the end cover of the motor I shell, the end cover of the motor I shell is fixedly connected to the motor II shell through threaded holes III and VI, and the motor I is fixedly installed on the motor shell end cover through the motor I mounting hole; The feeding device is composed of a storage barrel, a storage barrel end cover, an outer tube, a gear housing I, a gear housing II, a Jiaolong pan stirring rod, an upper cover, a deep groove ball bearing I, a sleeve, a deep groove ball bearing II, a gear I, a gear shaft, a deep groove ball bearing III, a gear II, a motor II housing, a motor II, a gear III, and a gear IV. The storage barrel is fixedly connected to the storage barrel end cover by a thread, one end of the outer tube is fixedly connected to the storage barrel end cover by a thread, and the other end is fixedly connected to the gear housing I by a thread, one end of the gear housing II is fixedly connected to the gear housing I by a thread, and the other end is fixedly connected to the motor II housing by a thread. Fixed connection, the upper cover is fixedly connected to the end cover of the storage barrel through threaded holes VI and V, the Jiaolong disk stirring rod is interference connected with the sleeve, deep groove ball bearings I and II are respectively installed at both ends of the sleeve, the gear shaft is fixedly installed on the gear housing II through the gear shaft mounting hole, gear I is installed at one end of the gear shaft, meshing with gear IV installed on the stirring rod shaft, gear II is installed at the other end of the gear shaft, meshing with gear III installed on motor II, deep groove ball bearing III is installed at one end of gear II, and motor II is fixedly installed on the motor II housing through the motor II mounting hole;The coating device is composed of a rotating cylinder end cover, a rotating cylinder, a motor mounting disk, a sealing plate, a roller, a bracket, a discharge pipe, a magnetic suction cup, a spring, a magnetic suction cylinder, a bent pipe, a lower sealing cover, a positioning block, a cylindrical roller bearing, a positioning steel ring, a gear V, an internal gear, and a motor III. The rotating cylinder end cover is fixedly connected to the rotating cylinder through a threaded hole VIII, the motor mounting disk is fixedly connected to the storage cylinder through threaded holes IX and IV, the sealing plate is fixedly connected to the motor mounting disk through threaded holes XII, the roller is mounted on the bracket, the bracket and the discharge pipe are fixedly connected through threads, the discharge pipe and the magnetic suction cup are mounted in the cylindrical cylinder, the spring is mounted on the discharge pipe and placed in the cylindrical cylinder, the magnetic suction cylinder is mounted on one end of the discharge pipe and built into the bent pipe, the other end of the bent pipe is connected to the lower sealing cover through threads, the lower sealing cover is connected to the storage cylinder through threads, and axial positioning is performed by an inner boss, the positioning block is fixedly connected to the storage cylinder through threads, and is located at the lower end of the boss II to position the rotating cylinder Axial positioning, the cylindrical roller bearing is installed on the upper end of the boss Ⅰ, and the boss Ⅰ positions its outer ring, and the positioning steel ring positions its inner ring. The inner gear is fixedly connected to the rotating cylinder through the inner gear mounting hole. The four motors Ⅲ are evenly installed on the motor mounting plate through the threaded holes Ⅹ. The gear Ⅴ is installed on the motor Ⅲ and meshes with the inner gear. The visual monitoring device consists of a right-angle lens, a wide-angle lens, a light bulb, and a base mounting hole. The upper end of the visual monitoring device is evenly distributed with 3 right-angle lenses and 3 wide-angle lenses, and the middle part is evenly distributed with 6 light bulbs. The visual monitoring device is fixedly installed on the end cover of the rotating cylinder through the base mounting hole and the threaded hole Ⅶ. The wire retracting device is installed on the ground to retract and release the cable according to the robot's operating requirements. The remote control console is installed on the ground to receive the information collected by the visual monitoring device and adjust the robot's operating status in real time according to the operating requirements. ;

[0012] The underground hydrogen storage wellbore defect detection and coating robot is characterized in that: the bottom of the shell of the anchoring walking device is provided with 8 threaded holes I, the shell end cover is evenly distributed with 4 lifting ears I in the circumferential direction, the support rod is provided with a hinge hole III, a support mounting hole I, a hinge hole IV, a support mounting hole II, and a hinge hole V, one end of the rocker I is connected to the support rod through the hinge hole I and the hinge hole III, and the other end is connected to the shell end cover through the hinge hole II and the lifting ear I, one end of the rocker II is connected to the storage barrel through the hinge hole VII and the lifting ear III, and the other end is connected to the support rod through the hinge hole VI and the hinge hole IV, one end of the rocker III is connected to the lifting ear II on the storage barrel, and the other end is connected to the mounting hole III on the support rod, the base of the ball screw is evenly distributed with 8 threaded holes II in the circumferential direction, 4 motor I mounting holes are evenly distributed circumferentially inside the shell end cover of the motor I, and 6 threaded holes III are evenly distributed circumferentially outside.

[0013] The underground hydrogen storage wellbore defect detection and coating robot is characterized in that: a material injection port is provided on the storage barrel of the feeding device, 4 lifting ears II and 6 threaded holes III are evenly distributed circumferentially, an inner boss is provided inside, 4 lifting ears III and 6 threaded holes V are evenly distributed circumferentially on the storage barrel end cover, a stirring shaft mounting hole and a gear shaft mounting hole are provided inside the gear housing II, a stirring rod shaft and a spiral blade are provided on the Jiaolong pan stirring rod, the upper end of the stirring rod shaft passes through the stirring shaft mounting hole, a sleeve mounting hole is provided on the upper cover, and 6 threaded holes VI are provided circumferentially, and 6 threaded holes VI and 6 motor II mounting holes are evenly distributed circumferentially on the motor II housing.

[0014] The underground hydrogen storage wellbore defect detection and coating robot is characterized in that: the rotating cylinder end cover of the coating device is evenly distributed with 6 threaded holes VII and 8 threaded holes VIII in the circumferential direction, the rotating cylinder is evenly distributed with 6 internal gear mounting holes in the circumferential direction, the rotating cylinder is provided with boss I, boss II, and a cylindrical cylinder inside, the inner ring of the motor mounting plate is evenly distributed with 6 threaded holes IX in the circumferential direction, 4 motor III mounting holes are evenly distributed at the bottom, threaded holes X are provided next to the motor III mounting holes for installing the motor, 6 threaded holes XII are evenly distributed in the circumferential direction on the sealing plate, a roller brush and a roller shaft are provided on the roller, a discharging cylinder, a roller bracket, a discharging hole, and a roller mounting hole are provided on the bracket, and the discharging cylinder is communicated with the 7 evenly distributed discharging holes, and a sealing ring groove is provided inside the magnetic suction cylinder.

[0015] The present invention also provides an underground hydrogen storage wellbore defect detection and coating method, using any of the above-mentioned underground hydrogen storage wellbore defect detection and coating robots, the hydrogen storage wellbore defect detection and coating comprises the following steps:

[0016] S1: Channel preparation and instrument function test:

[0017] S11: Evaluate the support conditions of the shaft structure and the channel to ensure the stability and reliability of the channel and ensure that it meets the operational requirements;

[0018] S12: After inspecting each device of the underground hydrogen storage wellbore defect inspection and coating robot, inject sufficient repair glue into the storage barrel through the injection port, and start the reverse rotation of motor II to drive the Jiaolong disk stirring rod to reverse, so as to prevent the repair glue from solidifying;

[0019] S2: Wellbore defect detection stage:

[0020] S21: The underground hydrogen storage wellbore defect detection and coating robot can be lowered into the wellbore by its own weight;

[0021] S22: When the underground hydrogen storage wellbore defect detection and coating robot descends in the wellbore, the light bulb in the visual monitoring device is turned on to ensure that there is sufficient light in the wellbore, so that during the descent of the present invention, the defect conditions of the wellbore can be monitored in real time through the right-angle lens;

[0022] S3: Wellbore defect repair stage:

[0023] S31: After the wellbore defect is detected by the visual monitoring device, the underground hydrogen storage wellbore defect detection and coating robot continues to descend until the coating device is facing the wellbore defect, and after anchoring and positioning by the anchoring walking device, the magnetic suction cup is energized to move the adsorption magnetic suction cylinder outward, thereby pushing the roller outward to contact the wellbore;

[0024] S32: Start motor II to rotate forward, drive the Jiaolong disk stirring rod to rotate forward, so as to prevent the repair glue liquid from solidifying and push the repair glue liquid into the discharge pipe, and at the same time start motor III to drive the rotating drum to rotate, so that the roller can perform circumferential repair on the wellbore;

[0025] S33: After the repair is completed, the power to the magnetic chuck is turned off. Under the action of the spring, the magnetic suction cylinder moves inward, thereby pushing the roller back to its original position. At this time, the quality of the defect repair of the wellbore is checked through a wide-angle lens to ensure that it meets the operation requirements;

[0026] S4: Obstacle crossing stage:

[0027] When moving underground, if an obstacle is encountered, the motor I is turned on to drive the ball screw transmission, thereby driving the outer shell in the anchoring walking device to move. Under the joint action of rocker I, rocker II, and rocker III, the support rod of the present invention is contracted inward or expanded outward, thereby achieving diameter change and crossing the underground obstacle.

[0028] (III) The beneficial effects of the present invention are:

[0029] (1) The present invention uses a roller to apply glue and a auger disc stirring rod to stir and feed, which can better control the thickness and coating range of the coating and make the coating quality more stable;

[0030] (2) The static visualization monitoring device of the present invention can collect clearer and more stable images, and can better monitor the working status of the robot and the quality of the repair glue;

[0031] (3) The anchoring mechanism of the present invention is integrated with the traveling mechanism, and can realize automatic diameter change to cross obstacles in the pipe, thereby simplifying the complexity of the anchoring mechanism and avoiding the problem of being stuck underground due to being unable to pass through obstacles.

[0032] (4) The remote automatic control system of the present invention can realize remote real-time adjustment of the robot's operating status, thus avoiding the problem of the robot's operating requirements being changeable and unable to switch the operating status in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a working schematic diagram of the wellbore defect detection stage of the present invention;

[0034] Figure 2 A schematic diagram of the three-dimensional appearance of the underground hydrogen storage wellbore defect detection and coating robot of the present invention;

[0035] Figure 3 It is a three-dimensional appearance schematic diagram of the anchoring walking device and the feeding device of the present invention;

[0036] Figure 4 It is a three-dimensional half-section view of the anchoring walking device and the feeding device of the present invention;

[0037] Figure 5 It is a three-dimensional schematic diagram of the coating device of the present invention;

[0038] Figure 6 A three-dimensional half-section view of the coating device of the present invention;

[0039] Figure 7 It is a schematic diagram of the three-dimensional appearance of the visual monitoring device of the present invention;

[0040] Figure 8 This is a schematic diagram of the three-dimensional appearance of the housing of the present invention;

[0041] Fig. 9 A schematic diagram of the three-dimensional appearance of the housing end cover of the present invention;

[0042] Fig.10 It is a schematic diagram of the three-dimensional appearance of the rocker I and the rocker II of the present invention;

[0043] Fig.11 This is a schematic diagram of the three-dimensional appearance of the support rod of the present invention;

[0044] Fig.12 A schematic diagram of the three-dimensional appearance of the ball screw of the present invention;

[0045] Fig.13 This is a three-dimensional appearance diagram of the housing end cover of motor I of the present invention;

[0046] Fig.14 This is a schematic diagram of the three-dimensional appearance of the material storage barrel of the present invention;

[0047] Fig.15 This is a schematic diagram of the three-dimensional appearance of the storage barrel end cover of the present invention;

[0048] Fig.16 This is a schematic diagram of the three-dimensional appearance of the gear housing II of the present invention;

[0049] Fig.17 This is a schematic diagram of the three-dimensional appearance of the Jiaolongpan stirring rod of the present invention;

[0050] Fig.18 This is a schematic diagram of the three-dimensional appearance of the upper cover of the present invention;

[0051] Fig.19 This is a schematic diagram of the three-dimensional appearance of the housing of motor I of the present invention;

[0052] Fig. 20 This is a schematic diagram of the three-dimensional appearance of the rotating drum of the present invention;

[0053] Fig.21 This is a schematic diagram of the three-dimensional appearance of the motor mounting plate of the present invention;

[0054] Fig. 22 This is a schematic diagram of the three-dimensional appearance of the roller of the present invention;

[0055] Fig.23 A three-dimensional half-section view of the roller bracket of the present invention;

[0056] Fig.24 It is a three-dimensional half-section view of the magnetic suction tube of the present invention;

[0057] Fig.25 It is a flowchart of the workflow of the present invention.

[0058] In the figure, 1-anchoring walking device, 101-housing, 1011-threaded hole Ⅰ, 102-housing end cover, 1021-lifting ear Ⅰ, 103-rocker Ⅰ, 1031-hinge hole Ⅰ, 1032-hinge hole Ⅱ, 104-support rod, 1041-hinge hole Ⅲ, 1042-support mounting hole Ⅰ, 1043-hinge hole Ⅳ, 1044-support mounting hole Ⅱ, 1045-hinge hole Ⅴ, 105-rocker Ⅱ, 1051-hinge hole Ⅵ, 1052-hinge hole Ⅶ, 106-support, 107-rocker Ⅲ, 108-ball screw, 1081-threaded hole Ⅱ, 109-ball screw outer cylinder, 110-motor Ⅰhousing end cover, 1101-threaded hole Ⅲ, 1102-motor Ⅰ Mounting hole, 111-motor Ⅰ; 2-feeding device, 201-storage barrel, 2011-injection port, 2012-lifting ear Ⅱ, 2013-threaded hole Ⅳ, 2014-inner boss, 202-storage barrel end cover, 2021-lifting ear Ⅲ, 2022-threaded hole Ⅴ, 203-outer tube, 204-gear housing Ⅰ, 205-gear housing Ⅱ, 2051-mixing shaft mounting hole, 2052-gear shaft mounting hole, 206-Jiaolong disk mixing rod, 2061-mixing rod shaft, 2062-spiral blade, 207-upper cover, 2071-threaded hole Ⅵ, 2072-sleeve mounting hole, 208-deep groove ball bearing Ⅰ, 209-sleeve, 210-deep groove ball bearing Ⅱ, 211-gear Ⅰ , 212-gear shaft, 213-deep groove ball bearing III, 214-gear II, 215-motor II housing, 2151-threaded hole VI, 2152-motor II mounting hole, 216-motor II, 217-gear III, 218-gear IV; 3-coating device, 301-rotating cylinder end cover, 3011-threaded hole VII, 3012-threaded hole VIII, 302-rotating cylinder, 3021-internal gear mounting hole, 3022-boss I, 3023-boss II, 3024-cylindrical cylinder, 303-motor mounting plate, 3031-threaded hole IX, 3032-threaded hole X, 3033-motor III mounting hole, 3034-threaded hole XI, 304-sealing plate, 3041-threaded hole XII, 30 5-roller, 3051-roller brush, 3052-roller shaft, 306-bracket, 3061-discharging barrel, 3062-roller bracket, 3063-discharging hole, 3064-roller mounting hole, 307-discharging pipe, 308-magnetic suction cup, 309-spring, 310-magnetic suction barrel, 3101-sealing ring groove, 311-bend pipe, 312-lower cover, 313-positioning block, 314-cylindrical roller bearing, 315-positioning steel ring, 316-gear V, 317-internal gear, 318-motor III; 4-visual monitoring device, 401-right-angle lens, 402-wide-angle lens, 403-bulb, 404-base mounting hole; 5-reel-winding and unwinding device; 6-remote control console. DETAILED DESCRIPTION

[0059] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. 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.

[0060] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] like Figure 1-Figure 25As shown, an underground hydrogen storage wellbore defect detection and coating robot, which consists of an anchoring walking device 1, a feeding device 2, a coating device 3, a visual monitoring device 4, a wire-retracting device 5, and a remote control operating table 6; the anchoring walking device 1 consists of a shell 101, a shell end cover 102, a rocker I 103, a support rod 104, a rocker II 105, a support 106, a rocker III 107, a ball screw 108, a ball screw outer cylinder 109, a motor shell end cover 110, and a motor I 111. The shell 101 is fixedly connected to the shell end cover 102 by threads, and the supporting mechanism consisting of the rocker I 103, the support rod 104, the rocker II 105, the support 106, and the rocker III 107 is evenly distributed along the circumference of the shell. One end of the rocker I 103 The support rod (104) is connected to the support rod 104, and the other end is connected to the housing end cover 102. One end of the rocker II 105 is connected to the storage barrel end cover 202, and the other end is connected to the support rod 104. One end of the rocker III 107 is connected to the storage barrel 201, and the other end is connected to the support rod 104. Two supports (106) are installed on the support rod (104). The ball screw 108 is fixedly installed on the housing 101 through the threaded hole II 1081 and the threaded hole I 1011. The ball screw outer cylinder 109 is fixedly installed on the motor I housing end cover 110. The motor I housing end cover 110 is fixedly connected to the motor II housing 215 through the threaded hole III 1101 and the threaded hole VI 2151. The motor I 111 is fixedly installed on the motor housing end cover 110 through the motor I mounting hole 1102.The feeding device 2 is composed of a storage barrel 201, a storage barrel end cover 202, an outer tube 203, a gear housing I 204, a gear housing II 205, a Jiaolong pan stirring rod 206, an upper cover 207, a deep groove ball bearing I 208, a sleeve 209, a deep groove ball bearing II 210, a gear I 211, a gear shaft 212, a deep groove ball bearing III 213, a gear II 214, a motor II housing 215, a motor II 216, a gear III 217, and a gear IV 218. The storage barrel 201 is fixedly connected to the storage barrel end cover 202 by threads, one end of the outer tube 203 is fixedly connected to the storage barrel end cover 202 by threads, and the other end is fixedly connected to the gear housing I 204 by threads, one end of the gear housing II 205 is fixedly connected to the gear housing I 204 by threads, and the other end is fixedly connected to the motor II housing 215 by threads. The upper cover 207 is fixedly connected to the storage barrel end cover 202 through the threaded hole VI 2071 and the threaded hole V 2022. The Jiaolong disk stirring rod 206 is interference-connected with the sleeve 209. The deep groove ball bearing I 208 and the deep groove ball bearing II 210 are respectively installed at both ends of the sleeve 209. The gear shaft 212 is fixedly installed on the gear housing II 205 through the gear shaft mounting hole 2052. The gear I 211 is installed at one end of the gear shaft 212 and meshes with the gear IV 218 installed on the stirring rod shaft 2061. The gear II (214) is installed at the other end of the gear shaft 212 and meshes with the gear III 217 installed on the motor II 216. The deep groove ball bearing III 213 is installed at one end of the gear II 214. The motor II 216 is fixedly installed on the motor II housing 215 through the motor II mounting hole 2152.The coating device 3 is composed of a rotating cylinder end cover 301, a rotating cylinder 302, a motor mounting plate 303, a sealing plate 304, a roller 305, a bracket 306, a discharge pipe 307, a magnetic suction cup 308, a spring 309, a magnetic suction cylinder 310, a bent pipe 311, a lower cover 312, a positioning block 313, a cylindrical roller bearing 314, a positioning steel ring 315, a gear V 316, an internal gear 317, and a motor III 318. The rotating cylinder end cover 301 is fixedly connected to the rotating cylinder 302 through a threaded hole VIII 3012, and the motor mounting plate 303 is fixedly connected to the storage cylinder 201 through a threaded hole IX 3031 and a threaded hole IV 2013. The sealing plate 304 is fixedly connected to the motor mounting plate 303 through the threaded hole XII 3041, the roller 305 is installed on the bracket 306, the bracket 306 is fixedly connected to the discharge pipe 307 through threads, the discharge pipe 307 and the magnetic suction cup 308 are installed in the cylindrical barrel 3024, the spring 309 is installed on the discharge pipe 307 and placed in the cylindrical barrel 3024, the magnetic suction cylinder 310 is installed at one end of the discharge pipe 307 and built into the elbow 311, the other end of the elbow 311 is connected to the lower cover 312 through threads, the lower cover 312 is connected to the storage barrel 201 through threads, and the inner boss 214 is used for axial positioning, and the positioning block 3 13 is fixedly connected to the storage barrel 201 through threads, and is located at the lower end of the boss II 3023 to axially position the rotating barrel 302, the cylindrical roller bearing 314 is installed at the upper end of the boss I 3022, and the boss I 3022 positions its outer ring, and the positioning steel ring 315 positions its inner ring, the internal gear 317 is fixedly connected to the rotating barrel 302 through the internal gear mounting hole 3021, and the four motors III 318 are evenly distributed on the motor mounting plate 303 through the threaded holes X 3032, and the gear V 315 is installed on the motor III 318 and meshes with the internal gear 317; the visual monitoring device 4 is composed of a right-angle lens 40 1. It is composed of a wide-angle lens 402, a bulb 403, and a base mounting hole 404. The upper end of the visualization monitoring device 4 is evenly distributed with three right-angle lenses 401 and three wide-angle lenses 402, and the middle part is evenly distributed with six bulbs 403. The visualization monitoring device 4 is fixedly installed on the rotating cylinder end cover 301 through the base mounting hole 404 and the threaded hole VII 3011; the retractable cable device 5 is installed on the ground to retract and release the cable according to the robot's operating requirements; the remote control console 6 is installed on the ground to receive the information collected by the visualization monitoring device 4 and adjust the robot's operating status in real time according to the operating requirements. ;

[0064] The working process of the underground hydrogen storage wellbore defect detection and coating method of the present invention specifically includes the following steps:

[0065] S1: Channel preparation and instrument function test:

[0066] S11: Evaluate the support conditions of the shaft structure and the channel to ensure the stability and reliability of the channel and ensure that it meets the operational requirements;

[0067] S12: After inspecting each device of the underground hydrogen storage wellbore defect inspection and coating robot, inject sufficient repair glue into the storage barrel through the injection port, and start the reverse rotation of motor II to drive the Jiaolong disk stirring rod to reverse, so as to prevent the repair glue from solidifying;

[0068] S2: Wellbore defect detection stage:

[0069] S21: The underground hydrogen storage wellbore defect detection and coating robot can be lowered into the wellbore by its own weight;

[0070] S22: When the underground hydrogen storage wellbore defect detection and coating robot descends in the wellbore, the light bulb in the visual monitoring device is turned on to ensure that there is sufficient light in the wellbore, so that during the descent of the present invention, the defect conditions of the wellbore can be monitored in real time through the right-angle lens;

[0071] S3: Wellbore defect repair stage:

[0072] S31: After the wellbore defect is detected by the visual monitoring device, the underground hydrogen storage wellbore defect detection and coating robot continues to descend until the coating device is facing the wellbore defect, and after anchoring and positioning by the anchoring walking device, the magnetic suction cup is energized to move the adsorption magnetic suction cylinder outward, thereby pushing the roller outward to contact the wellbore;

[0073] S32: Start motor II to rotate forward, drive the Jiaolong disk stirring rod to rotate forward, so as to prevent the repair glue liquid from solidifying and push the repair glue liquid into the discharge pipe, and at the same time start motor III to drive the rotating drum to rotate, so that the roller can perform circumferential repair on the wellbore;

[0074] S33: After the repair is completed, the power to the magnetic chuck is turned off. Under the action of the spring, the magnetic suction cylinder moves inward, thereby pushing the roller back to its original position. At this time, the quality of the defect repair of the wellbore is checked through a wide-angle lens to ensure that it meets the operation requirements;

[0075] S4: Obstacle crossing stage:

[0076] When moving underground, if an obstacle is encountered, the motor I is turned on to drive the ball screw transmission, thereby driving the outer shell in the anchoring walking device to move. Under the joint action of rocker I, rocker II, and rocker III, the support rod of the present invention is contracted inward or expanded outward, thereby achieving diameter change and crossing the underground obstacle.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that this patent can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A robot for detecting and coating defects in underground hydrogen storage wellbore, comprising an anchoring walking device (1), a feeding device (2), a coating device (3), a visual monitoring device (4), a wire-retracting device (5), and a remote control operation table (6); the anchoring walking device (1) comprises a housing (101), a housing end cover (102), a rocker I (103), a support rod (104), a rocker II (105), a support (106), a rocker III (107), a ball screw (108), a ball screw outer cylinder (109), a motor housing end cover (110), and a motor I (111); the housing (101) and the housing end cover (102) are fixedly connected by threads; a supporting mechanism consisting of the rocker I (103), the support rod (104), the rocker II (105), the support (106), and the rocker III (107) is evenly distributed in four along the circumference of the housing; the rocker I (10 3) is connected to the support rod (104) at one end and to the housing end cover (102) at the other end; a rocker II (105) is connected to the storage barrel end cover (202) at one end and to the support rod (104) at the other end; a rocker III (107) is connected to the storage barrel (201) at one end and to the support rod (104) at the other end; two supports (106) are installed on the support rod (104); a ball screw (108) is connected to the support rod (104) through the threaded hole II (10 81), the threaded hole I (1011) is fixedly mounted on the housing (101), the ball screw outer cylinder (109) is fixedly mounted on the motor I housing end cover (110), the motor I housing end cover (110) and the motor II housing (215) are fixedly connected through the threaded hole III (1101) and the threaded hole VI (2151), and the motor I (111) is fixedly mounted on the motor housing end cover (110) through the motor I mounting hole (1102);The feeding device (2) comprises a material storage barrel (201), a material storage barrel end cover (202), an outer tube (203), a gear housing I (204), a gear housing II (205), a Jiaolong disk stirring rod (206), an upper cover (207), a deep groove ball bearing I (208), a sleeve (209), a deep groove ball bearing II (210), a gear I (211), a gear shaft (212), a deep groove ball bearing III (213), a gear II (214), a motor II housing (21 5), a motor II (216), a gear III (217), and a gear IV (218), the storage barrel (201) is fixedly connected to the storage barrel end cover (202) by threads, one end of the outer tube (203) is fixedly connected to the storage barrel end cover (202) by threads, and the other end is fixedly connected to the gear housing I (204) by threads, one end of the gear housing II (205) is fixedly connected to the gear housing I (204) by threads, and the other end is fixedly connected to the motor II housing (215) by threads. The upper cover (207) is fixedly connected to the storage barrel end cover (202) through the threaded hole VI (2071) and the threaded hole V (2022). The dragon plate stirring rod (206) is interference-connected with the sleeve (209). The deep groove ball bearing I (208) and the deep groove ball bearing II (210) are respectively installed at both ends of the sleeve (209). The gear shaft (212) is fixedly installed on the gear housing II (205) through the gear shaft installation hole (2052). The gear I (2 11) is mounted on one end of the gear shaft (212) and meshes with the gear IV (218) mounted on the stirring rod shaft (2061); the gear II (214) is mounted on the other end of the gear shaft (212) and meshes with the gear III (217) mounted on the motor II (216); the deep groove ball bearing III (213) is mounted on one end of the gear II (214); the motor II (216) is fixedly mounted on the motor II housing (215) through the motor II mounting hole (2152);The coating device (3) comprises a rotating drum end cover (301), a rotating drum (302), a motor mounting plate (303), a sealing plate (304), a roller (305), a bracket (306), a discharge pipe (307), a magnetic suction cup (308), a spring (309), a magnetic suction drum (310), a bent pipe (311), a lower sealing cover (312), a positioning block (313), a cylindrical roller bearing (314), a positioning steel ring (315), a gear V (316), an internal gear (317), and a motor III (318). The rotating drum end cover (301) is fixedly connected to the rotating drum (302) via a threaded hole VIII (3012), and the motor mounting plate (303) is fixedly connected to the rotating drum (302) via a threaded hole IX (303 1), the threaded hole IV (2013) is fixedly connected to the storage barrel (201), the sealing plate (304) is fixedly connected to the motor mounting plate (303) through the threaded hole XII (3041), the roller (305) is installed on the bracket (306), the bracket (306) and the discharge pipe (307) are fixedly connected by threads, the discharge pipe (307) and the magnetic suction cup (308) are installed in the cylindrical barrel (3024), the spring (309) is installed on the discharge pipe (307) and placed in the cylindrical barrel (3024), the magnetic suction cup (310) is installed at one end of the discharge pipe (307) and is built in the bent pipe (311), the other end of the bent pipe (311) is connected to the lower sealing cover (312) by threads, and the lower sealing cover (312) is connected to the lower sealing cover (312) by threads. The cover (312) is connected to the storage barrel (201) by threads and is axially positioned by the inner boss (2014). The positioning block (313) is fixedly connected to the storage barrel (201) by threads and is located at the lower end of the boss II (3023) to axially position the rotating barrel (302). The cylindrical roller bearing (314) is installed at the upper end of the boss I (3022), and the boss I (3022) positions its outer ring. The positioning steel ring (315) positions its inner ring. The internal gear (317) is fixedly connected to the rotating barrel (302) through the internal gear mounting hole (3021). Four motors III (318) are evenly distributed circumferentially on the motor mounting plate (3032) through the threaded holes X. 3), the gear V (315) is installed on the motor III (318) and meshes with the internal gear (317); the visual monitoring device (4) is composed of a right-angle lens (401), a wide-angle lens (402), a light bulb (403), and a base mounting hole (404); the upper end of the visual monitoring device (4) is evenly distributed with three right-angle lenses (401) and three wide-angle lenses (402), and the middle part is evenly distributed with six light bulbs (403); the visual monitoring device (4) is fixedly installed on the rotating cylinder end cover (301) through the base mounting hole (404) and the threaded hole VII (3011); the wire retracting and releasing device (5) is installed on the ground, and the cable is retracted and released according to the operation requirements of the robot;The remote control console (6) is installed on the ground, receives information collected by the visual monitoring device (4), and adjusts the robot's operating state in real time according to operating requirements.

2. The underground hydrogen storage wellbore defect detection and coating robot according to claim 1, characterized in that: The bottom of the housing (101) of the anchoring walking device (1) is provided with 8 threaded holes I (1011), the housing end cover (102) is evenly distributed with 4 lifting ears I (1021) on the circumferential direction, the support rod (104) is provided with a hinge hole III (1041), a support mounting hole I (1042), a hinge hole IV (1043), a support mounting hole II (1044), and a hinge hole V (1045), one end of the rocker I (103) is connected to the support rod (104) through the hinge hole I (1031) and the hinge hole III (1041), and the other end is connected to the housing end cover (102) through the hinge hole II (1032) and the lifting ear I (1021), and the rocker II (1 05) one end is connected to the material storage barrel (201) through a hinge hole VII (1052) and a lifting ear III (2021), and the other end is connected to the support rod (104) through a hinge hole VI (1051) and a hinge hole IV (1043); one end of the rocker III (107) is connected to the lifting ear II (2012) on the material storage barrel (201), and the other end is connected to the mounting hole III (1045) on the support rod (104); 8 threaded holes II (1081) are evenly distributed circumferentially on the base of the ball screw (108); 4 motor I mounting holes (1102) are evenly distributed circumferentially inside the motor I housing end cover (110), and 6 threaded holes III (1101) are evenly distributed circumferentially outside.

3. The underground hydrogen storage wellbore defect detection and coating robot according to claim 1, characterized in that: The material storage barrel (201) of the feeding device (2) is provided with a material injection port (2011), 4 lifting ears II (2012) and 6 threaded holes III (2013) are evenly distributed in the circumferential direction, and an inner boss (2014) is provided inside; 4 lifting ears III (2021) and 6 threaded holes V (2022) are evenly distributed in the circumferential direction on the material storage barrel end cover (202); a stirring shaft mounting hole (2051) and a gear shaft mounting hole (2052) are provided inside the gear housing II (205); 052), a Jiaolongpan stirring rod (206) is provided with a stirring rod shaft (2061) and a spiral blade (2062), the upper end of the stirring rod shaft (2061) passes through the stirring shaft mounting hole (2051), a sleeve mounting hole (2072) is provided on the upper cover (207), and 6 threaded holes VI (2071) are circumferentially provided, and 6 threaded holes VI (2151) and 6 motor II mounting holes (2152) are evenly distributed circumferentially on the motor II housing (215).

4. The underground hydrogen storage wellbore defect detection and coating robot according to claim 1, characterized in that: The coating device (3) has a rotating cylinder end cover (301) with 6 threaded holes VII (3011) and 8 threaded holes VIII (3012) evenly distributed in the circumferential direction, a rotating cylinder (302) with 6 internal gear mounting holes (3021) evenly distributed in the circumferential direction, a boss I (3022), a boss II (3023), and a cylindrical cylinder (3024) are provided inside the rotating cylinder (302), and the inner ring of the motor mounting plate (303) has 6 threaded holes IX (3031) evenly distributed in the circumferential direction, and 4 motor III mounting holes (3033) evenly distributed at the bottom, and the motor III mounting holes (3031) are evenly distributed in the circumferential direction. 033) is provided with a threaded hole X (3032) for installing a motor, the sealing plate (304) is evenly provided with 6 threaded holes XII (3041) in the circumferential direction, the roller (305) is provided with a roller brush (3051) and a roller shaft (3052), the bracket (306) is provided with a discharge cylinder (3061), a roller bracket (3062), a discharge hole (3063), and a roller mounting hole (3064), and the discharge cylinder (3061) is communicated with the 7 evenly arranged discharge holes (3054), and a sealing ring groove (3101) is provided inside the magnetic suction cylinder (310).

5. A method for detecting and coating underground hydrogen storage wellbore defects, characterized in that: Using the underground hydrogen storage wellbore defect detection and coating robot described in any one of claims 1 to 4, the hydrogen storage wellbore defect detection and coating includes the following steps: S1: Channel preparation and instrument function test: S11: Evaluate the support conditions of the shaft structure and the channel to ensure the stability and reliability of the channel and ensure that it meets the operational requirements; S12: After inspecting each device of the underground hydrogen storage wellbore defect inspection and coating robot, inject sufficient repair glue into the storage barrel (201) through the injection port (2011), and start the motor II (216) to reverse, driving the Jiaolong disk stirring rod (206) to reverse, so as to prevent the repair glue from solidifying; S2: Wellbore defect detection stage: S21: The underground hydrogen storage wellbore defect detection and coating robot can be lowered into the wellbore by its own weight; S22: When the underground hydrogen storage wellbore defect detection and coating robot descends in the wellbore, the light bulb (403) in the visual monitoring device (4) is turned on to ensure that there is sufficient light in the wellbore, so that during the descent of the present invention, the defect conditions of the wellbore can be monitored in real time through the right-angle lens (401); S3: Wellbore defect repair stage: S31: After the wellbore defect is detected by the visual monitoring device (4), the underground hydrogen storage wellbore defect detection and coating robot continues to descend until the coating device (3) is facing the wellbore defect, and after anchoring and positioning by the anchoring walking device (1), the magnetic suction cup (308) is energized to move the adsorption magnetic suction cylinder (310) outward, thereby pushing the roller (305) outward to contact the wellbore; S32: Start the motor II (216) to rotate forward, drive the Jiaolong disk stirring rod (206) to rotate forward, so as to prevent the repair glue liquid from solidifying and push the repair glue liquid into the discharge pipe (307), and at the same time start the motor III (318) to drive the rotating cylinder (302) to rotate, so that the roller (305) can perform circumferential repair on the wellbore; S33: After the repair is completed, the magnetic chuck (308) is powered off, and under the action of the spring (309), the magnetic suction cylinder (310) moves inward, thereby pushing the roller (305) back to its original position. At this time, the quality of the defect repair of the wellbore is checked through the wide-angle lens (402) to ensure that it meets the operation requirements; S4: Obstacle crossing stage: When moving underground, if an obstacle is encountered, the motor I (111) is turned on to drive the ball screw (108) to drive, thereby driving the housing (101) in the anchoring walking device (1) to move, and under the joint action of the rocker I (103), the rocker II (105), and the rocker III (107), the support rod (104) of the present invention is contracted inwardly or expanded outwardly, thereby achieving automatic diameter change and crossing the underground obstacle.

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