Repair robot suitable for horizontal section casing pipe of horizontal well in shallow complex structure area

Abstract

The invention relates to the technical field of petroleum machinery, in particular to a repair robot suitable for a horizontal well horizontal section sleeve in a shallow complex structure area, which comprises an upper driving cylinder and a lower driving cylinder, moving mechanisms are arranged on the upper driving cylinder and the lower driving cylinder, an adjusting ring is slidably connected to the outer wall of the upper driving cylinder, and a rotating ring is rotatably connected to the outer wall of the adjusting ring. By means of the arrangement of the structure, adjustment can be conducted according to the up-down inclination condition of the sleeve repair position, through mutual cooperation of the rotating mechanisms, the sleeve repair position can be adjusted, the sleeve repair position can be adjusted, and the sleeve repair position can be adjusted to be more stable. And comprehensive adjustment can be flexibly carried out according to the inclination condition of the casing, the flexible performance of the device is improved, then the requirement for repairing the horizontal section casing of the horizontal well in the shallow complex structure area is met, and the repairing effect and repairing efficiency of the device are improved.

Description

Technical Field

[0001] The invention relates to the technical field of petroleum machinery, and in particular to a repairing robot suitable for horizontal casing of horizontal wells in shallow complex structural areas. Background Art

[0002] A horizontal well is a special well with a maximum well inclination angle of 90° or close to 90° (generally not less than 86°) and a horizontal well section of a certain length maintained in the target layer. Cementing refers to the operation of lowering casing into the well and injecting cement into the annular space between the well wall and the casing. Due to reasons such as cementing quality, formation movement, corrosion, and the quality of the casing itself, the casing of the horizontal well may leak, and the casing space is small. Therefore, in order to ensure the normal operation of the casing, a robot is needed to enter the casing to repair it.

[0003] The prior art discloses a petroleum casing repair device and method with a grinding function, with publication number CN116641674B. The melted thermite reactant is limited by the casing, the first sealing shell, the first sliding plate and the second sliding plate to prevent the melted thermite reactant from flowing to other positions, thereby reducing the inner diameter of the casing and affecting subsequent work.

[0004] Although it can improve the repair effect of casing, there are still some problems in the actual repair process. When the casing of the horizontal section of the horizontal well is laid in some shallow complex structural areas, it will encounter various obstacles. Therefore, the laying of the casing cannot be completely vertical. However, the repair robot is an integrated structure, and the repair robot performs comprehensive repairs on the damaged part of the inner wall of the casing through circular rotation. When one end of the position to be repaired is vertical and the other end is tilted, the repair robot cannot keep the center fixed on the casing, thereby reducing the chances of polishing and repairing the damaged position of the casing. The operator needs to frequently adjust the position of the repair mechanism, which is time-consuming and labor-intensive, and greatly reduces the working efficiency of the device.

[0005] Therefore, a repair robot for the horizontal casing of horizontal wells in shallow complex structural areas is proposed to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose a repair robot suitable for horizontal casing of horizontal wells in shallow complex structural areas.

[0007] In order to achieve the above purpose, the technical solution adopted by the present invention is: a repair robot suitable for horizontal section casing of horizontal wells in shallow complex structural areas, comprising an upper driving cylinder and a lower driving cylinder, both of which are provided with a moving mechanism, an adjusting ring is slidably connected to the outer wall of the upper driving cylinder, a rotating ring is rotatably connected to the outer wall of the adjusting ring, a repair mechanism for repairing the casing is provided on the rotating ring, an adjusting mechanism for rotating the rotating ring is provided on the adjusting ring, a rectangular plate is fixedly connected to the side wall of the lower driving cylinder, and a moving mechanism is provided on the inner side of the upper driving cylinder and close to the lower driving cylinder. A circular plate is rotatably connected to the end, a hinge groove is provided in the middle of the side wall of the circular plate, the middle of the outer wall of the rectangular plate is hingedly connected to the inner side of the hinge groove, the circular plate is away from the side of the lower driving cylinder and is fixedly connected to a bottom plate below the rectangular plate, an electric telescopic cylinder is fixedly connected to the bottom plate, the output end of the electric telescopic cylinder is fixedly connected to a hinge seat, a T-shaped slider is hingedly connected to the inner side of the hinge seat, a T-shaped slide groove is provided at the bottom of the rectangular plate, and the T-shaped slide groove is slidably connected to the inner side of the T-shaped slide groove, and a rotating mechanism for driving the circular plate to rotate is provided on the inner side of the upper driving cylinder.

[0008] In the above technical solution, further, the rotating mechanism includes a rotating motor, the rotating motor is fixedly connected to the inner side of the upper driving cylinder, the side wall of the circular plate is fixedly connected with an inner gear ring, and the output end of the rotating motor is fixedly connected with a gear meshing with the inner gear ring.

[0009] In the above technical scheme, further, the moving mechanism includes an adjusting telescopic cylinder, the outer walls of the upper driving cylinder and the lower driving cylinder are fixedly connected to a fixed annular seat on one side away from each other, the outer walls of the upper driving cylinder and the lower driving cylinder are slidably connected to a sliding annular seat, four support frames are hingedly connected to the fixed annular seat, the middle inner sides of the four support frames are hingedly connected to push rods, the bottoms of the push rods are hingedly connected to the inner sides of the sliding annular seats, the tops of the support frames are provided with driving mechanisms for the robot to move in the sleeve, a pair of adjusting telescopic cylinders are provided, and the adjusting telescopic cylinders are respectively fixedly connected to the inner walls of the upper driving cylinder and the lower driving cylinder, the inner side of the sliding annular seat is fixedly connected to a connecting frame and is arranged through the outer walls of the upper driving cylinder and the lower driving cylinder, and the output end of the adjusting telescopic cylinder is fixedly connected to the side wall of the connecting frame.

[0010] In the above technical solution, further, a pressure sensor is provided on the driving wheel of the driving mechanism, and the pressure sensor is electrically connected to the external robot operating end through a controller, and a picture monitor is provided on the supporting frame.

[0011] In the above technical solution, further, a pair of top plates are fixedly connected to the inner wall of the upper driving cylinder, a threaded rod is rotatably connected between the top plates, an adjusting motor is fixedly connected to the side wall of the top plate away from the lower driving cylinder, the output end of the adjusting motor passes through the side wall of the top plate and is fixedly connected to the side wall of the threaded rod, a push ring is provided on the outer wall of the upper driving cylinder and is located next to the adjusting ring, a connecting structure is provided between the push ring and the adjusting ring, a U-shaped frame is fixedly connected to the side wall of the push ring, and the U-shaped frame is arranged through the outer wall of the upper driving cylinder, and the threaded rod is threadedly connected to the inner wall of the U-shaped frame.

[0012] In the above technical solution, further, the connecting structure includes a telescopic rod, four of which are provided, and the four telescopic rods are fixedly connected to the side wall of the adjusting ring, the side walls of the telescopic rods are fixedly connected with balls, the side walls of the push ring are provided with ball grooves at positions corresponding to the balls, and the balls are movably connected to the inner sides of the ball grooves, and the length of the telescopic rods is the same as the spacing between the upper driving cylinder and the lower driving cylinder.

[0013] In the above technical solution, further, a movable groove is provided on the outer wall of the upper driving cylinder at a position corresponding to the U-shaped frame, and the U-shaped frame is slidably connected to the inner side of the movable groove.

[0014] In the above technical solution, further, a pair of guide plates are fixedly connected to the outer wall of the upper driving cylinder at equal distances, and guide grooves are provided on the inner sides of the adjusting ring and the pushing ring at positions corresponding to the guide plates.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can not only adjust according to the up and down inclination of the casing repair position through the arrangement of structures such as circular plates, electric telescopic cylinders and T-shaped sliders, but also can flexibly adjust according to the inclination of the casing through the mutual cooperation of the rotating mechanisms, thereby improving the flexibility of the device, thereby meeting the repair of the horizontal section casing of horizontal wells in shallow complex structural areas, and improving the repair effect and efficiency of the device.

[0016] 2. The present invention, through the arrangement of the threaded rod, the push ring and the connection structure, can flexibly adjust the position of the repair mechanism after the maintenance robot is adjusted to the center position in the inclined sleeve and fixed, thereby further improving the flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the maintenance robot of the present invention when working on a casing; Figure 2 This is a schematic diagram of the overall appearance of the maintenance robot of the present invention; Figure 3 It is a schematic diagram of the overall appearance structure of the upper drive cylinder and the repair mechanism of the present invention; Figure 4 It is a schematic diagram of the overall appearance structure of the circular plate and the driving motor of the present invention; Figure 5 It is a bottom-up three-dimensional structural schematic diagram of a rectangular rod and an electric telescopic cylinder of the present invention; Figure 6 It is a schematic diagram of the overall appearance structure of the threaded rod, the push ring and the U-shaped frame of the present invention; Figure 7 It is a schematic diagram of the overall appearance structure of the moving mechanism and the driving mechanism of the present invention; Figure 8 It is a schematic diagram of the overall appearance structure of the repair mechanism and the push ring of the present invention; Fig. 9 It is a schematic diagram of the explosion structure of the adjustment ring and the push plate of the present invention.

[0018] In the figure: 1. upper driving cylinder; 2. lower driving cylinder; 3. inner gear ring; 4. rectangular plate; 5. circular plate; 6. hinge groove; 7. bottom plate; 8. electric telescopic cylinder; 9. hinge seat; 10. T-shaped slider; 11. T-shaped slide groove; 12. rotating motor; 13. guide groove; 14. gear; 15. adjustment ring; 16. rotating ring; 17. repair mechanism; 18. adjustment mechanism; 19. adjustment telescopic cylinder; 20. fixed annular seat; 21. sliding annular seat; 22. support frame; 23. push rod; 24. driving mechanism; 25. connecting frame; 26. top plate; 27. threaded rod; 28. picture monitor; 29. ​​adjustment motor; 30. push ring; 31. U-shaped frame; 32. telescopic rod; 33. ball; 34. ball groove; 35. moving groove; 36. guide plate. DETAILED DESCRIPTION

[0019] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] like Figure 1-9The robot shown is suitable for repairing casing of horizontal section of horizontal well in shallow complex structure area, including upper driving cylinder 1 and lower driving cylinder 2, both of which are provided with moving mechanism, the outer wall of upper driving cylinder 1 is slidably connected with adjusting ring 15, the outer wall of adjusting ring 15 is rotatably connected with rotating ring 16, the rotating ring 16 is provided with repairing mechanism 17 for repairing casing, the repairing mechanism 17 is mainly composed of grinding, repairing and cleaning structures, which is a mature technology in the prior art, and will not be described in detail here, the adjusting ring 15 is provided with adjusting mechanism 18 for rotating rotating ring 16, the adjusting mechanism 18 is mainly composed of motor, gear ring and driving gear structures, which is a mature technology in the prior art, and will not be described here Too much description, a rectangular plate 4 is fixedly connected to the side wall of the lower driving cylinder 2, a circular plate 5 is rotatably connected to the inner side of the upper driving cylinder 1 and close to one end of the lower driving cylinder 2, a hinge groove 6 is opened in the middle of the side wall of the circular plate 5, the middle of the outer wall of the rectangular plate 4 is hinged to the inner side of the hinge groove 6, the circular plate 5 is away from the side of the lower driving cylinder 2 and is fixedly connected to a bottom plate 7 below the rectangular plate 4, an electric telescopic cylinder 8 is passed through and fixedly connected to the bottom plate 7, the output end of the electric telescopic cylinder 8 is fixedly connected to a hinge seat 9, a T-shaped slider 10 is hingedly connected to the inner side of the hinge seat 9, a T-shaped slide groove 11 is opened at the bottom of the rectangular plate 4, and the T-shaped slider 10 is slidably connected to the inner side of the T-shaped slide groove 11, and a rotating mechanism for driving the circular plate 5 to rotate is provided on the inner side of the upper driving cylinder 1.

[0022] The rotating mechanism includes a rotating motor 12, which is fixedly connected to the inner side of the upper driving cylinder 1, and the side wall of the circular plate 5 is fixedly connected to the inner gear ring 3, and the output end of the rotating motor 12 is fixedly connected to a gear 14 meshing with the inner gear ring 3; When repairing the casing of a horizontal well, first, a sealing ring is lowered into the casing to seal the casing, and then the repair robot is placed into the casing. After the repair robot moves to the designated repair position in the casing, the staff controls the repair mechanism 17 to start automatic repair of the casing. When the front end of the casing to be repaired is bent and the lower drive cylinder 2 cannot be in the center of the casing, the staff first controls the repair robot to move the circular plate 5 to the bent position of the casing, and randomly controls the rotating motor 12 on the rotating mechanism to start and drive the gear 14 to rotate, thereby driving the meshing inner gear ring 3 to rotate, thereby driving the circular plate 5 to rotate on the upper drive cylinder 1, and driving the bottom plate 7 and the electric telescopic cylinder 8 to rotate. At the same time, the lower drive cylinder 2 and the driving mechanism 24 on the lower drive cylinder 2 are driven to rotate through the rectangular plate 4 (the flipping position of the rectangular plate 4 is fixed At this time, the flipping direction of the rectangular plate 4 needs to be adjusted according to the bending condition of the casing), and then when the lower driving cylinder 2 is adjusted to the position to be adjusted, the rotating motor 12 can be controlled to close, and the hinge seat 9 is driven to move as the control electric telescopic cylinder 8 is started, and the T-shaped slider 10 and the rectangular plate 4 are pushed to move, so that the rectangular plate 4 is flipped around the hinge joint with the hinge groove 6. At this time, the T-shaped slider 10 will move on the inside of the T-shaped slide groove 11, and at the same time, under the pulling force of the flipping of the rectangular plate 4, the T-shaped slider 10 will also rotate around the hinge joint with the hinge seat 9, thereby realizing the adjustment of the tilt position of the lower driving cylinder 2, thereby ensuring that the repair mechanism 17 is always in the center position of the casing, facilitating the normal operation of the repair mechanism 17, and no workers need to frequently adjust for repair, which can meet the repair of the horizontal section casing of horizontal wells in shallow complex structural areas and improve the repair effect and efficiency of the device.

[0023] In order to be able to use sleeves of different sizes, the moving mechanism includes an adjustable telescopic cylinder 19, a fixed annular seat 20 is fixedly connected to the outer wall of the upper driving cylinder 1 and the lower driving cylinder 2 on one side away from each other, a sliding annular seat 21 is slidably connected to the outer wall of the upper driving cylinder 1 and the lower driving cylinder 2, four support frames 22 are hingedly connected to the fixed annular seat 20, a push rod 23 is hingedly connected to the middle of the inner side of the four support frames 22, the bottom of the push rod 23 is hingedly connected to the inner side of the sliding annular seat 21, and a driving mechanism 24 for the robot to move in the sleeve is provided at the top of the support frame 22. The driving mechanism 24 is mainly composed of a motor, a transmission structure, a driving wheel and other structures, which is a mature technology in the prior art and will not be described in detail here. A pair of adjustable telescopic cylinders 19 are provided, and the adjustable telescopic cylinders 19 are respectively fixedly connected to the inner walls of the upper driving cylinder 1 and the lower driving cylinder 2, a connecting frame 25 is fixedly connected to the inner side of the sliding annular seat 21 and is arranged through the outer walls of the upper driving cylinder 1 and the lower driving cylinder 2, and the output end of the adjustable telescopic cylinder 19 is fixedly connected to the side wall of the connecting frame 25; When the repair robot moves to the horizontal section inside the casing, the telescopic cylinder 19 can be controlled to start, thereby driving the connecting frame 25 and the sliding annular seat 21 to move on the upper driving cylinder 1 and the lower driving cylinder 2, thereby driving the push rod 23 to push the support frame 22 to rotate around the hinge, thereby causing the driving mechanism 24 to gradually flip outward, so that the driving wheel on the driving mechanism 24 moves to contact the inner wall of the casing, and then the driving mechanism 24 can be controlled to start and drive the driving wheel to rotate, thereby realizing the walking of the repair robot in the casing.

[0024] In order to accurately adjust the angle of the lower driving cylinder 2, a pressure sensor is provided on the driving wheel of the driving mechanism 24, and the pressure sensor is electrically connected to the external robot operating end through the controller. A picture monitor 28 is provided on the support frame 22, which facilitates the operator to observe the condition of the repair robot in the casing and the damage condition of the casing in real time through the picture monitor 28; By setting the pressure sensor, the repair robot can observe the pressure sensor value on each driving wheel when adjusting the tilt angle for fixing in the casing. If the pressure values ​​of the upper, lower, left and right driving wheels are the same, it can ensure that the repair mechanism 17 is in the center of the casing, thereby improving the casing repair effect.

[0025] In order to be able to flexibly adjust the position of the repair mechanism 17, a pair of top plates 26 are fixedly connected to the inner wall of the upper driving cylinder 1, and a threaded rod 27 is rotatably connected between the top plates 26. An adjusting motor 29 is fixedly connected to the side wall of the top plate 26 away from the lower driving cylinder 2. The output end of the adjusting motor 29 passes through the side wall of the top plate 26 and is fixedly connected to the side wall of the threaded rod 27. A push ring 30 is provided on the outer wall of the upper driving cylinder 1 and is located next to the adjusting ring 15. A connecting structure is provided between the push ring 30 and the adjusting ring 15. A U-shaped The U-shaped frame 31 is arranged through the outer wall of the upper driving cylinder 1, the threaded rod 27 is threadedly connected to the inner wall of the U-shaped frame 31, and a movable groove 35 is opened on the outer wall of the upper driving cylinder 1 and at a position corresponding to the U-shaped frame 31, and the U-shaped frame 31 is slidably connected to the inner side of the movable groove 35. The setting of the movable groove 35 can not only avoid hindering the sliding of the U-shaped frame 31, but also guide the sliding of the U-shaped frame 31, thereby preventing the U-shaped frame 31 from rotating with the threaded rod 27, and improving the stability of the device during operation; The connection structure includes a telescopic rod 32, four telescopic rods 32 are provided, and the four telescopic rods 32 are fixedly connected to the side wall of the adjustment ring 15, the side wall of the telescopic rod 32 is fixedly connected with a ball 33, the side wall of the push ring 30 and the position corresponding to the ball 33 are provided with a ball groove 34, and the ball 33 is movably connected to the inner side of the ball groove 34, and the length of the telescopic rod 32 is the same as the distance between the upper driving cylinder 1 and the lower driving cylinder 2; After the repair robot moves to the repair position in the casing and adjusts the tilt angle of the lower drive cylinder 2, when the position of the repair mechanism 17 needs to be changed, the adjustment motor 29 can be controlled to start and drive the threaded rod 27 to rotate, thereby driving the threaded U-shaped frame 31 to move in the moving groove 35, and at the same time pushing the push ring 30 to move, and then driving the adjustment ring 15 to move on the guide plate 36 through the telescopic rod 32 to adjust the position of the repair mechanism 17. If the repair position is at the front end of the bending position in the casing, the adjustment ring 15 needs to be driven to When the lower driving cylinder 2 is on, it is necessary to control the adjustment motor 29 to start before adjusting the tilt angle of the lower driving cylinder 2, and push the adjustment ring 15 into the lower driving cylinder 2. During this process, since the adjustment ring 15 will be inserted into the lower driving cylinder 2, when the tilt angle of the lower driving cylinder 2 is subsequently adjusted, the lower driving cylinder 2 will drive the adjustment ring 15 to move, and at the same time drive the multiple balls 33 to roll inside the ball groove 34, and compress and stretch the telescopic rod 32 to ensure the connection between the push ring 30 and the adjustment ring 15, and will not hinder the adjustment of the tilt position of the lower driving cylinder 2.

[0026] In order to improve the stability of the adjustment ring 15 and the push ring 30 during movement, a pair of guide plates 36 are equidistantly fixedly connected to the outer wall of the upper driving cylinder 1, and guide grooves 13 are provided on the inner sides of the adjustment ring 15 and the push ring 30 at positions corresponding to the guide plates 36. The setting of the guide plates 36 and the guide grooves 13 can guide the sliding of the adjustment ring 15 and the push ring 30, thereby preventing the adjustment ring 15 and the push ring 30 from moving at will and affecting the normal operation of the repair mechanism 17 and the adjustment mechanism 18.

[0027] The basic principles, main features and advantages of the present invention are shown and described above.

[0028] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments and the specification only describe the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. These changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A repair robot for horizontal casing of horizontal wells in shallow complex structural areas, comprising an upper drive cylinder (1) and a lower drive cylinder (2), characterized in that: The upper drive cylinder (1) and the lower drive cylinder (2) are both provided with a moving mechanism, an adjusting ring (15) is slidably connected to the outer wall of the upper drive cylinder (1), a rotating ring (16) is rotatably connected to the outer wall of the adjusting ring (15), a repairing mechanism (17) for repairing the casing is provided on the rotating ring (16), and an adjusting mechanism (18) for rotating the rotating ring (16) is provided on the adjusting ring (15), a rectangular plate (4) is fixedly connected to the side wall of the lower drive cylinder (2), a circular plate (5) is rotatably connected to the inner side of the upper drive cylinder (1) and close to one end of the lower drive cylinder (2), a hinge groove (6) is provided in the middle of the side wall of the circular plate (5), and the rectangular plate (4) is fixedly connected to the side wall of the lower drive cylinder (2). The middle part of the outer wall of the rectangular plate (4) is hingedly connected to the inner side of the hinge groove (6); the circular plate (5) is fixedly connected to a bottom plate (7) at a side away from the lower driving cylinder (2) and located below the rectangular plate (4); an electric telescopic cylinder (8) is passed through and fixedly connected to the bottom plate (7); an output end of the electric telescopic cylinder (8) is fixedly connected to a hinge seat (9); a T-shaped slide block (10) is hingedly connected to the inner side of the hinge seat (9); a T-shaped slide groove (11) is provided at the bottom of the rectangular plate (4), and the T-shaped slide block (10) is slidably connected to the inner side of the T-shaped slide groove (11); and a rotating mechanism for driving the circular plate (5) to rotate is provided on the inner side of the upper driving cylinder (1).

2. The repair robot for horizontal casing of horizontal wells in shallow complex structural areas according to claim 1 is characterized by: The rotating mechanism comprises a rotating motor (12), the rotating motor (12) being fixedly connected to the inner side of the upper driving cylinder (1), the side wall of the circular plate (5) being fixedly connected to an inner gear ring (3), and the output end of the rotating motor (12) being fixedly connected to a gear (14) meshing with the inner gear ring (3).

3. The repair robot for horizontal casing of horizontal wells in shallow complex structural areas according to claim 1 is characterized by: The moving mechanism comprises an adjustable telescopic cylinder (19), a fixed annular seat (20) is fixedly connected to the outer wall of the upper drive cylinder (1) and the lower drive cylinder (2) on the side away from each other, a sliding annular seat (21) is slidably connected to the outer wall of the upper drive cylinder (1) and the lower drive cylinder (2), four support frames (22) are hingedly connected to the fixed annular seat (20), a push rod (23) is hingedly connected to the inner middle part of the four support frames (22), and the bottom of the push rod (23) is hingedly connected to the sliding annular seat (21). 1) inside, the top of the support frame (22) is provided with a driving mechanism (24) for the robot to move in the sleeve, a pair of adjusting telescopic cylinders (19) are provided, and the adjusting telescopic cylinders (19) are respectively fixedly connected to the inner walls of the upper driving cylinder (1) and the lower driving cylinder (2), the inner side of the sliding annular seat (21) is fixedly connected to a connecting frame (25) and is arranged through the outer walls of the upper driving cylinder (1) and the lower driving cylinder (2), and the output end of the adjusting telescopic cylinder (19) is fixedly connected to the side wall of the connecting frame (25).

4. The repair robot for horizontal casing of horizontal wells in shallow complex structural areas according to claim 3 is characterized by: A pressure sensor is provided on each driving wheel of the driving mechanism (24), and the pressure sensor is electrically connected to an external robot operating terminal via a controller, and a picture monitor (28) is provided on each supporting frame (22).

5. The repair robot for horizontal casing of horizontal wells in shallow complex structural areas according to claim 1 is characterized by: A pair of top plates (26) are fixedly connected to the inner wall of the upper drive cylinder (1), a threaded rod (27) is rotatably connected between the top plates (26), an adjustment motor (29) is fixedly connected to the side wall of the top plate (26) away from the lower drive cylinder (2), an output end of the adjustment motor (29) passes through the side wall of the top plate (26) and is fixedly connected to the side wall of the threaded rod (27), an outer wall of the upper drive cylinder (1) is provided with a push ring (30) located next to the adjustment ring (15), a connection structure is provided between the push ring (30) and the adjustment ring (15), a U-shaped frame (31) is fixedly connected to the side wall of the push ring (30), and the U-shaped frame (31) is arranged to penetrate the outer wall of the upper drive cylinder (1), and the threaded rod (27) penetrates and is threadedly connected to the inner wall of the U-shaped frame (31).

6. The robot for repairing casing of horizontal wells in shallow complex structural areas according to claim 5 is characterized by: The connection structure comprises a telescopic rod (32), wherein four telescopic rods (32) are provided, and the four telescopic rods (32) are fixedly connected to the side wall of the adjustment ring (15), and the side wall of the telescopic rod (32) is fixedly connected to a ball (33), and a ball groove (34) is provided on the side wall of the push ring (30) and at a position corresponding to the ball (33), and the ball (33) is movably connected to the inner side of the ball groove (34), and the length of the telescopic rod (32) is the same as the distance between the upper drive cylinder (1) and the lower drive cylinder (2).

7. The robot for repairing casing of horizontal wells in shallow complex structural areas according to claim 5 is characterized by: A movable groove (35) is provided on the outer wall of the upper driving cylinder (1) at a position corresponding to the U-shaped frame (31), and the U-shaped frame (31) is slidably connected to the inner side of the movable groove (35).

8. The robot for repairing casing of horizontal wells in shallow complex structural areas according to claim 5 is characterized by: A pair of guide plates (36) are fixedly connected to the outer wall of the upper driving cylinder (1) at equal intervals, and guide grooves (13) are provided on the inner sides of the adjusting ring (15) and the pushing ring (30) at positions corresponding to the guide plates (36).

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