Wheel type inspection robot for oil field

Abstract

The invention discloses an oil field wheel type inspection robot, and relates to the technical field of oil field inspection equipment.The oil field wheel type inspection robot comprises an inspection robot body and moving wheels, the moving wheels are arranged on the two sides of the bottom end of the inspection robot body, and a hazardous gas detector, an ultrasonic sensor and a laser radar are arranged at the top end of the inspection robot body; stabilizing structures are arranged on the two sides of the inspection robot body; the gravity center of the inspection robot is lower through the balancing weight, so that the stability of a vehicle is good when the oil field road condition is poor, the inspection robot adapts to different road conditions by changing the position of the balancing weight, and a detection instrument on the inspection robot is prevented from being damaged; the inspection robot can obtain higher power on some bottom surfaces with complex road conditions, the friction force between the conical surface and the ground can be increased through friction lines, the second bevel gear is inserted into a muddy oil field road surface, and therefore the inspection robot can smoothly run out of the muddy oil field road surface.

Description

Technical Field

[0001] The present invention relates to the technical field of oilfield inspection equipment, and specifically to an oilfield wheeled inspection robot. Background Art

[0002] Daily inspection of oilfields is an important measure to ensure the safe production of oilfields, the normal operation of equipment, environmental protection, and the rational utilization of resources. The following are the main contents of daily oilfield inspections: safety production inspections, equipment maintenance inspections, environmental protection and resource utilization inspections, quality management and inspection preparation, and intelligent technology application inspections. Daily oilfield inspections need to be carried out regularly. By continuously discovering and rectifying problems, the safe production level and management efficiency of oilfields can be improved.

[0003] In the prior art, daily inspections of oilfields are carried out by inspection robots to inspect the oil pipelines and equipment in the oilfields. There are certain drawbacks when the inspection robots patrol the oilfields. Since the inspection robots walk on the complex road conditions in the oilfields, if the inspection robots walk too fast, it is easy to cause unstable center of gravity and the inspection robots to shake. When the inspection robots are at the low-lying bottom, they are also prone to tipping over, thus affecting the inspection of equipment or pipelines by the robots. Moreover, when the inspection robots walk in low-lying areas, the driving wheels are easily stuck in the low-lying pits, and it is necessary to increase the contact area between the inspection robots and the low-lying pits, or use auxiliary devices to help the inspection robots cross the low-lying pits. Summary of the Invention

[0004] The purpose of the present invention is to provide an oilfield wheeled inspection robot to solve the problems raised in the above background art.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An oilfield wheeled inspection robot includes an inspection robot body and moving wheels. The moving wheels are arranged on both sides of the bottom end of the inspection robot body. A hazardous gas detector, an ultrasonic sensor, and a lidar are arranged at the top end of the inspection robot body. Stable structures are arranged on both sides of the inspection robot body. The stable structure includes fixed blocks. The fixed blocks are welded to the side walls of the inspection robot body. Three T-shaped grooves are opened inside each fixed block. T-shaped bars are slidably connected inside the three T-shaped grooves. Counterweights are welded to the bottom ends of the three T-shaped bars. The counterweights are located at the lower ends on both sides of the inspection robot body. A double gear one and a double gear two are arranged inside the fixed block at the position of the middle T-shaped bar. The large gears of the double gear one and the double gear two mesh with each other. Tooth teeth are opened on both side walls of the T-shaped bar. The small gears of the double gear one and the double gear two mesh with the tooth teeth of the T-shaped bar. A driving motor one is arranged on the side wall of the fixed block at the position of the double gear one. The output end of the driving motor one is connected to the double gear one. The positions of the counterweights on both sides of the inspection robot body are flush, and the two counterweights are lifted and lowered synchronously. The counterweights are used for stable support when the inspection robot body walks in the oilfield.

[0007] As a preferred technical solution of the present invention, end covers are arranged on the side walls of the fixed block outside the double gear one and the double gear two. The outer shell of the driving motor one is fixed to the end cover. The rotating shafts of the double gear one and the double gear two are rotatably connected to the end cover.

[0008] As a preferred technical solution of the present invention, the distance between the small gears of the double gear one and the double gear two is adapted to the distance between the tooth teeth on both side walls of the T-shaped bar. The bottom contact surface of the counterweight is parallel to the ground plane.

[0009] As a preferred technical solution of the present invention, an auxiliary structure is arranged inside the counterweight. The auxiliary structure includes a driving motor two. The driving motor two is arranged on one side of the counterweight. A placement cavity is opened at the bottom end of the counterweight. A bevel gear one is arranged at the end of the driving motor two and inside the placement cavity. A connecting shaft is horizontally arranged inside the placement cavity. A bevel gear two is arranged outside the connecting shaft and inside the placement cavity. The bevel gear two meshes with the bevel gear one. The bevel gear two is used to assist the inspection robot body to move.

[0010] As a preferred technical solution of the present invention, a fixed shaft is welded in the middle of the connecting shaft. The fixed shaft is rotatably connected to the bevel gear two. The end of the connecting shaft is located inside the end face of the bevel gear one. The end of the connecting shaft is rotatably connected to the end face of the bevel gear one.

[0011] As a preferred technical solution of the present invention, a fixing groove is provided at the end of the connecting shaft. A pin is inserted inside the fixing groove and at the outer wall of the counterweight. The end of the pin is threadedly connected with a fastening bolt. Two threaded holes are provided on the outer wall of the counterweight, and the included angle between the two threaded holes and the axis of the connecting shaft is 90°.

[0012] As a preferred technical solution of the present invention, the counterweights located on both sides of the inspection robot body are arranged obliquely. The fastening bolt is connected to one of the threaded holes. The direction of the second bevel gear is arranged horizontally, and a conical surface is provided on the lower end surface of the second bevel gear. The lowest end generatrix of the conical surface of the conical surface is in the horizontal direction, and friction lines are provided on the surface of the conical surface, and the friction lines are in contact with the ground plane.

[0013] As a preferred technical solution of the present invention, the fastening bolt is connected to the other threaded hole. The direction of the second bevel gear is arranged vertically, and the cylindrical surface of the second bevel gear is in contact with the ground plane.

[0014] As a preferred technical solution of the present invention, a dust cleaning structure is provided at the top of the inspection robot body and at the positions of the hazardous gas detector, the ultrasonic sensor, and the lidar. The dust cleaning structure includes a fixing plate. The fixing plate is located at the top of the inspection robot body. A plurality of matching holes are provided on the surface of the fixing plate, and the hazardous gas detector, the ultrasonic sensor, and the lidar are respectively located inside each matching hole. A cleaning sponge is provided on the inner wall of each matching hole, and the cleaning sponge is in contact with the hazardous gas detector, the ultrasonic sensor, and the lidar respectively. Three groups of connecting rods are welded on both sides of the fixing plate. Connecting holes are provided at the tops of the three T-shaped bars, and the connecting rods penetrate through the inside of the connecting holes.

[0015] As a preferred technical solution of the present invention, a plurality of reserved grooves are provided on the surface of the fixing plate. The connecting rod is slidably connected to the connecting hole of the T-shaped bar, and a telescopic spring is sleeved outside each connecting rod. The telescopic spring is located between the edge of the fixing plate and the T-shaped bar.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] A stable structure is provided. The counterweights are located at the lower ends on both sides of the inspection robot body. The counterweights make the center of gravity of the inspection robot relatively low, so as to ensure better stability of the vehicle when the road conditions in the oil field are relatively poor;

[0018] The driving motor 1 is used to drive the double gear to rotate, and the position of the counterweight is changed so that the inspection robot adapts to different road conditions. When the counterweight descends to the ground or there is a small gap, the counterweight can assist the moving wheels, thereby reducing the risk of the vehicle tipping over when driving in the oil field and avoiding damage to the detection instruments on the inspection robot;

[0019] An auxiliary structure is provided. The bevel gear two arranged horizontally can contact the ground, and the conical surface of the tapered surface can rotate in one direction, so that the bottom inspection robot in some complex road conditions can obtain higher power, and the friction lines can also be used to increase the friction between the tapered surface and the ground;

[0020] The bevel gear two arranged vertically can rise and fall with the counterweight, so that the bevel gear two can be inserted into the muddy oilfield road surface, so that the inspection robot can drive out of the mud smoothly;

[0021] A dust cleaning structure is provided. When the counterweight rises and falls, the fixed plate can be lifted, so that the inner wall of the inspection robot body can be cleaned, avoiding errors in detection caused by dust affecting the hazardous gas detector, ultrasonic sensor and lidar of the inspection robot. It is more convenient to clean the instruments of the robot. When the counterweight descends, while improving the stability of the robot, the fixed plate strengthens the detection instruments, and the inspection robot can pass through the potholes more smoothly. Brief Description of the Drawings

[0022] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the drawings.

[0023] Figure 1 It is the main structure diagram of an oilfield wheeled inspection robot of the present invention;

[0024] Figure 2 It is the schematic diagram of the hazardous gas detector, ultrasonic sensor and lidar of an oilfield wheeled inspection robot of the present invention;

[0025] Figure 3 It is the schematic diagram of the stable structure of an oilfield wheeled inspection robot of the present invention;

[0026] Figure 4 It is the schematic diagram of the teeth of the T-shaped strip of an oilfield wheeled inspection robot of the present invention;

[0027] Figure 5 It is the schematic diagram of the double gear one and double gear two of an oilfield wheeled inspection robot of the present invention;

[0028] Figure 6 It is the schematic diagram of the auxiliary structure of an oilfield wheeled inspection robot of the present invention;

[0029] Figure 7 It is the schematic diagram of the horizontal arrangement of the bevel gear two of an oilfield wheeled inspection robot of the present invention;

[0030] Figure 8 It is the schematic diagram of the tapered surface and friction lines of an oilfield wheeled inspection robot of the present invention;

[0031] Figure 9Vertical layout diagram of bevel gear 2 of a wheeled inspection robot for oil fields according to the present invention;

[0032] Figure 10 Schematic diagram of the dust cleaning structure of a wheeled inspection robot for oil fields according to the present invention.

[0033] In the figure: 1. Inspection robot body; 2. Moving wheel; 3. Hazardous gas detector; 4. Ultrasonic sensor; 5. LiDAR; 6. Stabilizing structure; 61. Fixed block; 62. T-shaped strip; 63. T-shaped groove; 64. Counterweight; 65. Driving motor 1; 66. Double gear 1; 67. Double gear 2; 68. Tooth; 7. Dust cleaning structure; 71. Fixed plate; 72. Matching hole; 73. Reserved groove; 74. Connecting rod; 75. Connecting hole; 76. Telescopic spring; 77. Cleaning sponge; 8. Auxiliary structure; 81. Placing cavity; 82. Driving motor 2; 83. Bevel gear 1; 84. Connecting shaft; 85. Bevel gear 2; 86. Conical surface; 87. Friction pattern; 88. Fixed groove; 89. Pin; 810. Fastening bolt; 811. Threaded hole. Specific embodiments

[0034] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment 1:

[0036] Please refer to Figures 1-4As shown in the figure, an oilfield wheeled inspection robot includes an inspection robot body 1 and moving wheels 2. The moving wheels 2 are arranged on both sides of the bottom end of the inspection robot body 1. A hazardous gas detector 3, an ultrasonic sensor 4, and a lidar 5 are arranged at the top end of the inspection robot body 1. The moving wheels 2 are used to move the inspection robot body 1 to a designated position in the oilfield, and the hazardous gas detector 3, the ultrasonic sensor 4, and the lidar 5 on the inspection robot body 1 are used to inspect oilfield pipelines or equipment. The hazardous gas detector 3 detects whether there is oil and gas leakage. The ultrasonic sensor 4 and the lidar 5 are used to detect distances, etc. There are also some instruments for collecting audio or video on the inspection robot body 1, as well as other instruments required for detection. Stable structures 6 are arranged on both sides of the inspection robot body 1. The stable structure 6 includes fixing blocks 61. The fixing blocks 61 are welded to the side walls of the inspection robot body 1. Three T-shaped grooves 63 are opened inside each fixing block 61. T-shaped bars 62 are slidably connected inside the three T-shaped grooves 63. The bottom ends of the three T-shaped bars 62 are welded with counterweight blocks 64. The counterweight blocks 64 are located at the lower ends of both sides of the inspection robot body 1. The counterweight blocks 64 can adjust the center of gravity of the inspection robot body 1. A double gear 66 and a double gear 67 are arranged inside the fixing block 61 at the position of the middle group of T-shaped bars 62. The large gears of the double gear 66 and the double gear 67 are meshed with each other. Tooth teeth 68 are opened on both side walls of the T-shaped bar 62. The small gears of the double gear 66 and the double gear 67 are both meshed with the tooth teeth 68 of the T-shaped bar 62. A driving motor 65 is arranged on the side wall of the fixing block 61 at the position of the double gear 66. The output end of the driving motor 65 is connected to the double gear 66. The double gear 66 and the double gear 67 are driven by the driving motor 65. The small gears of the double gear 66 and the double gear 67 can drive the tooth teeth 68 of the T-shaped bar 62, so that the position of the T-shaped bar 62 can be adjusted, and the position of the counterweight block 64 can be changed to change the center of gravity of the inspection robot. The positions of the counterweight blocks 64 on both sides of the inspection robot body 1 are flush, and the two counterweight blocks 64 are lifted and lowered synchronously. The counterweight blocks 64 are used for stable support when the inspection robot body 1 walks in the oilfield. The position of the counterweight block 64 can be adjusted so that the counterweight block 64 contacts the ground or has a small gap with the ground, which can reduce the risk of the inspection robot tipping over during walking and avoid damage to the instruments of the inspection robot.

[0037] Please refer to Figure 4 and Figure 5As shown, an end cover is provided on the side wall of the fixed block 61 and outside the double gear one 66 and the double gear two 67. The housing of the driving motor one 65 is fixed to the end cover. The rotating shafts of the double gear one 66 and the double gear one 66 are both rotatably connected to the end cover. The driving motor one 65 is installed outside the fixed block 61. The driving motor one 65 drives the double gear one 66 to rotate. The large gear of the double gear one 66 meshes with the large gear of the double gear two 67, so that the small gears of the double gear one 66 and the double gear two 67 can drive the T-shaped strip 62 therebetween, and thus the T-shaped strip 62 can lift in the T-shaped groove 63.

[0038] Please refer to Figure 3 and Figure 4 As shown, the distance between the small gears of the double gear one 66 and the double gear two 67 is adapted to the distance between the teeth 68 on both side walls of the T-shaped strip 62. The bottom contact surface of the counterweight 64 is parallel to the ground plane. When the counterweight 64 descends, the bottom end of the counterweight 64 contacts the ground or there is a small gap between the bottom end of the counterweight 64 and the ground.

[0039] It should be noted that according to the stability requirements of the inspection robot during walking, the height of the counterweight 64 in the stability structure 6 is adjusted. Specifically, the driving motor one 65 drives the double gear one 66 to rotate. The interaction between the double gear one 66 and the double gear two 67 enables the T-shaped strip 62 between the double gear one 66 and the double gear two 67 to lift, thereby adjusting the height of the counterweight 64. The change in the position of the counterweight 64 can change the center of gravity of the inspection robot. Similarly, the counterweight 64 is close to the ground, which can also prevent the inspection robot from tipping over.

[0040] A stability structure 6 is provided. The counterweights 64 are located at the lower ends on both sides of the inspection robot body 1. The counterweights 64 make the center of gravity of the inspection robot relatively low, so as to ensure better stability of the vehicle when the road conditions in the oil field are relatively poor. The driving motor one 65 is used to drive the double gears to rotate, changing the position of the counterweights 64 so that the inspection robot can adapt to different road conditions. When the counterweights 64 descend to the ground or there are small gaps, the counterweights 64 can assist the moving wheels 2, thereby reducing the risk of the vehicle tipping over during driving in the oil field and avoiding damage to the detection instruments on the inspection robot.

[0041] Please refer to Figure 2 、 Figure 6 and Figure 7As shown, an auxiliary structure 8 is provided inside the counterweight 64. The auxiliary structure 8 includes a second driving motor 82, which is arranged on one side of the counterweight 64. A placement cavity 81 is opened at the bottom end of the counterweight 64. A first bevel gear 83 is arranged at the end of the second driving motor 82 and inside the placement cavity 81. A connecting shaft 84 is horizontally mounted inside the placement cavity 81. A second bevel gear 85 is arranged on the outer part of the connecting shaft 84 and inside the placement cavity 81. The second bevel gear 85 meshes with the first bevel gear 83. The second bevel gear 85 is used to assist the inspection robot body 1 to move. The second driving motor 82 drives the first bevel gear 83 to rotate, and the first bevel gear 83 rotates synchronously with the second bevel gear 85. The second bevel gear 85 is used to assist the inspection robot body 1 to move.

[0042] Please refer to Figure 6 and Figure 7 As shown, a fixed shaft is welded in the middle of the connecting shaft 84, and the fixed shaft is rotatably connected to the second bevel gear 85, so as to ensure that the second bevel gear 85 can rotate normally when the first bevel gear 83 meshes with the second bevel gear 85. The end of the connecting shaft 84 is located inside the end face of the first bevel gear 83, and the end of the connecting shaft 84 is rotatably connected to the end face of the first bevel gear 83. The purpose of the end of the connecting shaft 84 being located at the end face of the first bevel gear 83 is to ensure that the strength of the connecting shaft 84 is sufficient.

[0043] Please refer to Figure 6 and Figure 8 As shown, a fixing groove 88 is opened at the end of the connecting shaft 84. A retaining pin 89 is inserted into the fixing groove 88 and at the outer wall of the counterweight 64. The retaining pin 89 can limit the position of the connecting shaft 84. A fastening bolt 810 is threadedly connected to the end of the retaining pin 89. Two threaded holes 811 are opened on the outer wall of the counterweight 64. The fastening bolt 810 is screwed into one of the threaded holes 811. The included angle between the two threaded holes 811 and the axis of the connecting shaft 84 is 90°. After the fastening bolt 810 is screwed into one of the threaded holes 811, the facing position of the second bevel gear 85 can be changed.

[0044] Please refer to Figure 6 and Figure 7As shown, the counterweights 64 located on both sides of the inspection robot body 1 are arranged obliquely. The oblique arrangement of the counterweights 64 causes a slight inclination in the position of the second bevel gear 85. The fastening bolt 810 is connected to one of the threaded holes 811. The orientation of the second bevel gear 85 is arranged horizontally. The fastening bolt 810 fixes the position of the connecting shaft 84 and the orientation of the second bevel gear 85. Moreover, a tapered surface 86 is provided on the lower end surface of the second bevel gear 85. The lowest generatrix of the conical surface of the tapered surface 86 is in the horizontal direction, avoiding the entire end surface of the rotating second bevel gear 85 from contacting the ground. And friction lines 87 are provided on the surface of the tapered surface 86. The friction lines 87 are in contact with the ground plane. The inspection robot can obtain higher power on some complex road conditions on the ground surface, and the friction lines 87 can also be used to increase the friction between the tapered surface 86 and the ground.

[0045] Please refer to Figure 9 As shown, the fastening bolt 810 is connected to the other threaded hole 811. The orientation of the second bevel gear 85 is arranged vertically. And the cylindrical surface of the second bevel gear 85 is in contact with the ground plane. The second bevel gear 85 can be inserted into the muddy oilfield road surface, enabling the inspection robot to drive out of the mud smoothly.

[0046] Rotate the connecting shaft 84 by 90° so that the second bevel gear 85 is in a vertical arrangement. Screw the fastening bolt 810 of the retaining pin 89 into the corresponding threaded hole 811, thereby fixing the position of the second bevel gear 85. Rotate the first bevel gear 83 to drive the second bevel gear 85 to rotate. The vertical second bevel gear 85 can rotate. At this time, the cylindrical surface of the second bevel gear 85 is in contact with the ground plane. The second bevel gear 85 can be inserted into the muddy oilfield road surface, enabling the inspection robot to drive out of the mud smoothly.

[0047] It should be noted that rotate the connecting shaft 84 so that the second bevel gear 85 is in a horizontal arrangement, and screw the fastening bolt 810 of the retaining pin 89 into the corresponding threaded hole 811. Thus, the positions of the second bevel gear 85 and the second bevel gear 85 will not change. At this time, the second drive motor 82 drives the first bevel gear 83 to rotate, and the first bevel gear 83 and the second bevel gear 85 rotate. Since the tapered surface 86 of the second bevel gear 85 is arranged obliquely, the lowest generatrix of the conical surface of the tapered surface 86 will contact the ground, avoiding the entire end surface of the rotating second bevel gear 85 from contacting the ground;

[0048] An auxiliary structure 8 is provided. The horizontally arranged second bevel gear 85 can contact the ground, and the conical surface of the tapered surface 86 can rotate in one direction. Thus, the inspection robot can obtain higher power on some complex road conditions on the ground surface, and the friction lines 87 can also be used to increase the friction between the tapered surface 86 and the ground. The vertically arranged second bevel gear 85 can rise and fall with the counterweight 64, thereby inserting the second bevel gear 85 into the muddy oilfield road surface, enabling the inspection robot to drive out of the mud smoothly.

[0049] Please refer to Figure 2 and Figure 10 As shown, at the top of the inspection robot body 1 and at the positions of the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5, a dust cleaning structure 7 is provided. The dust cleaning structure 7 is used to clean some instruments at the top of the inspection robot body 1. The dust cleaning structure 7 includes a fixing plate 71. The fixing plate 71 is located at the top of the inspection robot body 1. A number of matching holes 72 are formed on the surface of the fixing plate 71, and the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5 are respectively located inside each matching hole 72. A cleaning sponge 77 is provided on the inner wall of each matching hole 72. The cleaning sponges 77 are respectively in contact with the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5. When the fixing plate 71 moves up and down, it can simply clean the outer walls of the instruments. Three groups of connecting rods 74 are welded on both sides of the fixing plate 71. Connection holes 75 are formed at the tops of the three T-shaped bars 62. The connecting rods 74 penetrate through the inside of the connection holes 75. When the T-shaped bars 62 move up and down, the fixing plate 71 moves up and down synchronously. The connecting rods 74 can be slidably connected along the connection holes 75 of the T-shaped bars 62, so that the cleaning sponges 77 inside the fixing plate 71 clean the instruments.

[0050] Please refer to Figure 10 As shown, a number of reserved grooves 73 are formed on the surface of the fixing plate 71. The reserved grooves 73 prevent interference from some instruments or components that do not need to be cleaned. The connecting rods 74 are slidably connected to the connection holes 75 of the T-shaped bars 62, and a telescopic spring 76 is sleeved outside each connecting rod 74. The telescopic spring 76 is located between the edge of the fixing plate 71 and the T-shaped bars 62. Under the action of the telescopic spring 76, the fixing plate 71 is located between the two T-shaped bars 62 on both sides, preventing the matching holes 72 of the fixing plate 71 from being misaligned with each instrument.

[0051] It should be noted that when the synchronously moving up and down T-shaped bars 62 move up and down, they drive the fixing plate 71 to also rise. The cleaning sponges 77 inside the matching holes 72 can clean various instruments such as the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5. The reserved grooves 73 prevent interference from some instruments or components that do not need to be cleaned, avoiding errors in detection caused by dust affecting the instruments of the inspection robot. It is more convenient to clean the instruments of the cleaning robot.

[0052] A dust cleaning structure 7 is provided. When the counterweight 64 moves up and down, it can lift the fixing plate 71, thereby cleaning the inner wall of the inspection robot body 1, avoiding errors in detection caused by dust affecting the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5 of the inspection robot. It is more convenient to clean the instruments of the cleaning robot. When the counterweight 64 descends, while improving the stability of the robot, the fixing plate 71 strengthens the detection instruments, enabling the inspection robot to pass through potholes more smoothly.

[0053] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only the specific embodiments. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An oilfield wheeled inspection robot, comprising an inspection robot body (1) and moving wheels (2), wherein the moving wheels (2) are arranged on both sides of the bottom end of the inspection robot body (1), and a dangerous gas detector (3), an ultrasonic sensor (4) and a laser radar (5) are arranged on the top end of the inspection robot body (1), characterized in that: Both sides of the inspection robot body (1) are provided with a stabilizing structure (6), the stabilizing structure (6) comprising a fixing block (61), the fixing block (61) being welded to the two side walls of the inspection robot body (1), each fixing block (61) being provided with three groups of T-shaped slots (63), the inside of the three groups of T-shaped slots (63) being slidably connected with T-shaped bars (62), and the bottom ends of the three groups of T-shaped bars (62) being welded with a counterweight block (64), the counterweight block (64) being located at the lower ends of both sides of the inspection robot body (1), the inside of the fixing block (61) and being located at the middle group of T-shaped bars (62) being provided with a double gear one (66) and a double gear two (67), and the double gear one (6 The large gear of the double gear 1 (66) and the large gear of the double gear 2 (67) are meshed with each other, the two side walls of the T-shaped bar (62) are provided with teeth (68), and the small gear of the double gear 1 (66) and the small gear of the double gear 2 (67) are meshed with the teeth (68) of the T-shaped bar (62), the side wall of the fixed block (61) and the double gear 1 (66) are provided with a driving motor 1 (65), and the output end of the driving motor 1 (65) is connected to the double gear 1 (66), the counterweight blocks (64) located on both sides of the inspection robot body (1) are aligned, and the two counterweight blocks (64) are raised and lowered synchronously, and the counterweight blocks (64) are used for stable support of the inspection robot body (1) when walking in the oil field.

2. The oilfield wheeled inspection robot according to claim 1, characterized in that: An end cover is provided on the side wall of the fixed block (61) and outside the double gear one (66) and the double gear two (67), and the housing of the drive motor one (65) is fixed to the end cover, and the rotating shaft of the double gear one (66) and the rotating shaft of the double gear one (67) are both rotatably connected to the end cover.

3. The oilfield wheeled inspection robot according to claim 2, characterized in that: The spacing between the pinion of the double gear 1 (66) and the pinion of the double gear 2 (67) matches the spacing between the teeth (68) on the two side walls of the T-shaped bar (62), and the bottom contact surface of the counterweight block (64) is parallel to the ground plane.

4. The oilfield wheeled inspection robot according to claim 3, characterized in that: An auxiliary structure (8) is arranged inside the counterweight block (64), and the auxiliary structure (8) includes a second drive motor (82). The second drive motor (82) is arranged on one side of the counterweight block (64). A placement cavity (81) is provided at the bottom end of the counterweight block (64). A bevel gear (83) is arranged at the end of the second drive motor (82) and inside the placement cavity (81). A connecting shaft (84) is horizontally arranged inside the placement cavity (81). A second bevel gear (85) is arranged outside the connecting shaft (84) and inside the placement cavity (81). The second bevel gear (85) is meshed with the first bevel gear (83). The second bevel gear (85) assists the inspection robot body (1) in moving.

5. The oilfield wheeled inspection robot according to claim 4, characterized in that: A fixed shaft is welded in the middle of the connecting shaft (84), and the fixed shaft is rotationally connected to the second bevel gear (85). The end of the connecting shaft (84) is located inside the end surface of the first bevel gear (83), and the end of the connecting shaft (84) is rotationally connected to the end surface of the first bevel gear (83).

6. The oilfield wheeled inspection robot according to claim 5, characterized in that: The end of the connecting shaft (84) is provided with a fixing groove (88), a bayonet (89) is inserted into the fixing groove (88) and located at the outer wall of the counterweight block (64), the end of the bayonet (89) is threadedly connected with a fastening bolt (810), and the outer wall of the counterweight block (64) is provided with two threaded holes (811), and the angle between the two threaded holes (811) and the axis of the connecting shaft (84) is 90 degrees.

7. The oilfield wheeled inspection robot according to claim 6, characterized in that: The counterweights (64) on both sides of the inspection robot body (1) are arranged at an angle, the fastening bolts (810) are connected to one of the threaded holes (811), the bevel gear 2 (85) is arranged in a horizontal direction, and the lower end surface of the bevel gear 2 (85) is provided with a conical surface (86), the lowest end generatrix of the conical surface of the conical surface (86) is located in the horizontal direction, and the surface of the conical surface (86) is provided with friction lines (87), and the friction lines (87) are in contact with the ground plane.

8. The oilfield wheeled inspection robot according to claim 6, characterized in that: The fastening bolt (810) is connected to another threaded hole (811), the direction of the bevel gear 2 (85) is arranged vertically, and the cylindrical surface of the bevel gear 2 (85) is in contact with the ground plane.

9. The oilfield wheeled inspection robot according to claim 3 or 6, characterized in that: A cleaning structure (7) is provided at the top of the inspection robot body (1) and located at the hazardous gas detector (3), the ultrasonic sensor (4) and the laser radar (5). The cleaning structure (7) comprises a fixing plate (71). The fixing plate (71) is located at the top of the inspection robot body (1). A plurality of matching holes (72) are provided on the surface of the fixing plate (71). The hazardous gas detector (3), the ultrasonic sensor (4) and the laser radar (5) are respectively located inside each matching hole (72). A cleaning sponge (77) is provided on the inner wall of each matching hole (72). The cleaning sponge (77) is respectively in contact with the hazardous gas detector (3), the ultrasonic sensor (4) and the laser radar (5). Three groups of connecting rods (74) are welded on both sides of the fixing plate (71). The tops of the three groups of T-shaped bars (62) are each provided with a connecting hole (75). The connecting rod (74) passes through the inside of the connecting hole (75).

10. The oilfield wheeled inspection robot according to claim 9, characterized in that: The surface of the fixing plate (71) is provided with a plurality of reserved grooves (73), the connecting rods (74) are slidably connected to the connecting holes (75) of the T-shaped strips (62), and a telescopic spring (76) is sleeved on the outside of each connecting rod (74), and the telescopic spring (76) is located between the edge of the fixing plate (71) and the T-shaped strip (62).

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