An oilfield wheeled inspection robot

Abstract

The application discloses an oil field wheeled inspection robot, and relates to the technical field of oil field inspection equipment, which comprises an inspection robot body and moving wheels, the moving wheels are arranged on the bottom end of the two sides of the inspection robot body, the top end of the inspection robot body is provided with a dangerous gas detector, an ultrasonic sensor and a laser radar, and the two sides of the inspection robot body are both provided with a stabilizing structure; the application makes the center of gravity of the inspection robot relatively low through the counterweight, thereby ensuring that the stability of the vehicle is relatively good when the road condition of the oil field is relatively poor, the position of the counterweight is changed so that the inspection robot is adapted to different road conditions, damage of the detection instruments on the inspection robot is avoided, the inspection robot can obtain higher power on some complex road surfaces, the friction between the conical surface and the ground can be improved by utilizing the friction pattern, the bevel gear two is inserted into the muddy oil field road surface, and thus the inspection robot can smoothly drive out of the mud.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil field inspection equipment, in particular to an oil field wheeled inspection robot. BACKGROUND

[0002] Oil field daily inspection is an important measure to ensure oil field safety production, normal equipment operation, environmental protection and rational resource utilization. The main contents of oil field daily inspection are as follows: safety production inspection, equipment maintenance inspection, environmental protection and resource utilization inspection, quality management and preparation for inspection, intelligent technology application inspection. Oil field daily inspection needs to be carried out regularly to continuously find and rectify problems to improve the safety production level and management efficiency of the oil field.

[0003] In the prior art, oil field daily inspection is carried out by an inspection robot to inspect the oil circuit and equipment of the oil field. The inspection robot has certain drawbacks when it is patrolling in the oil field. Since the inspection robot walks in the complex road conditions of the oil field, the inspection robot is prone to instability and shaking due to too fast walking. The inspection robot is also prone to falling when it is at the low end, which affects the inspection of the equipment or pipeline by the robot. In addition, when the inspection robot walks in the low-lying area, the driving wheel is prone to sinking into the low-lying pit, so it is necessary to increase the contact area between the inspection robot and the low-lying pit or use an auxiliary device to help the inspection robot pass through the low-lying pit. SUMMARY

[0004] The present application aims to provide an oil field wheeled inspection robot to solve the problems in the background art.

[0005] The object of the present application can be achieved by the following technical solutions:

[0006] The utility model provides an oilfield wheeled inspection robot, including inspection robot body and mobile wheel, mobile wheel sets up in the bottom end both sides of inspection robot body, and the top of inspection robot body is provided with dangerous gas detector, ultrasonic sensor and laser radar, both sides of inspection robot body are provided with stabilizing structure, stabilizing structure includes fixed block, fixed block is welded in the both side walls of inspection robot body, the inside of every fixed block is equipped with three groups T type groove, three groups T type groove are all connected with T type strip in the inside sliding, and the bottom of three groups T type strip is welded with counterweight, and the both sides lower end of inspection robot body is located to the counterweight, the inside of fixed block and the T type strip of intermediate group are provided with double gear one and double gear two, and the big gear of double gear one and the big gear of double gear two are mutually engaged, the both side walls of T type strip are all equipped with tooth, and the pinion of double gear one and the pinion of double gear two are all engaged with the tooth of T type strip, the side wall of fixed block and the double gear one are provided with drive motor no.

[0007] As a preferred technical solution of the present application, the side wall of the fixed block and the double gear one and the double gear two outside are provided with an end cap, and the housing of the drive motor one is fixed with the end cap, and the rotating shaft of the double gear one and the rotating shaft of the double gear two are rotatably connected with the end cap.

[0008] As a preferred technical solution of the present application, the pinion of the double gear one and the pinion of the double gear two are adapted to the tooth spacing of the both side walls of the T-shaped strip, and the bottom contact surface of the counterweight is parallel to the ground level.

[0009] As a preferred technical solution of the present application, the inside of the counterweight is provided with an auxiliary structure, the auxiliary structure includes a drive motor two, the drive motor two is arranged on one side of the counterweight, the bottom end of the counterweight is provided with a placing cavity, the end of the drive motor two and the inside of the placing cavity are provided with a bevel gear one, the inside of the placing cavity is transversely provided with a connecting shaft, the outside of the connecting shaft and the inside of the placing cavity are provided with a bevel gear two, the bevel gear two is engaged with the bevel gear one, and the bevel gear two is used to assist the movement of the inspection robot body.

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

[0011] As a preferred technical scheme of the present application, the end of the connecting shaft is provided with a fixing groove, a bayonet is inserted into the fixing groove and located at the outer wall of the counterweight, the end of the bayonet is threadedly connected with a fastening bolt, the outer wall of the counterweight is provided with two threaded holes, and the included angle between the two threaded holes and the axis of the connecting shaft is 90 degrees.

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

[0013] As a preferred technical scheme of the present application, the fastening bolt is connected with the other threaded hole, and the second bevel gear is arranged vertically, and the cylindrical surface of the second bevel gear is in contact with the ground.

[0014] As a preferred technical scheme of the present application, the top end of the inspection robot body is provided with a dust cleaning structure at the dangerous gas detector, the ultrasonic sensor and the laser radar, the dust cleaning structure comprises a fixed plate, the fixed plate is located at the top end of the inspection robot body, the surface of the fixed plate is provided with a plurality of matching holes, the dangerous gas detector, the ultrasonic sensor and the laser radar are respectively located in the matching holes, the inner wall of each matching hole is provided with a cleaning sponge which is in contact with the dangerous gas detector, the ultrasonic sensor and the laser radar respectively, and three groups of connecting rods are welded on both sides of the fixed plate, the top end of each T-shaped strip is provided with a connecting hole, and the connecting rod penetrates through the inside of the connecting hole.

[0015] As a preferred technical scheme of the present application, the surface of the fixed plate is provided with a plurality of reserved grooves, the connecting rod is slidably connected with the connecting hole of the T-shaped strip, and a telescopic spring is sleeved outside each connecting rod and located between the edge of the fixed plate and the T-shaped strip.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The stable structure is provided, the counterweight is located at the lower end of both sides of the inspection robot body, the counterweight makes the center of gravity of the inspection robot relatively low, so as to ensure that the stability of the vehicle is good when the road condition of the oil field is relatively poor.

[0018] The driving motor drives the double gear to rotate, the position of the counterweight is changed, so that the inspection robot adapts to different road conditions, when the counterweight is lowered to the ground or a small gap exists, the counterweight can assist the moving wheel, so as to reduce the overturning of the vehicle when driving in the oil field, and avoid the damage of the detection instrument on the inspection robot.

[0019] The auxiliary structure is arranged, the bevel gear two arranged transversely can contact the ground, the conical surface can rotate in one direction, so that the inspection robot can obtain higher power on some complex road surfaces, and the friction pattern can be used to increase the friction between the conical surface and the ground;

[0020] The vertically arranged bevel gear two can be lifted with the counterweight, so that the bevel gear two is inserted into the muddy oil field road surface, so that the inspection robot can smoothly drive out of the mud;

[0021] The dust cleaning structure is arranged, the fixed plate can be lifted while the counterweight is lifted, so that the inner wall of the inspection robot body can be cleaned, so that the dangerous gas detector, ultrasonic sensor and laser radar of the inspection robot are not affected by dust, and the detection error is avoided. The instrument of the cleaning robot is more convenient, the counterweight is lowered to improve the stability of the robot, and the fixed plate reinforces the detection instrument, so that the inspection robot can pass through the pit more smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to facilitate those skilled in the art to understand, the present application will be further described below in combination with the drawings.

[0023] Figure 1 The main structure of the oil field wheeled inspection robot of the present application is shown in the figure.

[0024] Figure 2 The dangerous gas detector, ultrasonic sensor and laser radar of the oil field wheeled inspection robot of the present application are shown in the figure.

[0025] Figure 3 The stability structure of the oil field wheeled inspection robot of the present application is shown in the figure.

[0026] Figure 4 The tooth of the T-shaped strip of the oil field wheeled inspection robot of the present application is shown in the figure.

[0027] Figure 5 The double gear one and the double gear two of the oil field wheeled inspection robot of the present application are shown in the figure.

[0028] Figure 6 The auxiliary structure of the oil field wheeled inspection robot of the present application is shown in the figure.

[0029] Figure 7 The bevel gear two of the oil field wheeled inspection robot of the present application is shown in the figure.

[0030] Figure 8 The conical surface and the friction pattern of the oil field wheeled inspection robot of the present application are shown in the figure.

[0031] Figure 9A bevel gear two vertical arrangement drawing of an oil field wheeled inspection robot;

[0032] Figure 10 A dust cleaning structure schematic diagram of an oil field wheeled inspection robot.

[0033] In the figure: 1, inspection robot body; 2, moving wheel; 3, dangerous gas detector; 4, ultrasonic sensor; 5, laser radar; 6, stabilizing structure; 61, fixed block; 62, T-shaped bar; 63, T-shaped groove; 64, counterweight; 65, drive motor one; 66, double gear one; 67, double gear two; 68, teeth; 7, dust cleaning structure; 71, fixed plate; 72, matching hole; 73, reserved groove; 74, connecting rod; 75, connecting hole; 76, extension spring; 77, cleaning sponge; 8, auxiliary structure; 81, placing cavity; 82, drive motor two; 83, bevel gear one; 84, connecting shaft; 85, bevel gear two; 86, conical surface; 87, friction pattern; 88, fixed groove; 89, locking pin; 810, fastening bolt; 811, threaded hole. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. Embodiment one:

[0035] Please refer to Figures 1-4As shown, an oil field wheeled inspection robot, including an inspection robot body 1 and a mobile wheel 2, the mobile wheel 2 is arranged at the bottom end of both sides of the inspection robot body 1, the top end of the inspection robot body 1 is provided with a dangerous gas detector 3, an ultrasonic sensor 4 and a laser radar 5, the mobile wheel 2 is used to move the inspection robot body 1 to the designated position of the oil field, and the dangerous gas detector 3, the ultrasonic sensor 4 and the laser radar 5 on the inspection robot body 1 are used to inspect the oil field pipeline or equipment, the dangerous gas detector 3 detects whether oil and gas leakage occurs, the ultrasonic sensor 4 and the laser radar 5 are used to detect the distance, etc., there are some instruments for collecting audio or video on the inspection robot body 1, and other detection instruments, the both sides of the inspection robot body 1 are provided with a stabilizing structure 6, the stabilizing structure 6 includes a fixed block 61, the fixed block 61 is welded to the both side walls of the inspection robot body 1, three groups of T-shaped grooves 63 are arranged in the inside of each fixed block 61, three groups of T-shaped strips 62 are slidably connected in the inside of the three groups of T-shaped grooves 63, and the bottom end of the three groups of T-shaped strips 62 is welded with a counterweight 64, the counterweight 64 is located at the lower end of both sides of the inspection robot body 1, the counterweight 64 can adjust the center of gravity of the inspection robot body 1, a double gear one 66 and a double gear two 67 are arranged in the inside of the fixed block 61 and at the T-shaped strip 62 in the middle, the large gear of the double gear one 66 and the large gear of the double gear two 67 are meshed with each other, the both side walls of the T-shaped strip 62 are provided with teeth 68, and the pinion of the double gear one 66 and the pinion of the double gear two 67 are meshed with the teeth 68 of the T-shaped strip 62, a drive motor one 65 is arranged on the side wall of the fixed block 61 and at the double gear one 66, and the output end of the drive motor one 65 is connected with the double gear one 66, the double gear one 66 and the double gear two 67 are driven by the drive motor one 65, the pinion of the double gear one 66 and the pinion of the double gear two 67 can drive the teeth 68 of the T-shaped strip 62, so that the position of the T-shaped strip 62 can be adjusted, the position of the counterweight 64 is changed to change the center of gravity of the inspection robot, the positions of the counterweights 64 on both sides of the inspection robot body 1 are flush, and the two counterweights 64 are synchronously lifted, the counterweight 64 is used for stable support when the inspection robot body 1 walks in the oil field, the position of the counterweight 64 can be adjusted to make the counterweight 64 contact with the ground or have a small gap with the ground, which can reduce the overturning of the inspection robot when walking and avoid damage to the instruments of the inspection robot.

[0036] Please refer to Figure 4 and Figure 5As shown, the side wall of the fixed block 61 and outside the double gear one 66 and the double gear two 67 are provided with an end cover, and the shell of the driving motor one 65 is fixed with the end cover, and the rotating shaft of the double gear one 66 and the rotating shaft of the double gear two 67 are both rotatably connected with 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 is engaged with the large gear of the double gear two 67, so that the pinion of the double gear one 66 and the pinion of the double gear two 67 can drive the T-shaped strip 62 between them, so that the T-shaped strip 62 is lifted in the T-shaped groove 63.

[0037] Please refer to Figure 3 and Figure 4 As shown, the pinion of the double gear one 66 and the pinion of the double gear two 67 are spaced apart from the teeth 68 on the two side walls of the T-shaped strip 62, the bottom end contact surface of the counterweight block 64 is parallel to the ground, and the bottom end of the counterweight block 64 is in contact with the ground or there is a small gap between the bottom end of the counterweight block 64 and the ground when the counterweight block 64 is lowered.

[0038] It should be noted that according to the stability requirement of the inspection robot when walking, the height of the counterweight block 64 in the stabilizing structure 6 is adjusted, specifically, the driving motor one 65 drives the double gear one 66 to rotate, the double gear one 66 and the double gear two 67 interact to make the T-shaped strip 62 between the double gear one 66 and the double gear two 67 can be lifted, so as to adjust the height of the counterweight block 64, the change of the position of the counterweight block 64 can change the center of gravity of the inspection robot, and the counterweight block 64 is also close to the ground, so as to avoid the inspection robot from tipping over.

[0039] The stabilizing structure 6 is provided, the counterweight block 64 is located at the lower end of the two sides of the inspection robot body 1, the counterweight block 64 makes the center of gravity of the inspection robot relatively lower, so as to ensure the stability of the vehicle when the oilfield road condition is relatively poor; the driving motor one 65 drives the double gear to rotate, the position of the counterweight block 64 is changed, so that the inspection robot can adapt to different road conditions, when the counterweight block 64 is lowered to the ground or there is a small gap, the counterweight block 64 can assist the moving wheel 2, so as to reduce the tipping over of the vehicle when driving in the oilfield, and avoid the damage of the detection instrument on the inspection robot

[0040] Please refer to Figure 2 , Figure 6 and Figure 7As shown, the inside of the counterweight 64 is provided with an auxiliary structure 8, the auxiliary structure 8 includes a driving motor two 82, the driving motor two 82 is arranged on one side of the counterweight 64, the bottom end of the counterweight 64 is provided with a placing cavity 81, the end of the driving motor two 82 and located inside the placing cavity 81 is provided with a bevel gear one 83, the inside of the placing cavity 81 is horizontally provided with a connecting shaft 84, the outside of the connecting shaft 84 and located inside the placing cavity 81 is provided with a bevel gear two 85, the bevel gear two 85 is engaged with the bevel gear one 83, the bevel gear two 85 is used to assist the movement of the inspection robot body 1, the driving motor two 82 drives the bevel gear one 83 to rotate, the bevel gear one 83 rotates synchronously with the bevel gear two 85, and the bevel gear two 85 is used to assist the movement of the inspection robot body 1.

[0041] Please refer to Figure 6 and Figure 7 As shown, the middle of the connecting shaft 84 is welded with a fixed shaft, and the fixed shaft is rotatably connected with the bevel gear two 85, so as to ensure that the bevel gear two 85 can normally rotate when the bevel gear one 83 is engaged with the bevel gear two 85, the end of the connecting shaft 84 is located inside the end face of the bevel gear one 83, and the end of the connecting shaft 84 is rotatably connected with the end face of the bevel gear one 83, the purpose of the end of the connecting shaft 84 being located inside the end face of the bevel gear one 83 is to ensure that the strength of the connecting shaft 84 is sufficient.

[0042] Please refer to Figure 6 and Figure 8 As shown, the end of the connecting shaft 84 is provided with a fixing groove 88, a cotter pin 89 is inserted into the inside of the fixing groove 88 and located at the outer wall of the counterweight 64, the cotter pin 89 can limit the position of the connecting shaft 84, the end of the cotter pin 89 is threadedly connected with a fastening bolt 810, the outer wall of the counterweight 64 is provided with two threaded holes 811, the fastening bolt 810 is screwed with 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°, and the fastening bolt 810 can change the orientation of the bevel gear two 85 after being screwed with one of the threaded holes 811.

[0043] Please refer to Figure 6 and Figure 7As shown, the counterweight 64 on both sides of the inspection robot body 1 are inclined arrangement, the counterweight 64 inclined arrangement so that the position of bevel gear two 85 micro tilt, fastening bolt 810 and one of the threaded holes 811 connected, the bevel gear two 85 trend is transversely arranged, fastening bolt 810 will be connected with the shaft 84 position fixed and bevel gear two 85 towards fixed, and the lower end surface of bevel gear two 85 is provided with a tapered surface 86, the lowest end of the conical surface of the conical surface 86 is located in the horizontal direction, to avoid the whole end surface of the rotating bevel gear two 85 contact with the ground, and the surface of the tapered surface 86 is provided with friction lines 87, the friction lines 87 contact with the ground, some complex road conditions of the bottom surface of the inspection robot can obtain higher power, also can use friction lines 87 to improve the friction between the tapered surface 86 and the ground.

[0044] Please refer to Figure 9 As shown, the fastening bolt 810 is connected with another threaded hole 811, the bevel gear two 85 trend is vertically arranged, and the cylindrical surface of the bevel gear two 85 contacts with the ground, which can insert the bevel gear two 85 into the muddy oil field road surface, so that the inspection robot can smoothly drive out of the mud.

[0045] Rotating the connecting shaft 84 90° so that the bevel gear two 85 is in vertical arrangement, the fastening bolt 810 of the pin 89 is screwed into the corresponding threaded hole 811, so as to fix the position of the bevel gear two 85, rotating the bevel gear one 83 drives the bevel gear two 85 to rotate, the vertical bevel gear two 85 can rotate, at this time the cylindrical surface of the bevel gear two 85 contacts with the ground, which can insert the bevel gear two 85 into the muddy oil field road surface, so that the inspection robot can smoothly drive out of the mud.

[0046] It should be noted that rotating the connecting shaft 84 so that the bevel gear two 85 is in horizontal arrangement, and the fastening bolt 810 of the pin 89 is screwed into the corresponding threaded hole 811, so that the bevel gear two 85 and the bevel gear two 85 position will not change, at this time the driving motor two 82 drives the bevel gear one 83 to rotate, the bevel gear one 83 and the bevel gear two 85 rotate, because the bevel gear two 85 tapered surface 86 inclined arrangement, the lowest end of the conical surface of the conical surface 86 will contact with the ground, to avoid the whole end surface of the rotating bevel gear two 85 contact with the ground;

[0047] The auxiliary structure 8 is provided, the horizontally arranged bevel gear two 85 can contact with the ground, the conical surface of the conical surface 86 can rotate in one direction, so that the inspection robot can obtain higher power in some complex road conditions of the bottom surface, also can use friction lines 87 to improve the friction between the tapered surface 86 and the ground; the vertically arranged bevel gear two 85 can be lifted with the counterweight 64, so that the bevel gear two 85 is inserted into the muddy oil field road surface, so that the inspection robot can smoothly drive out of the mud.

[0048] Please see Figure 2 and Figure 10 As shown, a cleaning structure 7 is installed at the top of the inspection robot body 1, specifically at the location of the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5. The cleaning structure 7 is used to clean some instruments at the top of the inspection robot body 1. The cleaning structure 7 includes a fixing plate 71 located at the top of the inspection robot body 1. The surface of the fixing plate 71 has several mating holes 72, and the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5 are respectively located inside each mating hole 72. A cleaning sponge 77 is provided on the inner wall of each mating hole 72. The cleaning sponge 77 comes into contact with the hazardous gas detector 3, the ultrasonic sensor 4, and the lidar 5 respectively. When the fixing plate 71 is raised and lowered, it can perform simple cleaning of the outer wall of the instrument. Three sets of connecting rods 74 are welded on both sides of the fixing plate 71. The top of each of the three sets of T-shaped bars 62 is provided with a connecting hole 75. The connecting rod 74 passes through the inside of the connecting hole 75. When the T-shaped bars 62 are raised and lowered, the fixing plate 71 is raised and lowered synchronously. The connecting rod 74 can slide along the connecting hole 75 of the T-shaped bars 62, so that the cleaning sponge 77 inside the fixing plate 71 can clean the instrument.

[0049] Please see Figure 10 As shown, the surface of the fixing plate 71 has several reserved grooves 73. The reserved grooves 73 prevent interference with some instruments or parts that do not require cleaning. The connecting rod 74 is slidably connected to the connecting hole 75 of the T-shaped strip 62, and each connecting rod 74 is fitted with a telescopic spring 76. The telescopic spring 76 is located between the edge of the fixing plate 71 and the T-shaped strip 62. Under the action of the telescopic spring 76, the fixing plate 71 is positioned between the T-shaped strips 62 on both sides, preventing the mating hole 72 of the fixing plate 71 from being misaligned with the various instruments.

[0050] It should be noted that the synchronously lifting T-shaped bar 62 drives the fixed plate 71 to rise as well during lifting. With the help of the cleaning sponge 77 inside the hole 72, various instruments such as the hazardous gas detector 3, ultrasonic sensor 4, and lidar 5 can be cleaned. The reserved slot 73 avoids interference with some instruments or parts that do not need to be cleaned, and prevents the instruments of the inspection robot from being affected by dust, which may cause detection errors. Cleaning the instruments of the robot is relatively convenient.

[0051] Equipped with a dust-cleaning structure 7, the counterweight 64 can be raised and lowered simultaneously with the fixing plate 71, thereby cleaning the inner wall of the inspection robot body 1. This prevents dust from affecting the inspection robot's hazardous gas detector 3, ultrasonic sensor 4, and lidar 5, causing detection errors. Cleaning the robot's instruments is relatively convenient. When the counterweight 64 descends, it improves the robot's stability while the fixing plate 71 reinforces the detection instruments, allowing the inspection robot to pass through potholes more smoothly.

[0052] The preferred embodiments of the application disclosed above are only to help explain the present application. The preferred embodiments are not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims and the full range of equivalents that are claimed.

Claims

1. An oilfield wheeled inspection robot, comprising an inspection robot body (1) and moving wheels (2), wherein the moving wheels (2) are disposed on both sides of the bottom end of the inspection robot body (1), and a hazardous gas detector (3), an ultrasonic sensor (4), and a lidar (5) are disposed on the top end of the inspection robot body (1), characterized in that, The inspection robot body (1) has stabilizing structures (6) on both sides. Each stabilizing structure (6) includes a fixing block (61) which is welded to the two side walls of the inspection robot body (1). Each fixing block (61) has three sets of T-slots (63) inside. T-slots (62) are slidably connected inside the three sets of T-slots (63). Counterweights (64) are welded to the bottom of the three sets of T-slots (62). The counterweights (64) are located at the lower ends of both sides of the inspection robot body (1). Double gear one (66) and double gear two (67) are provided inside the fixing block (61) and at the middle set of T-slots (62). The large gear of 6) and the large gear of double gear two (67) mesh with each other. The two side walls of T-shaped bar (62) are provided with teeth (68). The small gears of double gear one (66) and double gear two (67) mesh with the teeth (68) of T-shaped bar (62). The side wall of fixed block (61) and located at double gear one (66) are provided with drive motor one (65). The output end of drive motor one (65) is connected to double gear one (66). The counterweights (64) on both sides of the inspection robot body (1) are aligned. The two counterweights (64) rise and fall synchronously. The counterweights (64) are used for stable support when the inspection robot body (1) walks in the oil field. The counterweight (64) is provided with an auxiliary structure (8), which includes a second drive motor (82). The second drive motor (82) is located on one side of the counterweight (64). The bottom end of the counterweight (64) is provided with a placement cavity (81). The end of the second drive motor (82) and inside the placement cavity (81) is provided with a bevel gear (83). The placement cavity (81) is horizontally mounted with a connecting shaft (84). The outside of the connecting shaft (84) and inside the placement cavity (81) is provided with a bevel gear (85). The bevel gear (85) meshes with the bevel gear (83) to assist the inspection robot body (1) in moving. The end of the connecting shaft (84) is provided with a fixing groove (88), and a locking pin (89) is inserted inside the fixing groove (88) and located on the outer wall of the counterweight (64). The end of the locking pin (89) is threadedly connected with a fastening bolt (810). The outer wall of the counterweight (64) is provided with two threaded holes (811), and the included angle between the two threaded holes (811) and the axis of the connecting shaft (84) is 90°.

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 double gear two (67), and the housing of the drive motor one (65) is fixed to the end cover, and the shafts of the double gear one (66) and the double gear two (67) are rotatably connected to the end cover.

3. The oilfield wheeled inspection robot according to claim 2, characterized in that, The spacing between the pinions of the first double gear (66) and the second double gear (67) is adapted to the spacing between the teeth (68) on both sides of the T-shaped bar (62), and the bottom contact surface of the counterweight (64) is parallel to the ground plane.

4. The oilfield wheeled inspection robot according to claim 3, characterized in that, The connecting shaft (84) has a fixed shaft welded in the middle, and the fixed shaft is rotatably connected to 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).

5. The oilfield wheeled inspection robot according to claim 4, characterized in that, The counterweights (64) located on both sides of the inspection robot body (1) are arranged at an angle. The fastening bolt (810) is connected to one of the threaded holes (811). The direction of the bevel gear (85) is arranged laterally. The lower end face of the bevel gear (85) is provided with a conical surface (86). The lowest end generatrix of the conical surface (86) is located in the horizontal direction. The surface of the conical surface (86) is provided with friction texture (87). The friction texture (87) is in contact with the ground plane.

6. The oilfield wheeled inspection robot according to claim 4, characterized in that, The fastening bolt (810) is connected to another threaded hole (811), the bevel gear two (85) is arranged vertically, and the cylindrical surface of the bevel gear two (85) is in contact with the ground plane.

7. An oilfield wheeled inspection robot according to claim 3 or 4, characterized in that, A cleaning structure (7) is provided at the top of the inspection robot body (1) and at the location of the hazardous gas detector (3), ultrasonic sensor (4) and lidar (5). The cleaning structure (7) includes a fixing plate (71). The fixing plate (71) is located at the top of the inspection robot body (1). Several mating holes (72) are opened on the surface of the fixing plate (71). The hazardous gas detector (3), ultrasonic sensor (4) and lidar (5) are located inside each mating hole (72). A cleaning sponge (77) is provided on the inner wall of each mating hole (72). The cleaning sponge (77) is in contact with the hazardous gas detector (3), ultrasonic sensor (4) and lidar (5) respectively. Three sets of connecting rods (74) are welded on both sides of the fixing plate (71). The top of each of the three sets of T-shaped strips (62) is provided with a connecting hole (75). The connecting rod (74) passes through the interior of the connecting hole (75).

8. The oilfield wheeled inspection robot according to claim 7, characterized in that, The surface of the fixing plate (71) is provided with several reserved grooves (73), the connecting rod (74) is slidably connected to the connecting hole (75) of the T-shaped strip (62), and each connecting rod (74) is fitted with a telescopic spring (76) on the outside. The telescopic spring (76) is located between the edge of the fixing plate (71) and the T-shaped strip (62).

Images