Coal bed gas L-shaped production well pipeline robot based on parallel mechanism

Abstract

The invention relates to the field of coal bed gas exploration and development, in particular to a parallel mechanism-based coal bed gas L-shaped production well pipeline robot which is mainly applied to internal operation of coal bed gas horizontal wells and pipelines. Aiming at the problem of poor trafficability caused by change of the inner diameter of a pipeline and a complex pipe section, the adaptability and the mobility are improved through telescopic adjustment of the 3-RGR parallel mechanism and the design of a spiral wheel; aiming at the problems of single function and low integration level, the platform can be provided with a camera, a drill bit, a high-pressure water gun and other tools to meet the requirements of detection, cleaning, blockage removal and the like, supports a multi-unit front-and-back series extension function, realizes multiple functions by adopting a modular platform design, and improves the operation efficiency; in order to solve the problem that the structure is complex and heavy, the 3-RGR parallel mechanism and modular design are utilized to achieve structure simplification and light weight, meanwhile, high rigidity and high bearing capacity are guaranteed, and the structure is more suitable for the complex and narrow coalbed methane shaft and pipeline operation environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coalbed methane exploration and development, and particularly relates to a coalbed methane L-shaped production well pipeline robot based on a parallel mechanism. BACKGROUND

[0002] Currently, the main mechanism for pipeline internal operation is based on a traditional mobile platform or a simple mechanical arm system, which mainly has the following problems and deficiencies: Firstly, many existing robot structures are relatively fixed, and in a complex and variable coalbed methane horizontal well and pipeline environment, they cannot adapt to the decrease in pipeline diameter caused by coal dust blockage and deformation, have poor passability, and are prone to be stuck in narrow or deformed sections. Secondly, the functions are single, and they can often only perform a specific task (such as pure detection or pure cleaning), so when multiple operations are required, different equipment needs to be replaced, which is low in efficiency, and it is difficult to integrate multiple operation tools such as high-definition video, powerful drilling, and high-pressure flushing on the same platform. Thirdly, although some robots with complex structures have more functions, they often have problems such as large size, heavy weight, high energy consumption, and high cost, and are inconvenient to operate in a small space, and it is difficult to balance the rigidity and carrying capacity. Fourthly, the current pipeline robot adopts a wheeled mechanism, which is prone to slipping in a wet and slippery pipeline with sediments. Fifthly, the current pipeline robot adopts a mechanism that can change the diameter of the robot by stretching or contracting the whole mechanism to adapt to different pipe diameters, but the passability is not strong in deformed or curved pipelines. Since a single drive source is used for synchronous adjustment, the forces at each support point are uneven, and it is difficult to make local adjustments in real time according to the deformation of the pipeline.

[0003] These problems limit the application of the existing technology in complex conditions of coalbed methane wellbore and pipeline, and it is difficult to meet the requirements of efficient, multifunctional, and highly adaptive operation.

[0004] In trying to solve the above problems, the following difficulties exist, first, to ensure that the robot structure is compact and light in weight, and to achieve sufficient rigidity and carrying capacity to cope with complex downhole conditions and operating loads. Second, it is difficult to design a mechanism that can adapt to changes in pipeline diameter as a whole and make fine adjustments to the local attitude to improve passability and operation accuracy. In addition, it is also difficult to integrate multiple different functions (such as visual detection, mechanical cleaning, and high-pressure unblocking) into a stable, reliable, and easy-to-control modular platform, and to ensure the coordinated work between the functional units, which involves complex mechanical, electrical, and control system design. SUMMARY

[0005] The present application aims to fill the gap of the pipeline robot applicable to the coalbed methane horizontal well before, and specifically solves the poor passability problem caused by the change of the inner diameter of the pipeline and the complex pipe section, the complex structure, the heavy and the single function and the low integration, and provides a coalbed methane L-shaped production well pipeline robot based on parallel mechanism. The adaptability and movement ability are improved through the telescopic adjustment of the 3-RGR parallel mechanism and the design of the spiral wheel; the modular platform design is adopted to realize one machine with multiple functions and improve the operation efficiency; in view of the problem of complex structure and heaviness, the 3-RGR parallel mechanism and the modular design are used to realize the structure simplification and light weight, while ensuring high rigidity and strong bearing capacity, so that it is more suitable for the complex and narrow coalbed methane wellbore and pipeline operation environment.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is: a coalbed methane L-shaped production well pipeline robot based on parallel mechanism, comprising three independent RGR mechanisms, and a movable platform, an openable platform and an adjustable distance gear set distributed from top to bottom and connected between the three independent RGR mechanisms; the included angle between the center shafts of any two adjacent RGR mechanisms is 120°. The RGR mechanism comprises a main shaft, a threaded wheel is sleeved on the outside of the main shaft, the top, middle and bottom of the main shaft, a bearing is sleeved on the outside of the main shaft of the threaded wheel located at the top and middle, a connecting rod is hingedly connected between the bearing and the movable platform, a motor is installed on the top of the openable platform, a screw rod set is connected to the output end of the motor, the screw rod set comprises a screw rod, one end of the screw rod is connected to the output end of the motor, the other end of the screw rod is threadedly sleeved with a screw rod sleeve, a universal hinge is installed on the top of the screw rod sleeve, and the top of the universal hinge is connected to the bottom of the movable platform. A distance adjuster is installed between the openable platform and the adjustable distance gear set, the edge gears of the adjustable distance gear set are sleeved on the outside of the main shaft between the middle and bottom threaded wheels, a power motor is installed at the center lower part of the adjustable distance gear set, the output end of the power motor passes through the center of the adjustable distance gear set and is rotatably installed at the bottom of the openable platform, the openable platform is provided with three support parts, the included angle between adjacent support parts is 120°, a strip-shaped hole is formed in the support part, the upper end of the distance adjuster is slidably arranged in the strip-shaped hole, a lower bearing is sleeved on the outside of the main shaft between the edge gear and the middle threaded wheel, a linear motor is installed on the side wall of the lower bearing, a spring is sleeved on the outside of the output end of the linear motor, and the end is connected with the distance adjuster.

[0007] As a further limitation of the technical scheme of the application, the adjustable distance gear set comprises a central gear, the edges of the central gear are engaged with three intermediate gears, the three intermediate gears are respectively engaged with edge gears, a central shaft is arranged at the center of the intermediate gears, connecting rods are arranged on the upper and lower sides between adjacent gears, one end of the connecting rod between the central gear and the intermediate gear penetrates through the central shaft, and the other end is sleeved on the outside of the output end of the power motor, one end of the connecting rod between the intermediate gear and the edge gear penetrates through the central shaft, and the other end is sleeved on the outside of the main shaft; the lower end of the distance adjuster is mounted on the upper connecting rod between the intermediate gear and the edge gear.

[0008] As a further limitation of the technical scheme of the application, the top of the movable platform is provided with a connecting port for loading a camera, an ultrasonic detector or a high-pressure water gun head.

[0009] As a further limitation of the technical scheme of the application, the bottom of the power motor is provided with an external device interface.

[0010] As a further limitation of the technical scheme of the application, the distance adjuster is a connecting rod with upper and lower stepped corners, and the end of the output end of the linear motor is connected to the sidewall of the upper stepped corner of the distance adjuster.

[0011] Compared with the prior art, the application has the following beneficial effects: Greatly improved passing performance: the unique 3-RGR parallel mechanism design, combined with overall telescopic adjustment, single mechanism independent motor adjustment and innovative spiral tooth belt notch wheel, enables the robot to flexibly adapt to different diameters, curved or even complex pipeline environments with obstacles, effectively solving the poor passing performance and easy jamming problems of the prior art.

[0012] High function integration and flexibility: the modular design allows quick replacement or combination of different tools such as cameras, drills and high-pressure water guns according to job requirements (detection, cleaning, unblocking, etc.), realizing one machine with multiple functions, significantly improving job efficiency and comprehensive utilization of equipment, and overcoming the shortcomings of single function and low integration of the prior art.

[0013] Optimized structure, superior performance: the combination of 3-RGR parallel mechanism and modular design enables the robot to have sufficient rigidity and carrying capacity, while the structure is relatively simple and lightweight, facilitating operation in narrow and deformed spaces, and solving the problems of complex structure, bulkiness and poor adaptability of some prior art.

[0014] Fill in the technical gap: the application provides a new type of efficient and reliable robot solution for coalbed methane horizontal well and pipeline operation, which is expected to fill the technical gap of pipeline robots in this application field, and has important practical value and market prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of the parallel mechanism coalbed methane L-type production well pipeline robot of the present invention.

[0016] Figure 2 Schematic diagram of the structure of the expandable platform.

[0017] Figure 3 Schematic diagram of the adjustable distance gear set.

[0018] Figure 4 This is a top view of the parallel mechanism coalbed methane L-shaped production well pipeline robot of the present invention.

[0019] The following are marked in the figure: 1-threaded wheel, 2-bearing, 3-edge gear, 4-connecting rod, 5-connecting port, 6-moving platform, 7-universal hinge, 8-screw group, 9-linear motor, 10-distance adjuster, 11-expandable platform, 12-adjustable distance gear group, 13-power motor, 14-equipment interface, 15-spindle. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to specific embodiments. Example 1

[0021] like Figure 1 As shown, a parallel mechanism-based coalbed methane L-shaped production well pipeline robot includes three independent RGR mechanisms, which are commonly connected to a moving platform 6, an expandable platform 11, and an adjustable distance gear set 12 distributed from top to bottom. The angle between the central axes of any two adjacent RGR mechanisms is 120°; The RGR mechanism includes a main shaft 15, and the three main shafts 15 are formed at an angle of 120 degrees. The outside of the main shaft 15, the top, middle and bottom of the main shaft 15 are respectively equipped with threaded wheels 1, and the outside of the main shaft 15 of the threaded wheels 1 at the top and middle is equipped with bearings 2. The bearings 2 and the moving platform 6 are jointly hinged with a connecting rod 4. The top of the expandable platform 11 is installed with a motor, and the output end of the motor is connected to a screw group 8. The screw group 8 includes a screw, one end of the screw is connected to the output end of the motor, and the other end is threadedly equipped with a screw sleeve. The top of the screw sleeve is equipped with a universal hinge 7, and the top of the universal hinge 7 is connected to the bottom of the moving platform 6; the motor drives the screw to rotate, and the rotation of the screw drives the screw sleeve to move up and down, thereby driving the platform 6 to rise or fall, changing the angle between the connecting rod 4 and the moving platform 6, changing the opening or contraction of the entire mechanism, and changing the overall size of the mechanism to adapt to passage in different pipe sizes.

[0022] The distance adjuster 10 is installed between the expandable platform 11 and the adjustable distance gear set 12, the edge gears 3 of the adjustable distance gear set 12 are respectively sleeved outside the main shaft 15 between the middle and bottom threaded wheels 1, the power motor 13 is installed at the center lower part of the adjustable distance gear set 12, the output end of the power motor 13 passes through the center of the adjustable distance gear set 12 and is rotatably installed at the bottom of the expandable platform 11. Figure 2 As shown in the figure, the expandable platform 11 is provided with three support parts, the included angle between adjacent support parts is 120°, a strip-shaped hole is formed in the support part, and the upper end of the distance adjuster 10 is slidably arranged in the strip-shaped hole; a lower bearing is sleeved outside the main shaft 15 between the edge gear 3 and the middle threaded wheel 1, a linear motor 9 is installed at the side wall of the lower bearing, a spring is sleeved outside the output end of the linear motor 9, and the end is connected with the distance adjuster 10. The motor on the expandable platform 11 rotates at the same time, and the adjustable distance gear set 12 also expands or shrinks, the power of the power motor 13 is transmitted to the main shaft 15 and the edge gear 3 on the main shaft, the spiral wheel 1 is driven to rotate, and the mechanism is realized forward or backward.

[0023] Further, as shown in the figure, Figure 3 The adjustable distance gear set 12 includes a center gear, the edge of the center gear is engaged with three intermediate gears, the three intermediate gears are respectively engaged with the edge gears 3, a center shaft is arranged at the center of the intermediate gear, the upper and lower sides between adjacent gears are provided with connecting rods, one end of the connecting rod between the center gear and the intermediate gear passes through the center shaft, and the other end is sleeved outside the output end of the power motor 13, one end of the connecting rod between the intermediate gear and the edge gear 3 passes through the center shaft, and the other end is sleeved outside the main shaft 15; the lower end of the distance adjuster 10 is installed on the upper connecting rod between the intermediate gear and the edge gear 3.

[0024] Further, the top of the movable platform 6 is provided with a connecting port 5, and the connecting port is used to load a camera, an ultrasonic detector or a high-pressure water gun head.

[0025] Further, the bottom of the power motor 13 is provided with an external device interface 14, which can be connected in series with other mechanisms.

[0026] Further, the distance adjuster 10 is a connecting rod with upper and lower stepped corners, and the end of the output end of the linear motor 9 is connected to the side wall of the upper stepped corner of the distance adjuster 10.

[0027] Working process and principle: control the motor on the openable platform 11 to work, rotate to drive the screw rod group 8 to elongate or shorten, and then drive the movable platform 6 to ascend or descend, change the size between the connecting rod 4 and the movable platform 6, change the opening or contraction of the whole mechanism, change the overall size of the mechanism, and adapt to pass through in different pipe sizes. Control the motor on the openable platform 11 to rotate, also drive the adjustable distance gear set 12 to open or contract, at the same time, the power of the power motor 13 is transmitted to the edge gear 3 and the main shaft 15 through the adjustable distance gear set 12, drive the threaded wheel 1 to rotate, realize the mechanism to advance or retreat.

[0028] When encountering obstacles, the threaded wheel 1 will be extruded, change the connecting rod 4 to drive the movable platform 6, change the pose of the movable platform 6 through the universal hinge 7. After passing through the obstacle, the spring of the universal hinge 7 restores the initial state, and then drives the platform 6, the connecting rod 4 and the wheel to restore the initial state.

[0029] When encountering a pipe deformation section, the linear motor 9 can be controlled alone, the distance between the adjustable distance gear set 12 is adjusted through the distance adjuster 10, only the distance between a main shaft 15 and the openable platform 11 is changed, and the deformation section is smoothly passed through.

[0030] The pipe robot mainly applies to coal bed gas horizontal well and pipe internal operation. The robot is composed of three independent RGR mechanisms connected through two platforms, can not only adjust the overall size according to the pipe diameter, but also can individually adjust each RGR mechanism by using the motor to enhance the passability, the platform can install a camera, a drill bit, a high-pressure water gun and other tools to adapt to the detection, cleaning, unblocking and other needs, and supports the multi-unit forward and backward series expansion function, has the advantages of simple structure, good passability, light weight, large rigidity, strong bearing capacity, high precision and the like.

Claims

1. A coal bed methane L-shaped production well pipe robot based on a parallel mechanism, characterized in that, It comprises three independent RGR mechanisms, and a movable platform (6), an openable platform (11) and an adjustable distance gear set (12) are arranged from top to bottom between the three independent RGR mechanisms, and the included angle between the central shafts of any two adjacent RGR mechanisms is 120°. The RGR mechanism comprises a main shaft (15), the outer side of the main shaft (15), the top, middle and bottom of the main shaft (15) are respectively sleeved with threaded wheels (1), the outer side of the main shaft (15) of the threaded wheels (1) at the top and the middle is sleeved with a bearing (2), a connecting rod (4) is hingedly connected between the bearing (2) and the movable platform (6), a motor is installed at the top of the openable platform (11), a screw rod set (8) is connected to the output end of the motor, the screw rod set (8) comprises a screw rod, one end of the screw rod is connected to the output end of the motor, the other end is sleeved with a screw rod sleeve, a universal hinge (7) is installed at the top end of the screw rod sleeve, and the top of the universal hinge (7) is connected to the bottom of the movable platform (6). A distance adjuster (10) is installed between the openable platform (11) and the adjustable distance gear set (12), the edge gears (3) of the adjustable distance gear set (12) are respectively sleeved on the outer side of the main shaft (15) between the middle and bottom threaded wheels (1), a power motor (13) is installed at the center of the lower part of the adjustable distance gear set (12), the output end of the power motor (13) passes through the center of the adjustable distance gear set (12) and is rotatably installed at the bottom of the openable platform (11), the openable platform (11) is provided with three support parts, the included angle between adjacent support parts is (120) °, a strip-shaped hole is formed in the support part, and the upper end of the distance adjuster (10) is slidably arranged in the strip-shaped hole; a lower bearing is sleeved on the outer side of the main shaft (15) between the edge gear (3) and the middle threaded wheel (1), a linear motor (9) is installed at the side wall of the lower bearing, a spring is sleeved on the outer side of the output end of the linear motor (9), and the end is connected with the distance adjuster (10).

2. The coal-bed methane L-shaped production well pipe robot based on a parallel mechanism according to claim 1, characterized in that, The adjustable distance gear set (12) comprises a center gear, three intermediate gears are engaged at the edge of the center gear, and the edge gears (3) are respectively engaged with the three intermediate gears, a center shaft is arranged at the center of the intermediate gear, and connecting rods are arranged on the upper and lower sides between adjacent gears, one end of the connecting rod between the center gear and the intermediate gear passes through the center shaft, and the other end is sleeved on the outer side of the output end of the power motor (13), one end of the connecting rod between the intermediate gear and the edge gear (3) passes through the center shaft, and the other end is sleeved on the outer side of the main shaft (15); the lower end of the distance adjuster (10) is installed on the upper connecting rod between the intermediate gear and the edge gear (3).

3. The coal-bed methane L-shaped production well pipe robot based on a parallel mechanism according to claim 1, characterized in that, A connecting port (5) is installed at the top of the movable platform (6), and the connecting port is used for loading a camera, an ultrasonic detector or a high-pressure water gun head.

4. The coal-bed methane L-shaped production well pipe robot based on a parallel mechanism according to claim 1, characterized in that, An external device interface (14) is installed at the bottom of the power motor (13).

5. The coal-bed methane L-shaped production well pipe robot based on a parallel mechanism according to claim 1, characterized in that, The distance adjuster (10) is a connecting rod with two stepped corners on the top and bottom, wherein the end of the output end of the linear motor (9) is connected to the side wall of the upper stepped corner of the distance adjuster (10).

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