Intelligent detection robot for downhole working condition characteristic data of complex structure well

Abstract

The application discloses a kind of complex structure well downhole working condition characteristic data intelligent detection robot, belong to intelligent detection equipment field, it contains multi-parameter well logging automatic variable diameter integrated device, connecting device, anchoring device, power device, power transmission device.The multi-parameter well logging automatic variable diameter integrated device used in the application can accurately analyze downhole information, solves the problem that existing logging sensor needs to be customized according to different occasions and cannot be analyzed in real time;The anchoring device can realize the stable anchoring of the detector downhole by its friction and tension to obtain reliable data, avoiding the problem of data loss due to the sliding of power device;Power device can adapt to different size wellbore by adjusting the radius change of driving device, improving the stability of robot travel and detection.The application effectively solves the problem of traditional logging method, time-consuming, high cost, and provides a new method for horizontal section segmented production and main production layer working condition characteristic data detection.

Description

Technical Field

[0001] This invention relates to the field of intelligent detection equipment for oil and gas drilling and production and deep geological exploration processes, specifically to an intelligent detection robot for downhole working condition characteristic data of complex structure wells. Background Technology

[0002] With the increasing demand for petroleum resources from social production and daily life, oil exploration and development are continuously extending into deeper and more geologically complex areas, significantly increasing the difficulty and cost of extraction. To ensure accurate geological information, the scientific and rational use of logging technology is particularly important. This not only improves logging efficiency but also avoids unnecessary cost inputs. Simultaneously, during oil drilling and production, collecting and measuring bottom-hole data becomes crucial so that the surface can make corresponding adjustments based on the drilling process. Therefore, scientific logging technology plays a vital role in improving oil extraction efficiency, reducing costs, and ensuring safety.

[0003] Against this backdrop, the comprehensive, accurate, and efficient acquisition of downhole condition characteristic data has become a core bottleneck restricting exploration efficiency and decision optimization. This challenge manifests itself on two levels: First, in terms of data transmission, whether it is cable transmission, which requires well shutdown and affects work efficiency, or logging while drilling (such as mud pulse), which has high technical barriers and high costs, existing technologies struggle to achieve an ideal balance between efficiency, reliability, and cost; Second, at the downhole operation level, the complex wellbore environment easily leads to the risk of instrument jamming, while the limited data acquisition capacity and single data type of robots also restrict the true understanding of underground conditions.

[0004] The survey revealed the following main problems with existing exploration robots.

[0005] (1) To address the problems of difficulty in collecting downhole working condition characteristic data, small collection volume, single collection type, and data distortion, a multi-parameter logging automatic diameter-changing integrated device should be set up. The device collects various required downhole data through multi-parameter sensors and stores them in a data storage device to achieve massive collection of downhole working condition characteristic data.

[0006] (2) To address the problem that complex sediments, rocks and well fluids exist downhole, causing mechanical obstruction to instruments and resulting in equipment getting stuck downhole, an automatic diameter-changing power device should be installed to effectively cope with complex well conditions and avoid jamming accidents.

[0007] (3) For complex downhole conditions, a high-performance anchoring device should be added to ensure that the instrument can be stably anchored at the target logging position under complex conditions such as high-speed fluid scouring or inclined well sections, so as to provide a static and stable working environment for the sensor and thus ensure the accuracy of data acquisition.

[0008] Therefore, in order to effectively address the shortcomings of existing detection devices during operation, there is an urgent need to invent an intelligent detection robot for downhole working condition characteristic data in complex structures, to meet the changing conditions during operation. It is necessary to flexibly and quickly adjust the stability of the detection robot and increase its functionality to adapt to changing working environments, thereby achieving the goal of safely and efficiently completing the intelligent detection of downhole working condition characteristic data. Summary of the Invention

[0009] This invention aims to solve the problems of high labor costs, time consumption, and high expenses associated with traditional horizontal well dynamic logging methods, and provides a multi-functional downhole exploration robot. To address the difficulties in acquiring downhole condition characteristic data, the small amount of data collected, the limited types of data collected, and the distortion of the acquired data, this invention designs a multi-parameter logging integrated module, enabling real-time monitoring during autonomous navigation, hovering, and retrieval. To solve the problem of downhole equipment and instruments getting stuck in the well due to obstacles, this invention employs an automatic variable-diameter power unit, which uses a synchronous belt and harmonic reducer to simplify the structure while increasing torque. To ensure stable downhole data measurement under complex conditions such as high-speed fluid scouring or inclined well sections, this invention designs a high-performance anchoring device using a variable-diameter drive to adapt to different wellbore radii and prevent slippage. Simultaneously, this invention designs a power transmission device that can be connected to an external cable and can also provide independent power when the cable is damaged, ensuring stable operation of the exploration robot and efficient completion of downhole exploration operations.

[0010] The objective of this invention is achieved through the following technical solution: an intelligent detection robot for downhole working condition characteristic data of complex structure wells, characterized in that it includes a multi-parameter logging automatic diameter-changing integrated device, a connecting device, an anchoring device, a power device, and a power transmission device; The power transmission device is electrically connected to the multi-parameter logging automatic diameter changing integrated device, the connecting device, the anchoring device, and the power device. The two power devices are arranged on the upper and lower sides of the overall structure. The lower power device is fixedly connected to the multi-parameter logging automatic diameter changing integrated device and the connecting device with screws, and the upper power device is fixedly connected to the anchoring device and the power transmission device with screws. The anchoring device and the connecting device are fixedly connected with screws.

[0011] The multi-parameter logging automatic diameter-changing integrated device includes a cap I, a detection shell, a detection guide, a detection integrated column, a flow detector, a positioning module, a measurement electronic component board, a detection connecting rod I, a detection connecting rod II, a connecting block, a detection support, a support stabilizer, a positioning connecting rod, a chip, an analyzer, a rubber ring, a main electronic circuit storage module, a slider, a lead screw, a connecting part I, and a cap II. The detection guide is threaded to the detection shell and the positioning connecting rod respectively. One end of the detection integrated column is slidably connected to the detection guide via a sliding guide I, and the other end is fixedly connected to the positioning module with bolts. The connecting block has a sliding guide II, one end of which is fixedly connected to the cap II. The connecting block is slidably connected to the detection connecting rod II via the sliding guide II. Simultaneously, one side of the connecting block is fixedly connected to the positioning module, and the other side is bolted to the detection support. The detection link II is connected to the detection link I and the positioning link via bolts. One side of the support stabilizer is connected to the detection support via bolts and fixed to the positioning link via bolts, while the other side is fixed to the lower power unit. The connecting piece I is fixed to the slider and is connected to the detection link I. The slider, lead screw, hollow shaft motor, support stabilizer, and positioning link are slidably connected via round holes. The rubber ring and main electronic circuit storage module are fixedly connected to the detection housing. The detection housing is fixedly connected to the cover I. The flow detector is fixedly connected to the detection integrated column. The measurement electronic component board is fixedly connected to the positioning module and electrically connected to the chip and analyzer, respectively. The hollow shaft motor provides power for the forward and backward movement of the slider and lead screw, enabling the multi-parameter logging automatic diameter-changing integrated device to complete radial contraction and expansion.

[0012] The anchoring device includes a boss connecting plate, an anchoring outer wall, an anchoring outer shell, an anchoring wedge, a lower anchoring block, and an anchoring moving shaft. The anchoring moving shaft is connected to the anchoring outer shell through a hole. One side of the lower anchoring block is fixedly connected to the anchoring moving shaft, and the other side is slidably connected to the anchoring wedge. The anchoring wedge is fixedly connected to the anchoring outer shell by screws. The anchoring outer shell is fixedly connected to the anchoring outer wall. One side of the bottom end of the boss connecting plate is fixedly connected to the connecting device by screws, and the other side is fixedly connected to the anchoring outer shell. A hydraulic cylinder is provided on the boss connecting plate to provide power for the extension and retraction of the anchoring moving shaft, enabling the anchoring outer wall and the anchoring outer shell to expand and contract.

[0013] The power unit comprises a power unit housing, a power unit connector, a power motor, rollers, a battery, a roller belt, a push rod motor, a push rod, connector II, a support plate, connector III, a triangular support head, a hydraulic rod, an electric push rod housing, a drive wheel motor, connector IV, a bearing cover, and a rolling bearing. The power unit housing has a groove, which is used to fix the power unit housing to connector IV, the bearing cover, and the rolling bearing. The roller belt is fixedly connected to the rollers. The rollers and drive wheel motor are fixedly connected to the power unit connector. The push rod motor is connected to the battery and push rod through holes. The support plate is connected to connector II and connector III through bolts. The electric push rod housing is connected to connector IV through bolts and to the hydraulic rod through holes. The battery is mounted on the power unit housing and fixedly connected to the push rod motor, providing power for the extension and retraction of the two push rods, allowing the power unit connector to expand and contract radially. Furthermore, the detection guide is provided with a cylindrical thread, a sliding guide I, and a through hole I; the detection integrated column is provided with through holes II, III, and IV; the positioning module is provided with through hole V; the detection connecting rod II is provided with through holes IX, X, and XI; the connecting block is provided with a threaded hole I, a sliding guide II, a through hole VI, and a slotted boss; the detection bracket is provided with through holes VII and VIII; the bracket stabilizer is provided with round holes I, II, and XIII; the positioning connecting rod is provided with threaded hole II and through hole XII; the detection housing is fixedly connected to the detection guide via a cylindrical thread; the through hole II is slidably connected to the sliding guide I via bolts; and the through hole I is connected to the sliding guide I via bolts. The pin is connected to the threaded hole II. The flow detector is fixedly connected to the detection integrated column through the through hole III. The through hole IV is connected to the through hole V through the bolt. The cover II is fixedly connected to the connecting block through the threaded hole I. The positioning module is fixedly connected to the connecting block through the slot boss. The through hole VI is connected to the through hole VII through the bolt. The through hole XIII is connected to the through hole VIII through the bolt. The lead screw and hollow shaft motor are connected to the bracket stabilizer and positioning link through the round holes I and II. The detection link I is connected to the detection link II through the through hole XI. The through hole IX is slidably connected to the slide guide II through the bolt. The through hole XII is connected to the through hole X through the bolt.

[0014] Furthermore, the boss connecting plate is provided with threaded hole III, mounting groove, and round hole III; the anchoring housing is provided with through hole XIV and buckle; the anchoring wedge is provided with threaded hole IV; the lower anchoring block is provided with groove I; the connecting device is fixedly connected to the anchoring device through threaded hole III; the anchoring moving shaft is connected to the boss connecting plate through round hole III; the lower anchoring block and the anchoring moving shaft are welded together through groove I; the mounting groove is fixedly connected to the buckle; and the through hole XIV is fixedly connected to the threaded hole IV by screws.

[0015] Furthermore, the power unit housing is provided with threaded holes V, VI, VII, VIII, groove II, and a convex frustum; the power unit connector is provided with a circular hole IV, a through hole XV, a groove III, and a camshaft; the support plate is provided with a through hole XVI, a threaded hole IX, and a through hole XVII; the connecting device is fixedly connected to the lower power unit through threaded hole V; the power transmission device is fixedly connected to the upper power unit through threaded hole V; the rolling bearing is fixedly connected to the power unit housing through groove II; the power unit housing is fixedly connected to the support stabilizer and the convex frustum connecting plate respectively; the roller is connected to the power unit connector through circular hole IV; the connector II is connected to the support plate through through hole XVI; the connector III is fixedly connected to the support plate through threaded hole IX; the through hole XV is connected to the through hole XVVI through bolts; the drive wheel motor is fixedly connected to the power unit connector through groove III; and the rolling bearing is connected to the power unit connector through a camshaft.

[0016] The work process includes the following steps: S1: Channel Preparation and Instrument Function Testing S11: Carry out preparation work for the downhole passage, assess the stability of the working environment and support conditions, and ensure that the passage meets the operational requirements of the exploration robot; S12: Perform functional tests on each module of the downhole exploration robot, including the multi-parameter logging automatic diameter-changing integrated device, connection device, anchoring device, power device, and power transmission device, to ensure that all devices are in normal working condition.

[0017] S2: Vertical section lowered S21: The exploration robot is lowered into the vertical well section via a steel cable. Instrument data such as depth, attitude, power supply status, and communication signals during the robot's descent are monitored in real time using a power transmission device, battery output flow detector, and measuring electronic components to ensure its normal operation.

[0018] S22: Based on the detected wellbore space, the slider moves back and forth, driving the detection connecting rod I and detection connecting rod II to pull back the connecting block, causing the multi-parameter logging automatic diameter-changing integrated device to retract. At the same time, the anchoring shaft moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks, which drive the anchoring outer wall and anchoring shell to retract radially, so that the anchoring device is in a closed state, ensuring that the detection robot can be successfully lowered into the well. S23: Based on the well wall size, the support plate is moved up and down by the adjustment push rod motor, which drives the hydraulic rod to extend and retract, thereby adjusting the radius of the power unit. At the same time, double-arm support is used to improve the adhesion of the wheels to the well wall and prevent the exploration robot from slipping due to lack of friction, so that it can stably sink to the bottom of the well along the vertical section. S3: Horizontal Segment Movement S31: After entering the horizontal section, the power unit is activated, enabling autonomous forward movement.

[0019] S32: Monitor the robot's operating status in the horizontal segment, including parameters such as speed, position, and attitude, to ensure that it travels along the preset path.

[0020] S4: Horizontal obstacle crossing S41: If an obstacle is encountered in a horizontal section, the power unit moves up and down via a push rod, thereby driving the support plate and hydraulic rod to adjust the wheel set support radius and overcome the obstacle; S42: During obstacle crossing, continuously monitor the robot's status to ensure its stability and sensor safety.

[0021] S5: Downhole Power Supply and Self-Management S51: The exploration robot is powered by batteries and can be supplemented with power through a power transmission device when necessary.

[0022] S52: Dynamically manage power distribution according to operational needs, prioritizing power supply to the multi-parameter logging automatic diameter-changing integrated device and power unit.

[0023] S6: Data Acquisition S61: When the probe robot moves to the preset data collection point, the adjustment push rod motor controls the support plate to move up and down, driving the hydraulic rod to extend and retract, thereby adjusting the radius of the power device to retract it. At the same time, the anchoring shaft moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks, driving the anchoring outer wall and anchoring shell to unfold radially, so that the anchoring device is in the unfolded state, fixing the position of the probe robot. S62: The back-and-forth movement of the slider drives the detection connecting rod I and detection connecting rod II to open the connecting block, so that the multi-parameter logging automatic diameter-changing integrated device is fully deployed to collect high-quality data, including parameters such as segmented production, water-producing layer, temperature, and pressure. S63: After the data acquisition is completed, the multi-parameter logging automatic diameter-changing integrated device and anchoring device are retracted, the power unit is re-deployed, and the exploration robot continues to move to the next data acquisition point, repeating the above process until all logging tasks are completed.

[0024] S7: Horizontal segment return S71: After completing the data acquisition task, the probe robot returns along the horizontal section. The power unit drives the wheel assembly in reverse, moving towards the bend in the horizontal well; S72: Real-time monitoring of the return path to avoid blockages or collisions.

[0025] S8: Vertical well section recovery S81: After passing through the bend in the horizontal section and entering the vertical section, the exploration robot is slowly pulled back using an external power transmission device. S82: After being pulled to the wellhead, it will be retrieved and recovered to ensure that the equipment is intact.

[0026] S9: Data Extraction and Analysis S91: After recovering the probe robot, use specialized software and equipment to extract the collected data from the data storage module; S92: Analyze, transform, and integrate data to assess downhole formation properties, oil, gas, and water distribution, and main producing zones, providing a basis for oilfield development decisions.

[0027] The beneficial effects of this invention are: (1) Without changing the existing operation process, the problem of difficult, limited and easily distorted data acquisition of downhole working conditions was solved, and real-time perception and decision support in the whole process, in multiple dimensions and with intelligence was realized.

[0028] (2) It has excellent obstacle crossing ability, avoids jamming, and maintains efficient and stable power output under various complex working conditions, thus broadening the scope of application.

[0029] (3) It has measurement stability under complex loads such as high-speed fluid or inclined well sections, while avoiding damage to the contact surface or the device itself. Attached Figure Description

[0030] Figure 1 Schematic diagram of the overall structure of the invention; Figure 2 Schematic diagram of the integrated multi-parameter logging automatic diameter changing device; Figure 3 Schematic diagram of the internal structure of the multi-parameter logging automatic diameter-changing integrated device; Figure 4 Schematic diagram of the characteristics of the detection guide components; Figure 5 Schematic diagram of the characteristics of the integrated column component; Figure 6Schematic diagram of the characteristics of positioning module parts; Figure 7 Schematic diagram of the characteristics of the connecting block parts; Figure 8 Schematic diagram of the characteristics of the probe bracket components; Figure 9 Schematic diagram of the characteristics of the detection link II component; Figure 10 Schematic diagram of the characteristics of the positioning link component; Figure 11 Schematic diagram of the characteristics of the components of the support and centralizer; Figure 12 Schematic diagram of the anchoring device; Figure 13 Schematic diagram of the characteristics of the boss connecting plate component; Figure 14 Schematic diagram of the characteristics of the anchoring wedge component; Figure 15 Schematic diagram of the characteristics of the anchoring housing components; Figure 16 Schematic diagram of the characteristics of the lower anchor block component; Figure 17 Schematic diagram of the power unit structure; Figure 18 Schematic diagram of the internal structure of the power unit; Figure 19 Schematic diagram of the characteristics of the power unit housing components; Figure 20 Schematic diagram of the characteristics of the connecting parts of the power unit; Figure 21 Schematic diagram of the characteristics of the support plate components; In the diagram, 1. Multi-parameter logging automatic diameter-changing integrated device; 101. Cap I; 102. Detector housing; 103. Detector guide; 103-1. Cylindrical thread; 103-2. Slide guide I; 103-3. Through hole I; 104. Detector integrated column; 104-1. Through hole II; 104-2. Through hole III; 104-3. Through hole IV; 105. Flow detector; 106. Positioning module; 106-1. Through hole V; 107. Measuring electronic component board; 108. Detector connecting rod I; 109. Detector connecting rod II; 109-1. Through hole IX; 109-2 109-3, Through Hole X; 110, Through Hole XI; 110, Connecting Block; 110-1, Threaded Hole I; 110-2, Slide Guide II; 110-3, Through Hole VI; 110-4, Slot Boss; 111, Detector Bracket; 111-1, Through Hole VII; 111-2, Through Hole VIII; 112, Bracket Centralizer; 112-1, Round Hole I; 112-2, Round Hole II; 112-3, Through Hole XIII; 113, Positioning Link; 113-1, Threaded Hole II; 113-2, Through Hole XII; 114, Chip; 115, Analyzer; 116, Rubber Ring; 11 7. Main electronic circuit storage module; 118. Slider; 119. Lead screw; 120. Hollow shaft motor; 121. Connector I; 122. Cover II; 2. Connecting device; 3. Anchoring device; 301. Boss connecting plate; 301-1. Threaded hole III; 301-2. Mounting groove; 301-3. Round hole III; 302. Anchoring outer wall; 303. Anchoring outer shell; 303-1. Through hole XIV; 303-2. Buckle; 304. Anchoring wedge; 304-1. Threaded hole IV; 305. Lower anchoring block; 305-1. Groove I; 306. Anchoring moving shaft 4. Power unit; 401. Power unit housing; 401-1. Threaded hole V; 401-2. Threaded hole VI; 401-3. Threaded hole VII; 401-4. Threaded hole VIII; 401-5. Groove II; 401-6. Convex frustum; 402. Power unit connector; 402-1. Circular hole IV; 402-2. Through hole XV; 402-3. Groove III; 402-4. Camshaft; 403. Power engine; 404. Roller; 405. Battery; 406. Roller belt; 407. Push rod motor; 408. Push rod; 409. Connector II; 410. Support plate; 411. Connector III; 412. Triangular support head; 413. Hydraulic rod; 414. Electric push rod housing; 415. Drive wheel motor; 416. Connector IV; 417. Bearing cover; 418. Rolling bearing; 5. Power transmission device. Detailed Implementation

[0031] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1-21 As shown, this embodiment is an intelligent detection robot for downhole working condition characteristic data of complex structure wells. Its features include a multi-parameter logging automatic diameter-changing integrated device 1, a connecting device 2, an anchoring device 3, a power device 4, and a power transmission device 5. The power transmission device 5 is electrically connected to the multi-parameter logging automatic diameter changing integrated device 1, the connecting device 2, the anchoring device 3, and the power device 4. The two power devices 4 are arranged on the upper and lower sides of the overall structure. The lower power device 4 is fixedly connected to the multi-parameter logging automatic diameter changing integrated device 1 and the connecting device 2 by screws, and the upper power device 4 is fixedly connected to the anchoring device 3 and the power transmission device 5 by screws. The anchoring device 3 and the connecting device 2 are fixedly connected by screws.

[0036] In this embodiment, the multi-parameter logging automatic diameter-changing integrated device 1 includes a cover I 101, a detection housing 102, a detection guide 103, a detection integrated column 104, a flow detector 105, a positioning module 106, a measurement electronic component board 107, a detection connecting rod I 108, a detection connecting rod II 109, a connecting block 110, a detection support 111, a support stabilizer 112, a positioning connecting rod 113, a chip 114, an analyzer 115, a rubber ring 116, a main electronic circuit storage module 117, a slider 118, a lead screw 119, a hollow shaft motor 120, a connecting piece I 121, and a cover II 101. 22; The detection guide 103 is connected to the detection housing 102 and the positioning link 113 respectively by threads. One end of the detection integrated column 104 is slidably connected to the detection guide 103 through the sliding guide I 103-2, and the other end is fixedly connected to the positioning module 106 by bolts. The connecting block 110 is provided with the sliding guide II 110-2. One end of the sliding guide II 110-2 is fixedly connected to the cover II 122. The connecting block 110 is slidably connected to the detection link II 109 through the sliding guide II 110-2. At the same time, one side of the connecting block 110 is fixed to the positioning module 106. The detector is connected to the detector bracket 111 on one side and to the detector link 118 on the other side via bolts. The detector link 109 is connected to the detector link 118 and the positioning link 113 via bolts. One side of the bracket stabilizer 112 is connected to the detector bracket 111 via bolts and is fixedly connected to the positioning link 113 via bolts. The other side is fixedly connected to the lower power device 4. The connector 1121 is fixedly connected to the slider 118 and is connected to the detector link 1108. The slider 118, lead screw 119, hollow shaft motor 120 are connected to the bracket stabilizer 112 and the positioning link 113 via bolts. The sliding connection is achieved through the circular hole. The rubber ring 116, the main electronic circuit storage module 117 and the detection shell 102 are fixedly connected. The detection shell 102 is fixedly connected to the cover I 101. The flow detector 105 is fixedly connected to the detection integrated column 104. The measuring electronic component board 107 is fixedly connected to the positioning module 106 and is electrically connected to the chip 114 and the analyzer 115 respectively. The hollow shaft motor 120 provides power for the forward and backward movement of the slider 118 and the lead screw 119, so that the multi-parameter logging automatic diameter-changing integrated device 1 can complete the radial contraction and expansion of the whole.

[0037] In this embodiment, the anchoring device 3 includes a boss connecting plate 301, an anchoring outer wall 302, an anchoring outer shell 303, an anchoring wedge 304, a lower anchoring block 305, and an anchoring moving shaft 306. The anchoring moving shaft 306 is connected to the anchoring outer shell 303 through a hole. One side of the lower anchoring block 305 is fixedly connected to the anchoring moving shaft 306, and the other side is slidably connected to the anchoring wedge 304. The anchoring wedge 304 is fixedly connected to the anchoring outer shell 303 by screws. The anchoring outer shell 303 is fixedly connected to the anchoring outer wall 302. One side of the bottom end of the boss connecting plate 301 is fixedly connected to the connecting device 2 by screws, and the other side is fixedly connected to the anchoring outer shell 303. A hydraulic cylinder is provided on the boss connecting plate 301 to provide power for the extension and retraction of the anchoring moving shaft 306, so that the anchoring outer wall 302 and the anchoring outer shell 303 can be extended and tightened.

[0038] In this embodiment, the power unit 4 includes a power unit housing 401, a power unit connector 402, a power engine 403, a roller 404, a battery 405, a roller belt 406, a push rod motor 407, a push rod 408, a connector II 409, a support plate 410, a connector III 411, a triangular support head 412, a hydraulic rod 413, an electric push rod housing 414, a drive wheel motor 415, a connector IV 416, a bearing cover 417, and a rolling bearing 418. The power unit housing 401 has a groove, which is used to fix the power unit housing 401 to the connector IV 416, the bearing cover 417, and the rolling bearing 418. The roller belt 406 is connected to the roller... The roller 404 is fixedly connected, the roller 404 and the drive wheel motor 415 are fixedly connected to the power device connecting body 402, the push rod motor 407 is connected to the battery 405 and the push rod 408 through the hole, the support plate 410 is connected to the connector II 409 and the connector III 411 through bolts, the electric push rod housing 414 is connected to the connector IV 416 through bolts and is connected to the hydraulic rod 413 through the hole, the battery 405 is installed on the power device housing 401 and is fixedly connected to the push rod motor 407, providing power for the two push rods 408 to extend and shorten, so that the power device connecting body 402 can be expanded and tightened radially as a whole; In this embodiment, the detection guide 103 is provided with a cylindrical thread 103-1, a sliding guide I 103-2, and a through hole I 103-3; the detection integrated column 104 is provided with through holes II 104-1, III 104-2, and IV 104-3; the positioning module 106 is provided with through hole V 106-1; the detection connecting rod II 109 is provided with through holes IX 109-1, X 109-2, and XI 109-3; and the connecting block 110 is provided with a threaded hole I 110-1 and a sliding guide II 110-2. The detector bracket 111 has through holes VI 110-3 and slot boss 110-4. The detector bracket 111 has through holes VII 111-1 and VIII 111-2. The bracket stabilizer 112 has round holes I 112-1, II 112-2, and XIII 112-3. The positioning connecting rod 113 has threaded holes II 113-1 and XII 113-2. The detector housing 102 is fixedly connected to the detector guide 103 via cylindrical thread 103-1. The through hole II 104-1 is bolted to the sliding guide I 103-2. The system includes a dynamic connection: through hole I 103-3 is connected to threaded hole II 113-1 via screws; flow detector 105 is fixedly connected to detection integrated post 104 via through hole III 104-2; through hole IV 104-3 is connected to through hole V 106-1 via bolts; cover II 122 is fixedly connected to connecting block 110 via threaded hole I 110-1; and positioning module 106 is fixedly connected to connecting block 110 via slot boss 110-4. Through hole VI 110-3 is connected to through hole VII 111-1 via bolts. The through hole XIII112-3 is connected to the through hole VIII111-2 by bolts. The lead screw 119 and hollow shaft motor 120 are connected to the support stabilizer 112 and positioning link 113 by round holes I112-1 and II112-2. The detection link I108 is connected to the detection link II109 by through hole XI109-3. The through hole IX109-1 is slidably connected to the slide guide II110-2 by bolts. The through hole XII113-2 is connected to the through hole X109-2 by bolts.

[0039] In this embodiment, the boss connecting plate 301 is provided with a threaded hole III 301-1, a mounting groove 301-2, and a round hole III 301-3; the anchoring housing 303 is provided with a through hole XIV 303-1 and a buckle 303-2; the anchoring wedge 304 is provided with a threaded hole IV 304-1; the lower anchoring block 305 is provided with a groove I 305-1; the connecting device 2 is fixedly connected to the anchoring device 3 through the threaded hole III 301-1; the anchoring moving shaft 306 is connected to the boss connecting plate 301 through the round hole III 301-3; the lower anchoring block 305 and the anchoring moving shaft 306 are welded together through the groove I 305-1; the mounting groove 301-2 is fixedly connected to the buckle 303-2; and the through hole XIV 303-1 is fixedly connected to the threaded hole IV 304-1 by a screw.

[0040] In this embodiment, the power unit housing 401 is provided with threaded holes V401-1, VI401-2, VII401-3, VIII401-4, groove II401-5, and a convex frustum 401-6. The power unit connector 402 is provided with a circular hole IV402-1, a through hole XV402-2, a groove III402-3, and a camshaft 402-4. The support plate 410 is provided with a through hole XVI410-1, a threaded hole IX410-2, and a through hole XVII410-3. The connecting device 2 is fixedly connected to the lower power unit 4 through threaded hole V401-1. The power transmission device 5 is fixedly connected to the upper power unit 4 through threaded hole V401-1. The rolling bearing 418 is connected to the power unit through groove II401-5. The device housing 401 is fixedly connected. The power device housing 401 is fixedly connected to the support stabilizer 112 and the boss connecting plate 301 via the convex round plate 401-6. The roller 404 is connected to the power device connecting body 402 via the round hole IV 402-1. The connecting piece II 409 is connected to the support plate 410 via the through hole XVI 410-1. The connecting piece III 411 is fixedly connected to the support plate 410 via the threaded hole IX 410-2. The through hole XV 402-2 is connected to the through hole XVVI 410-3 via bolts. The drive wheel motor 415 is fixedly connected to the power device connecting body 402 via the groove III 402-3. The rolling bearing 418 is connected to the power device connecting body 402 via the camshaft 402-4.

[0041] In this embodiment, the working process of the detection robot includes the following steps: S1: Channel Preparation and Instrument Function Testing S11: Carry out preparation work for the downhole passage, assess the stability of the working environment and support conditions, and ensure that the passage meets the operational requirements of the exploration robot; S12: Perform functional tests on each module of the downhole exploration robot, including the multi-parameter logging automatic diameter-changing integrated device 1, the connecting device 2, the anchoring device 3, the power device 4, and the power transmission device 5, to ensure that all devices are in normal working condition.

[0042] S2: Vertical section lowered S21: The exploration robot is lowered into the vertical well section via a steel cable. The power transmission device 5 and the battery 405 output power to the flow detector 105 and the measuring electronic component board 107 to monitor the instrument data such as depth, attitude, power supply status and communication signals of the exploration robot in real time during the descent process, ensuring its normal operation.

[0043] S22: Based on the detected wellbore space, the slider 118 moves back and forth, driving the detection connecting rod I 108 and the detection connecting rod II 109 to pull back the connecting block 110, causing the multi-parameter logging automatic diameter-changing integrated device 1 to retract. At the same time, the anchoring shaft 306 moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks 305, which drive the anchoring outer wall 302 and the anchoring outer shell 303 to retract radially, so that the anchoring device 3 is in a closed state, ensuring that the detection robot can be successfully lowered into the well. S23: According to the well wall size, the support plate 410 is moved up and down by the adjusting push rod motor 407, which drives the hydraulic rod 413 to extend and retract, thereby adjusting the radius of the power device 4. While unfolding, double-arm support is adopted to improve the adhesion of the wheel to the well wall and prevent the exploration robot from slipping due to lack of friction, so that it can stably sink down to the bottom of the well along the vertical section. S3: Horizontal Segment Movement S31: After entering the horizontal section, the power unit 4 is activated, enabling autonomous forward movement.

[0044] S32: Monitor the robot's operating status in the horizontal segment, including parameters such as speed, position, and attitude, to ensure that it travels along the preset path.

[0045] S4: Horizontal obstacle crossing S41: If an obstacle is encountered in the horizontal section, the power unit 4 moves up and down through the push rod 408, thereby driving the support plate 410 and the hydraulic rod 413 to adjust the wheel set support radius and overcome the obstacle. S42: During obstacle crossing, continuously monitor the robot's status to ensure its stability and sensor safety.

[0046] S5: Downhole Power Supply and Self-Management S51: The probe robot is powered by battery 405, and can be supplemented with power through power transmission device 5 when necessary.

[0047] S52: Dynamically manage power distribution according to operational needs, and prioritize power supply to the multi-parameter logging automatic diameter-changing integrated device 1 and the power unit 4.

[0048] S6: Data Acquisition S61: When the probe robot moves to the preset data collection point, the adjustment push rod motor 407 controls the support plate 410 to move up and down, driving the hydraulic rod 413 to extend and retract, thereby adjusting the radius of the power device 4 to retract it. At the same time, the anchoring shaft 306 moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks 305 to drive the anchoring outer wall 302 and the anchoring outer shell 303 to unfold radially, so that the anchoring device 3 is in the unfolded state, fixing the position of the probe robot. S62: The back-and-forth movement of the slider 118 drives the detection connecting rod I 108 and the detection connecting rod II 109 to open the connecting block 110, so that the multi-parameter logging automatic diameter-changing integrated device 1 is fully deployed to collect high-quality data, including parameters such as segmented production, water-producing layer, temperature, and pressure. S63: After the data acquisition is completed, the multi-parameter logging automatic diameter-changing integrated device 1 and the anchoring device 3 are retracted, the power unit 4 is re-deployed, and the exploration robot continues to move to the next data acquisition point, repeating the above process until all logging tasks are completed.

[0049] S7: Horizontal segment return S71: After completing the data acquisition task, the probe robot returns along the horizontal section. Power unit 4 drives the wheel set in reverse, propelling it towards the bend in the horizontal well. S72: Real-time monitoring of the return path to avoid blockages or collisions.

[0050] S8: Vertical well section recovery S81: After passing through the bend in the horizontal section and entering the vertical section, the exploration robot is slowly pulled back using the external power transmission device 5. S82: After being pulled to the wellhead, it will be retrieved and recovered to ensure that the equipment is intact.

[0051] S9: Data Extraction and Analysis S91: After recovering the probe robot, use specialized software and equipment to extract the collected data from the data storage module; S92: Analyze, transform, and integrate data to assess downhole formation properties, oil, gas, and water distribution, and main producing zones, providing a basis for oilfield development decisions. Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A smart detection robot for downhole working condition characteristic data of complex structure wells, comprising a multi-parameter logging automatic diameter changing integrated device (1), a connecting device (2), an anchoring device (3), a power device (4), and a power transmission device (5), wherein the power transmission device (5) is electrically connected to the multi-parameter logging automatic diameter changing integrated device (1), the connecting device (2), the anchoring device (3), and the power device (4), and the two power devices (4) are arranged on the upper and lower sides of the overall structure, the lower power device (4) is fixedly connected to the multi-parameter logging automatic diameter changing integrated device (1) and the connecting device (2) by screws, and the upper power device (4) is fixedly connected to the anchoring device (3) and the power transmission device (5) by screws, wherein the anchoring device (3) and the connecting device (2) are fixedly connected by screws, characterized in that: The multi-parameter logging automatic diameter-changing integrated device (1) includes a cover I (101), a detection shell (102), a detection guide (103), a detection integrated column (104), a flow detector (105), a positioning module (106), a measurement electronic component board (107), a detection connecting rod I (108), a detection connecting rod II (109), a connecting block (110), a detection bracket (111), a bracket stabilizer (112), a positioning connecting rod (113), a chip (114), an analyzer (115), a rubber ring (116), a main electronic circuit storage module (117), a slider (118), a lead screw (119), a hollow shaft motor (120), and connecting parts. Ⅰ (121), Cover Ⅱ (122); The slider (118), lead screw (119), hollow shaft motor (120) and support stabilizer (112), positioning link (113) are slidably connected through round holes. The hollow shaft motor (120) provides power for the forward and backward movement of the slider (118) and lead screw (119), so that the multi-parameter logging automatic diameter-changing integrated device (1) completes radial contraction and expansion as a whole. The power device (4) is provided with a power device housing (401), a power device connector (402), a power engine (403), a roller (404), a battery (405), a roller belt (406), and a push rod motor (407). 07), push rod (408), connector II (409), support plate (410), connector III (411), triangular support head (412), hydraulic rod (413), electric push rod housing (414), drive wheel motor (415), connector IV (416), bearing cover (417), rolling bearing (418); the power device housing (401) is provided with a groove, and the power device housing (401) is fixedly connected to connector IV (416), bearing cover (417), and rolling bearing (418) through the groove. The roller belt (406) is fixedly connected to the roller (404), and the roller (404) and drive wheel motor (415) are connected to the roller (404). The power unit connector (402) is fixedly connected. The push rod (408) is installed on the push rod motor (407) through a hole. The support plate (410) is connected to the connector II (409) and connector III (411) through bolts. The electric push rod housing (414) is connected to the connector IV (416) through bolts and connected to the hydraulic rod (413) through a hole. The battery (405) is installed on the power unit housing (401) and fixedly connected to the push rod motor (407), providing power for the two push rods (408) to extend and shorten, so that the power unit connector (402) can be expanded and tightened radially as a whole.

2. The intelligent detection robot for downhole working condition characteristic data of complex structure wells according to claim 1, characterized in that: The detection guide (103) is connected to the detection housing (102) and the positioning link (113) respectively by threads. One end of the detection integrated column (104) is slidably connected to the detection guide (103) through the sliding guide I (103-2), and the other end is fixedly connected to the positioning module (106) by bolts. The connecting block (110) is provided with the sliding guide II (110-2). One end of the sliding guide II (110-2) is fixedly connected to the cover II (122). The connecting block (110) is slidably connected to the detection link II (109) through the sliding guide II (110-2). At the same time, one side of the connecting block (110) is fixedly connected to the positioning module (106), and the other side is connected to the detection bracket (111) by bolts. The detection link II (109) is connected to the detection link I (103-2) by bolts. 08) The positioning link (113) is connected in cooperation. One side of the support straightener (112) is connected to the detection support (111) by bolts and is fixedly connected to the positioning link (113) by bolts. The other side is fixedly connected to the lower power device (4). The connecting piece I (121) is fixedly connected to the slider (118) and is connected in cooperation with the detection link I (108). The rubber ring (116), the main electronic circuit storage module (117) and the detection shell (102) are fixedly connected. The detection shell (102) and the cover I (101) are fixedly connected. The flow detector (105) and the detection integrated column (104) are fixedly connected. The measuring electronic component board (107) and the positioning module (106) are fixedly connected and electrically connected to the chip (114) and the analyzer (115) respectively.

3. The intelligent detection robot for downhole working condition characteristic data of complex structure wells according to claim 1, characterized in that: The acquisition of downhole working condition characteristic data includes the following steps: S1: Channel Preparation and Instrument Function Testing S11: Carry out preparation work for the downhole passage, assess the stability of the working environment and support conditions, and ensure that the passage meets the operational requirements of the exploration robot; S12: Perform functional tests on each module of the downhole exploration robot, including the multi-parameter logging automatic diameter-changing integrated device (1), connection device (2), anchoring device (3), power device (4), and power transmission device (5) to ensure that all devices are in normal working condition. S2: Vertical section lowered S21: The probe robot is lowered into the vertical well section via a steel cable. The power transmission device (5) and battery (405) output the flow detector (105) and the measuring electronic component board (107) to monitor the instrument data and communication signals of the probe robot in real time during the descent process, so as to ensure its normal operation. S22: Based on the detected wellbore space, the slider (118) moves back and forth, driving the detection connecting rod I (108) and the detection connecting rod II (109) to pull back the connecting block (110), so that the multi-parameter logging automatic diameter-changing integrated device (1) is retracted. At the same time, the anchoring shaft (306) moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks (305), which drive the anchoring outer wall (302) and the anchoring outer shell (303) to retract radially, so that the anchoring device (3) is in a closed state, ensuring that the detection robot can be successfully lowered into the well. S23: According to the well wall size, the support plate (410) is controlled by the adjusting push rod motor (407) to move up and down, driving the hydraulic rod (413) to extend and retract, thereby adjusting the radius of the power device (4). At the same time, double-arm support is adopted to improve the adhesion of the wheel to the well wall, prevent the exploration robot from slipping due to lack of friction, and make it sink stably along the vertical well section to the bottom of the well. S3: Horizontal Segment Movement S31: After entering the horizontal section, the power unit (4) is activated to achieve autonomous forward movement; S32: Monitor the robot's operating status in the horizontal segment, including speed, position, and attitude parameters, to ensure that it travels along the preset path; S4: Horizontal obstacle crossing S41: If an obstacle is encountered in the horizontal section, the power unit (4) moves up and down through the push rod (408) to drive the support plate (410) and the hydraulic rod (413) to adjust the wheel support radius and pass over the obstacle; S42: During obstacle crossing, continuously monitor the robot's status to ensure its stability and sensor safety; S5: Downhole Power Supply and Self-Management S51: The probe robot is powered by a battery (405) and can be replenished with power through a power transmission device (5); S52: According to the operational requirements, dynamically manage the power distribution and give priority to ensuring the power supply of the multi-parameter logging automatic diameter-changing integrated device (1) and the power unit (4); S6: Data Acquisition S61: When the probe robot moves to the preset data collection point, the support plate (410) is controlled by the adjusting push rod motor (407) to move up and down, driving the hydraulic rod (413) to extend and retract, thereby adjusting the radius of the power device (4) to retract it. At the same time, the anchoring shaft (306) moves up and down, thereby adjusting the three circumferentially distributed lower anchoring blocks (305) to drive the anchoring outer wall (302) and the anchoring shell (303) to unfold radially, so that the anchoring device (3) is in an unfolded state, fixing the position of the probe robot; S62: The sliding block (118) moves back and forth, driving the detection connecting rod I (108) and the detection connecting rod II (109) to open the connecting block (110), so that the multi-parameter logging automatic diameter-changing integrated device (1) is fully deployed to collect high-quality data, including segmented production, water-producing layer, temperature, and pressure parameters. S63: After the data collection is completed, the multi-parameter logging automatic diameter-changing integrated device (1) and anchoring device (3) are retracted, the power unit (4) is re-deployed, and the detection robot continues to move to the next data collection point. The above process is repeated until all logging tasks are completed. S7: Horizontal segment return S71: After the data acquisition task is completed, the probe robot returns to the power unit (4) along the horizontal section and drives the wheel group to reverse and move towards the bend of the horizontal well; S72: Real-time monitoring of the return path to avoid blockages or collisions; S8: Vertical well section recovery S81: After entering the vertical well section through the bend of the horizontal section, the exploration robot is slowly pulled back by the external power transmission device (5). S82: After being pulled to the wellhead, it will be retrieved and recovered to ensure that the equipment is intact; S9: Data Extraction and Analysis S91: After recovering the probe robot, use software and equipment to extract the collected data from the data storage module; S92: Analyze, transform, and integrate data to assess downhole formation properties, oil, gas, and water distribution, and main producing zones, providing a basis for oilfield development decisions.

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