Intelligent monitoring, predicting and cleaning integrated robot for well wall wax precipitation

Abstract

The invention discloses an intelligent monitoring, predicting and cleaning integrated robot for well wall wax precipitation. Relates to the technical field of oil exploitation equipment. A non-contact laser distance measuring sensor is arranged in a detector fixing box; the rotating mechanism comprises a rotating rod, a rotating base and a rotating motor, the detector fixing box is connected with the rotating rod, and the output end of the rotating motor is meshed with a transmission gear on the rotating rod through a transmission gear; the middle walking mechanism comprises a main support, a spring compression assembly and a walking wheel installation sheet. The tail cleaning mechanism comprises a mounting base and a scraper, and the mounting base is connected with the end, away from the detector fixing box, of the rotating rod. The intelligent monitoring, predicting and cleaning integrated robot for well wall wax precipitation has good self-adaptive capacity and structural stability, is suitable for continuous operation under various complex pipe diameter conditions caused by wax precipitation in the oil and gas well production process, achieves intelligent real-time monitoring, scientific prediction and autonomous cleaning, and is high in practicability and high in practicability. And the oil field maintenance efficiency and economic benefits are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil exploitation equipment, in particular to a well wall waxing intelligent monitoring, prediction and cleaning integrated robot. BACKGROUND

[0002] The well wall waxing intelligent monitoring, prediction and cleaning integrated robot is an equipment for oil exploitation, and the waxing on the downhole wall is a common problem in oil exploitation, which can narrow the oil flow channel, increase the resistance, affect the production efficiency, and even completely block the pipeline, forcing the oil well to stop production. At present, the field process cannot accurately obtain the information such as the thickness, position and growth rate of the waxing, and the waxing rule and the waxing opportunity lack scientific basis, so the production well is often frequently started and stopped for waxing based on experience or regularly, which is easy to cause "over cleaning" or "under cleaning", resulting in increased cost and equipment wear and tear.

[0003] At present, the well wall robot in the existing equipment has the following disadvantages: The track driving structure is complex, easy to wear and tear, and has limited service life; the multi-joint structure improves stability, but too many joints increase the movement resistance and significantly increase the energy consumption. The cylinder is used to realize the variable diameter, the cylinder has a large volume, needs to be matched with a gas source device, has high cost and has the risk of gas leakage.

[0004] Therefore, how to provide a well wall waxing intelligent monitoring, prediction and cleaning integrated robot with high-precision detection, strong adaptability, efficient cleaning and convenient maintenance is a problem to be solved by those skilled in the art. SUMMARY

[0005] Therefore, the present application provides a well wall waxing intelligent monitoring, prediction and cleaning integrated robot, which aims to solve one of the problems in the background art, realizes high-precision detection, strong adaptability, efficient cleaning and convenient maintenance.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme: A well wall waxing intelligent monitoring, prediction and cleaning integrated robot, comprising: A detector fixing box is provided with a non-contact laser ranging sensor inside; A rotating mechanism, the rotating mechanism comprises a rotating rod, a rotating base and a rotating motor, the detector fixing box is connected with the rotating rod through a rotating connecting rod, the rotating rod is arranged in the interior of the rotating base through a bearing, one end of the rotating rod connected with the rotating connecting rod is provided with a transmission gear, the rotating base is provided with a mounting position, the rotating motor is arranged on the rotating base through the mounting position, the rotating motor is arranged on the rotating base, and the output end of the rotating motor is engaged with the transmission gear on the rotating rod through a drive gear; The middle walking mechanism comprises a trunk support, a spring compression assembly and a walking wheel mounting unit, the trunk support is provided with a plurality of rotating bases, and the walking wheel mounting unit is arranged on the side wall of the trunk support through the spring compression assembly. The tail cleaning mechanism comprises a mounting base and a scraper, the mounting base is connected to the end of the rotating rod away from the detector fixing box, and the scraper is arranged in the mounting base.

[0007] Further, the trunk support is provided with three trunk supports, the three trunk supports are arranged at equal intervals on the side wall of the rotating base, the side wall of each trunk support is provided with a mounting groove, two mounting grooves are arranged along the axis direction of the trunk support, the spring compression assembly is arranged in the mounting groove, and the walking wheel mounting unit is arranged in the mounting groove through the spring compression assembly.

[0008] Further, each spring compression assembly comprises a spring guide rail, a compression spring and a spring compression plate, the spring guide rail is arranged in the mounting groove, the compression spring is sleeved on the spring guide rail, and the spring compression plate is arranged on the spring guide rail and connected to one end of the compression spring.

[0009] Further, each walking wheel mounting unit comprises a connecting rod and a walking wheel, the connecting rod is arranged in a staggered manner through a rotating shaft, one end of the connecting rod is connected to the spring compression plate, the walking wheel is arranged at the end of the connecting rod away from the spring compression plate, and the connecting rod is provided with a driving motor corresponding to the walking wheel.

[0010] Further, the mounting base is provided with a telescopic adjusting device, the telescopic adjusting device comprises a micro forward-reverse motor, a rotating gear and a toothed plate, the micro forward-reverse motor is connected to the mounting base, the rotating gear is connected to the output end of the micro forward-reverse motor, the toothed plate is engaged with the rotating gear, and the scraper is arranged on the toothed plate.

[0011] Further, the bottom of the rotating base is provided with a plurality of bolt holes, and the trunk support is connected to the rotating base through the bolt holes through bolts.

[0012] Further, the end of the scraper away from the rotating rod is provided with a scraper cap.

[0013] According to the above technical solution, compared with the prior art, the well wall wax intelligent monitoring, prediction and cleaning integrated robot is provided, and the beneficial effects are: 1. Realize non-contact high-precision measurement: realize laser ranging technology through non-contact laser ranging sensor, replace traditional contact ultrasonic detection, avoid wax layer deformation error caused by probe compression, measurement result is more real and reliable, precision can reach ±0.1mm; 2. Stable structure, strong self-adaptive ability: through the synergistic effect of spring compression assembly and action wheel mounting unit, the device can automatically adjust the outer diameter in the range of Φ60mm-Φ110mm, adapt to most oil pipe specifications, and the structure is simple, the response is sensitive, and the stability and passability of well wall operation are effectively improved; 3. Multifunctional high integration: integrate detection, walking and cleaning functions in the same device, realize "one-time downhole, multiple tasks", greatly reduce operation frequency and wellhead start-stop frequency, improve work efficiency and reduce operation and maintenance cost; 4. Flexible and efficient cleaning: the scraper is provided with telescopic adjustment function, and cooperates with adjustable rotating drive, so that accurate cleaning can be carried out for wax layers with different thickness and hardness, and excessive scraping damage to the pipe wall is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0015] Fig. 1 The structural schematic diagram of the well wall waxing intelligent monitoring, prediction and cleaning integrated robot provided by the present application is shown in the figure. Fig. 2 The structural schematic diagram of the well wall waxing intelligent monitoring, prediction and cleaning integrated robot provided by the present application is shown in the figure. Fig. 3 The structural schematic diagram of the internal structure of the rotating base provided by the present application is shown in the figure.

[0016] Among them: 1 is the detector fixed box; 2 is the rotating rod; 3 is the rotating base; 4 is the rotating motor; 5 is the rotating connecting rod; 6 is the transmission gear; 7 is the driving gear; 8 is the main stem support; 9 is the mounting base; 10 is the scraper; 11 is the mounting groove; 12 is the compression spring; 13 is the spring compression plate; 14 is the connecting rod; 15 is the action wheel; 16 is the driving motor; 17 is the scraper cap; 18 is the bearing; 19 is the driving rod. DETAILED DESCRIPTION

[0017] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0018] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. Figs. 1-3 The embodiment of the present application discloses a well wall waxing intelligent monitoring, predicting and cleaning integrated robot, which comprises: The probe fixing box 1 is internally provided with a non-contact laser ranging sensor, which is used for realizing non-contact high-precision measurement of the wax layer thickness of the inner wall of the oil pipe. The rotating mechanism comprises a rotating rod 2, a rotating base 3 and a rotating motor 4. The probe fixing box 1 is connected with the rotating rod 2 through a rotating connecting rod 5. The rotating rod 2 is arranged in the interior of the rotating base 3 through a bearing 18. One end of the rotating rod 2 connected with the rotating connecting rod 5 is provided with a transmission gear 6. The rotating base 3 is provided with a mounting position. The rotating motor 4 is arranged on the rotating base 3 through the mounting position. The rotating motor 4 is arranged on the rotating base 3. The output end of the rotating motor 4 is engaged with the transmission gear 6 on the rotating rod 2 through a driving gear 7. The rotating rod 2 is arranged in the interior of the rotating base 3 through the bearing 18, so as to ensure the stability and low friction loss in the high-speed rotating process. The output end of the rotating motor 4 is connected with the driving gear 7 through a driving rod 19, so as to drive the rotating rod 2 to rotate. The middle walking mechanism comprises a main stem support 8, a spring compression assembly and a moving wheel 15 mounting unit. The main stem support 8 is arranged on the rotating base 3. The moving wheel 15 mounting unit is arranged on the side wall of the main stem support 8 through the spring compression assembly. The main stem support 8 is arranged in a hollow cylindrical shape, serving as the bearing framework of the whole device. The middle walking mechanism is used for supporting the whole device and moving in the oil pipe autonomously. Meanwhile, the middle walking mechanism has self-adaptive variable diameter capacity, so as to adapt to the slight change or local deformation of the inner diameter of the oil pipe. The tail cleaning mechanism comprises an installation base 9 and a scraper 10. The installation base 9 is connected with one end of the rotating rod 2 away from the probe fixing box 1. The scraper 10 is arranged in the installation base 9. The tail cleaning mechanism is used for cleaning the wax layer after the detection is completed.

[0019] In the embodiment, three main stem supports 8 are arranged. The three main stem supports 8 are arranged at equal intervals on the side wall of the rotating base 3. The side wall of each main stem support 8 is provided with a mounting groove 11. Two mounting grooves 11 are arranged at intervals along the axial direction of the main stem support 8. The spring compression assembly is arranged in the mounting groove 11. The moving wheel 15 mounting unit is arranged in the mounting groove 11 through the spring compression assembly.

[0020] In this embodiment, each spring compression assembly includes a spring guide rail, a compression spring 12, and a spring compression plate 13. The spring guide rail is disposed in the mounting groove 11, the compression spring 12 is sleeved on the spring guide rail, and the spring compression plate 13 passes through the spring guide rail and is connected to one end of the compression spring 12.

[0021] In this embodiment, each moving wheel 15 mounting unit includes a connecting rod 14 and a moving wheel 15. Two connecting rods 14 are staggered by a rotating shaft. One end of each connecting rod 14 is connected to a spring compression plate 13. The moving wheel 15 is located at the end of the connecting rod 14 away from the spring compression plate 13. A drive motor 16 is provided on the connecting rod 14 corresponding to the moving wheel 15. The spring compression plate 13 pushes the connecting rod 14 to move, thereby driving the moving wheel 15 to contract towards the center of the main support 8 or to open outward, realizing radial dimension adjustment. When the inner wall of the external oil pipe applies pressure to the moving wheel 15, the moving wheel 15 pushes the spring compression plate 13 through the connecting rod 14. The compression spring 12 is compressed within the spring guide rail, achieving radial contraction of the entire device. When the pressure disappears, the compression spring 12 returns to its original shape due to its elasticity, pushing the moving wheel 15 to re-fit against the pipe wall and maintain walking stability. This effectively avoids the problems of large size and high failure rate caused by traditional complex mechanical diameter changing mechanisms. While ensuring a simple structure, it achieves automatic diameter adjustment function within a small to medium range, with wide adaptability and rapid response. The moving wheel 15 is driven by an independent drive motor 16, which transmits power to each moving wheel 15 through gears or a synchronous belt to achieve synchronous forward or backward movement.

[0022] In this embodiment, the mounting base 9 is equipped with a telescopic adjustment device, which includes a miniature forward and reverse motor, a rotating gear, and a toothed plate. The miniature forward and reverse motor is connected to the mounting base 9, the rotating gear is connected to the output end of the miniature forward and reverse motor, the toothed plate meshes with the rotating gear, and the scraper 10 is mounted on the toothed plate. When the detection result shows that the wax layer thickness is large, the control system automatically activates the telescopic device to extend the scraper 10 to an appropriate position, ensuring that its edge can fully contact the surface of the wax layer. When the wax layer is thin or does not need to be cleaned, the scraper 10 can be completely retracted to avoid unnecessary wear on the tube wall.

[0023] In this embodiment, the bottom of the rotating base 3 is provided with multiple bolt holes, and the main support 8 is connected to the rotating base 3 through the bolt holes; thus achieving a rigid connection and ensuring the stability and coaxiality of the overall structure.

[0024] In this embodiment, a scraper cap 17 is provided at the end of the scraper 10 away from the rotating rod 2.

[0025] In addition, in this embodiment, the materials of the drive gear 7 and the driven gear are preferably high-strength alloy steel, and the surface is hardened to improve wear resistance and transmission efficiency.

[0026] The non-contact laser rangefinder sensor employs the principle of laser ranging, emitting a high-frequency pulsed laser beam that is reflected by the inner wall of the oil pipe and captured by a receiver. By calculating the round-trip time difference of the light signal and combining it with the speed of light constant, the distance from the sensor to the pipe wall is accurately determined. Since the wax layer covers the metal pipe wall, the system can infer the current wax layer thickness by comparing the preset reference distance (i.e., the inner diameter of the pipe in the wax-free state) with the measured distance. This laser detector has multi-point scanning capability and can continuously scan along the circumference under the drive of a rotating mechanism to acquire wax layer thickness data at multiple locations on the cross-section of the oil pipe, forming a complete circumferential distribution map, thus improving the comprehensiveness and reliability of the measurement.

[0027] The caster wheel 15 is made of highly elastic and wear-resistant rubber material with anti-slip texture on the surface, which reduces rolling resistance and increases friction with the tube wall to prevent slippage.

[0028] The mounting base 9 also houses a drive rotation assembly, which drives the telescopic adjustment device and scraper 10 fixed on it to rotate via a servo motor and gear set. The drive rotation assembly uses a high-power micro motor (MSM042G) with a power of 400W and a maximum speed of 5000r / min. It drives the telescopic adjustment device through a two-stage gear reduction (transmission ratio 1:5), with an output speed of 3000r / min and a torque of 1.27N·m.

[0029] This device has a slender rectangular column structure with a total length of 205mm and a maximum outer diameter of 100mm. It is suitable for conventional oil well tubing (inner diameter range Φ70mm~Φ100mm). From front to back, it consists of a head monitoring module, a middle traveling mechanism, and a tail cleaning mechanism, which are connected by high-strength stainless steel bolts to form an integrated structure.

[0030] The rotating rod 2 is a hollow stainless steel shaft with a diameter of 5mm and a length of 38mm; the rotating motor 4 is a hollow stainless steel shaft with a diameter of 5mm and a length of 38mm, which is installed in the rotating base 3 through a deep groove ball bearing 18; the rotating motor 4 is a Maxon EC-MA 22C with a rated power of 50W and a speed of 6000r / min, which drives the rotating rod 2 through a pair of helical gears with a module of 1 (transmission ratio of 5) to achieve uniform rotation.

[0031] The main support consists of 8 Φ100mm stainless steel bodies, with M2 threaded holes at both ends for connecting the head monitoring module and the tail cleaning mechanism.

[0032] Three sets of spring compression assemblies are evenly distributed at 120° intervals around the periphery of the eight main supports. Each set includes: Compression spring 12: wire diameter Φ0.5mm, outer diameter Φ4mm, free length 25mm, elastic modulus 8N / mm; Spring guide rail: Embedded in the mounting groove 11 on the outer wall of the main support 8, with a length of 30mm; A limiting hole with a diameter of Φ3mm is provided at the end of the spring guide rail. The diameter of the limiting hole is slightly smaller than the wire diameter of the compression spring 12, so that the end of the compression spring 12 cannot pass through the hole, thereby achieving axial limiting of the compression spring 12. The mounting slot 11 is also provided with a hollow fixing block: a blind hole structure with a depth of 5mm, used to accommodate the compression spring 12; Spring compression plate 13: 2mm thick alloy steel plate, connecting rod 14 and compression spring 12; Each connecting rod 14 is 60mm long, hinged at both ends, and connects the rotating shaft of the moving wheel 15 to the spring compression plate 13. The moving wheel 15 has a diameter of 10mm, a width of 4mm, and is made of polyurethane material with a Shore hardness of A85. The drive motor 16 is a Maxon EC-MA 16H with a power of 30W. It is mounted on the connecting rod 14 and drives the shaft of the moving wheel 15 through gear transmission to achieve synchronous drive of multiple wheels. The maximum speed can reach 31m / min and it has forward, reverse and speed adjustment functions.

[0033] The scraper 10 measures 20mm × 15mm × 5mm and is made of YG8 carbide. The blade is ground and is sharp and durable.

[0034] The miniature forward and reverse motor in the telescopic adjustment device has a power of 10W, drives a gear with a module of 0.8 (20 teeth), and meshes with a toothed plate (module of 0.8, 40 teeth, length of 30mm); when the miniature forward and reverse motor rotates forward, it pushes the scraper 10 to extend outward by a maximum distance of 20mm; when it rotates in reverse, it retracts to the initial position.

[0035] Well preparation: The entire device is encapsulated in a protective sleeve and sent into the target well section via a wire rope or coiled tubing.

[0036] Detailed operation process

[0037] I. Detection Implementation Process: Detection Start: After reaching the designated position, release the device and start the rotating motor 4. The non-contact laser rangefinder sensor starts working. During the rotation, distance data is collected every 0.1 seconds, and a full scan is performed (about 1 second) to obtain data from 360 measurement points. Data transmission and analysis: The collected data is transmitted back to the ground system in real time via a wireless module; the host computer software filters, denoises, and transforms the received data to generate a wax layer thickness distribution cloud map, and inputs it into the wax layer growth model for trend prediction; Decision-making and cleaning: If the system determines that the wax layer thickness in a certain area exceeds 8mm (set threshold), a cleaning command is issued; the device continues to descend to that area and activates the tail cleaning mechanism. First, control the telescopic adjustment device to extend the scraper 10 to a suitable position, then start the drive rotation assembly. The scraper 10 rotates at a speed of 1200 rpm, while the device slowly retracts at a speed of 0.5 m / min to complete one spiral cleaning cycle. Secondary testing and verification: After cleaning is completed, the device restarts laser detection, compares the data before and after, and evaluates the cleaning effect; Recovery device: After the operation is completed, the device is retrieved via a traction rope for cleaning and charging, in preparation for the next use; II. Implementation process of diameter change: When the device encounters a local diameter reduction section during its movement (such as when the inner diameter is reduced from Φ95mm to Φ85mm), the moving wheel 15 first contacts the pipe wall and is subjected to radial pressure. The force is transmitted to the spring compression plate 13 through the connecting rod 14, which pushes the compression spring 12 to compress along the spring guide rail. Because the diameter of the limiting hole is smaller than the wire diameter of the compression spring 12, the end of the spring is firmly stuck and will not come out. During the compression process, the compression spring 12 stores elastic potential energy, and the moving wheel 15 contracts inward accordingly, reducing the overall outer diameter of the device and allowing it to pass smoothly through the narrow section. After passing through the reduced diameter section, the pressure on the pipe wall disappears, and the compression spring 12 pushes the spring compression plate 13 to reset by its own elastic force, causing the connecting rod 14 and the moving wheel 15 to expand outward again, restoring the contact state with the pipe wall and maintaining walking stability. This process does not require external control and is completely completed autonomously by the mechanical structure, with a response time of less than 0.2 seconds, high adaptability, and strong reliability. III. Working process of telescopic scraper 10: Initial state: Scraper 10 is in the fully retracted position, 30mm away from the center line of the main tube, suitable for thin tube sections or non-operational state; Upon receiving the command: the miniature forward and reverse motor starts and rotates in the forward direction, driving the rotating gear to rotate; The rotating gear meshes with the toothed plate, pushing the toothed plate to move outward along the axial direction, with a maximum stroke of 20mm; The toothed plate drives the scraper 10 to extend synchronously, eventually reaching a distance of 50mm from the center line, which can effectively contact the wax layer on the pipe wall within Φ100mm. After cleaning is completed, the miniature forward and reverse motor reverses, and the scraper 10 automatically retracts to avoid damage from bumps during transportation.

[0038] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0039] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wellbore wall waxing intelligent monitoring, predicting, cleaning integrated robot, characterized in that, The utility model relates to a kind of laser range finder cleaning device, including: The probe fixing box is equipped with non-contact laser ranging sensor inside; Rotary mechanism, the rotary mechanism includes rotary lever, rotary base and rotary motor, the probe fixing box is connected with the rotary lever by rotary connecting rod, the rotary lever is arranged inside the rotary base by bearing, the rotary lever is equipped with transmission gear in one end connected with the rotary connecting rod, installation site is equipped on the rotary base, the rotary motor is arranged on the rotary base by the installation site, the rotary motor is arranged on the rotary base, the output end of the rotary motor is engaged with transmission gear on the rotary lever by drive gear; Middle walking mechanism, including main stem support, spring compression component and action wheel installation unit, the main stem support is arranged multiple on the rotary base, the action wheel installation unit is arranged on the side wall of the main stem support by the spring compression component; Tail cleaning mechanism, tail cleaning mechanism includes installation base and scraper, the installation base is connected with one end of the rotary lever away from the probe fixing box, the scraper is arranged in the installation base.

2. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 1, characterized in that, The main stem support is arranged three, three the main stem support equidistantly arranged on the side wall of the rotary base, installation groove is equipped on the side wall of each main stem support, the installation groove is interval arranged two along the axis direction of the main stem support, the spring compression component is arranged in the installation groove, the action wheel installation unit is arranged in the installation groove by the spring compression component.

3. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 2, characterized in that, Each spring compression component includes spring guide rail, compression spring and spring compression plate, the spring guide rail is arranged in the installation groove, the compression spring is sleeved on the spring guide rail, the spring compression plate is threaded on the spring guide rail and is connected with one end of the compression spring.

4. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 3, characterized in that, Each action wheel installation unit includes connecting rod and action wheel, the connecting rod is staggered arranged two by pivot, one end of two connecting rods is connected with the spring compression plate, the action wheel is arranged in one end of the connecting rod away from the spring compression plate, the connecting rod is equipped with drive motor corresponding the action wheel.

5. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 1, characterized in that, The installation base is equipped with telescopic adjusting device, the telescopic adjusting device includes micro positive and negative rotation motor, rotary gear and toothed plate, the micro positive and negative rotation motor is connected with the installation base, the rotary gear is connected with the output end of the micro positive and negative rotation motor, the toothed plate is engaged with the rotary gear, the scraper is arranged on the toothed plate.

6. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 1, characterized in that, The bottom of the rotary base is equipped with multiple bolt holes, the main stem support is connected with the rotary base by bolt through the bolt hole.

7. The intelligent monitoring, predicting and cleaning integrated robot for wellbore wall waxing according to claim 5, characterized in that, The scraper is equipped with scraper cap in one end away from the rotary lever.

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