Automatic reducing petroleum pipeline electric threading robot

Abstract

The application discloses an automatic variable-diameter type petroleum pipeline electric running-in robot, relates to the field of petroleum pipeline running-in devices, and aims to solve the technical problem of poor universality of current casing inner diameter detection devices. The automatic variable-diameter type petroleum pipeline electric running-in robot comprises a cylinder, a plurality of running-in gauges with different diameters and three driving assemblies, the plurality of running-in gauges are coaxially connected with the cylinder selectively; the driving assembly comprises a driving wheel and an adjusting piece, the driving wheel is connected with the cylinder through the adjusting piece, the three driving wheels are arranged at intervals around the axis of the cylinder, and the three driving wheels are uniformly distributed in the circumferential direction of the cylinder; the driving wheel is adapted to walk on the inner wall of the casing; and the adjusting piece is used for adjusting the distance between the driving wheel and the axis of the cylinder. The automatic variable-diameter type petroleum pipeline electric running-in robot provided by the application can be suitable for casings with different specifications, increases the universality of the robot in use, and reduces the equipment purchase and operation and maintenance costs.

Description

Technical Field

[0001] This application relates to the field of oil pipeline gauging devices, and more particularly to an automatic diameter-changing electric gauging robot for oil pipelines. Background Technology

[0002] During drilling operations, the casing must be inspected for gauging before running. Traditional gauging relies on manual operation, which is not only labor-intensive and inefficient, but also prone to causing personal safety accidents. Therefore, casing inner diameter inspection devices have emerged to address this need.

[0003] In related technologies, different specifications of casing require corresponding casing inner diameter testing devices for inspection. However, there are more than ten different specifications of casing for well access, requiring a wide variety of gauging robots, which significantly increases the cost of equipment purchase and maintenance. Therefore, current casing inner diameter testing devices suffer from poor versatility. Summary of the Invention

[0004] The purpose of this application is to provide an automatic variable diameter electric diameter measuring robot for oil pipelines, which aims to solve the technical problem of poor versatility of current casing inner diameter detection devices.

[0005] This application provides an automatic variable diameter electric borehole robot for oil pipelines, which includes: A cylindrical body and multiple gauges of different diameters, wherein the multiple gauges can be selectively coaxially connected to the cylindrical body; Three drive components, each including a drive wheel and an adjusting member, wherein the drive wheel is connected to the cylinder via the adjusting member, the three drive wheels are spaced apart around the axis of the cylinder and are evenly distributed around the circumference of the cylinder; the drive wheels are adapted to travel on the inner wall of the sleeve; the adjusting member is used to adjust the distance between the drive wheel and the axis of the cylinder.

[0006] In the above-mentioned solution, the automatic variable diameter electric gauging robot for oil pipelines provided in this application is equipped with multiple gauging gauges of different diameters, which can be selectively connected coaxially to the cylinder, enabling the robot to be applicable to casings of different inner diameters. The three drive components are evenly distributed along the circumference of the cylinder, forming a stable three-point support structure. With the help of the adjustment component, the distance between the drive wheel and the cylinder axis can be adjusted, so that the drive wheel can fit the pipe wall of casings of different diameters, ensuring that the robot can be applied to casings of different specifications, increasing the versatility of the robot and reducing the equipment purchase and maintenance costs.

[0007] Optionally, the cylinder has a corresponding first end and a second end, and an adjusting ring and a positioning ring are provided on the outer periphery of the cylinder. The adjusting ring is close to the first end of the cylinder and is slidably disposed along the axial direction of the cylinder. The positioning ring is close to the second end of the cylinder, and the drive wheel is close to the second end of the cylinder. The adjusting component includes a first support rod and a first connecting rod; one end of the first support rod is hinged to the adjusting ring, and the other end of the first support rod is connected to the drive wheel; one end of the first connecting rod is hinged to the positioning ring, and the other end of the first connecting rod is hinged to the first support rod.

[0008] In the above scheme, by adjusting the sliding of the ring along the cylinder axis, the first support rod and the first connecting rod can be linked together to realize the radial position adjustment of the drive wheel relative to the cylinder axis, so that the drive wheel can fit the inner wall of the sleeve with different inner diameters, ensuring that the robot can walk stably and perform through-hole operations in sleeves of different specifications, thereby improving the equipment's versatility and operational reliability.

[0009] Optionally, the first support rod includes a first strut and two first hinge rods; one end of the first strut is hinged to the adjusting ring, and the other end of the first strut is connected to one end of the two first hinge rods; the two first hinge rods are spaced apart, and the other end of the first connecting rod is hinged between one end of the two first hinge rods, and the drive wheel is rotatably disposed between the other ends of the two first hinge rods.

[0010] In the above scheme, the forked support structure formed by the first strut and the two first hinge rods, in conjunction with the hinge linkage of the first connecting rod, can stably drive the drive wheel to achieve radial position adjustment when the adjusting ring moves axially; at the same time, the drive wheel is rotatably set between the two first hinge rods, forming double-sided support, which improves the structural rigidity and operational stability of the drive wheel installation, and ensures the stability and diameter operation accuracy of the robot when walking in the sleeve.

[0011] Optionally, the automatic variable diameter oil pipeline electric gauging robot further includes a drive unit, which is connected to the cylinder and the adjusting ring, and is used to drive the adjusting ring to move along the axial direction of the cylinder.

[0012] In the above solution, the radial adjustment of the drive wheel can be automated by setting a drive component. The drive component provides stable power for the axial movement of the adjustment ring. Moreover, the drive component replaces the manual adjustment method, which can realize the automatic diameter change of the robot when working in sleeves of different specifications. The diameter change can be completed without manual intervention, which greatly improves the work efficiency.

[0013] Optionally, the driving component includes a fixed base, an adjusting motor, a screw, and an adjusting plate; The regulating motor is connected to the inner wall of the cylinder through the fixed base. The screw is connected to the output end of the regulating motor and is parallel to the axis of the cylinder. The regulating plate is slidably disposed inside the cylinder. The sliding direction of the regulating plate is parallel to the axis of the cylinder. The screw is threadedly engaged with the regulating plate. The regulating plate is connected to the regulating ring.

[0014] In the above solution, the driving component adopts a transmission structure of adjusting motor, screw and adjusting plate. The adjusting motor drives the screw to rotate, and through the threaded engagement, it drives the adjusting plate and adjusting ring to move smoothly, replacing the manual adjustment method. This can realize the automatic diameter change of the robot when working in sleeves of different specifications, which greatly improves the work efficiency. At the same time, the threaded transmission has high precision, which can accurately control the movement stroke of the adjusting ring, and thus accurately adjust the position of the driving wheel.

[0015] Optionally, the automatic variable diameter oil pipeline electric gauging robot further includes three guiding components, the guiding components including a guide wheel, a second support rod, and a second connecting rod; The guide wheel is located near the first end of the cylinder. The three guide wheels are spaced apart around the axis of the cylinder and are evenly distributed around the circumference of the cylinder. One end of the second support rod is hinged to the positioning ring, and the other end of the second support rod is connected to the guide wheel. One end of the second connecting rod is hinged to the adjusting ring, and the other end of the second connecting rod is hinged to the second support rod.

[0016] In the above scheme, three guide wheels are evenly distributed along the circumference of the cylinder and keep the same plane as the outer side of the drive wheels. This forms a stable three-point support on the inner wall of the sleeve and works in conjunction with the three drive wheels to effectively counteract radial sway and eccentricity during robot movement, ensuring straight-line walking accuracy and posture stability. The guide wheels are hinged to the positioning ring and the adjusting ring respectively through the second support rod and the second connecting rod. They can open or close synchronously with the axial movement of the adjusting ring, realizing automatic adjustment of the radial dimensions of the guide wheels and drive wheels. This allows the robot to adapt to sleeves with different inner diameters and improves its compatibility with various pipe diameters.

[0017] Optionally, the second support rod includes a second strut and two second hinge rods; one end of the second strut is hinged to the positioning ring, and the other end of the second strut is connected to one end of the two second hinge rods; the two second hinge rods are spaced apart, and the other end of the second connecting rod is hinged between one end of the two second hinge rods, and the guide wheel is rotatably disposed between the other ends of the two second hinge rods.

[0018] In the above scheme, the bifurcated support structure formed by the second strut and the two second hinge rods, in conjunction with the hinge linkage of the second connecting rod, can stably drive the guide wheel to achieve radial position adjustment when the adjusting ring moves axially; at the same time, the guide wheel is rotatably set between the two second hinge rods, forming double-sided support, which improves the structural rigidity and operational stability of the guide wheel installation, and ensures the stability and diameter operation accuracy of the robot when walking in the sleeve.

[0019] Optionally, the positioning ring includes a first positioning seat, a first spring, and a first connecting seat. The first positioning seat is fixedly connected to the cylinder body. The first connecting seat is located on the side of the first positioning seat facing the first end of the cylinder body and is slidably engaged with the cylinder body. The first connecting rod is hinged to the first positioning seat, and the second support rod is hinged to the first connecting seat. The first spring is connected between the first positioning seat and the first connecting seat.

[0020] In the above scheme, the first connecting seat is connected to the second support rod through the movable first connecting seat. The first spring can apply elastic force to the first connecting seat, and then transmit the force to the second support rod and the guide wheel through the first connecting seat. This ensures that the guide wheel and the inner wall of the sleeve always maintain a certain pressure, ensuring that the robot remains concentric and centered inside the sleeve, and increasing the friction between the guide wheel and the inner wall of the sleeve.

[0021] Optionally, the adjusting ring includes a second positioning seat, a second spring, and a second connecting seat. The second positioning seat is connected to the adjusting plate, and the second connecting seat is located on the side of the second positioning seat facing the second end of the cylinder. The first support rod is hinged to the second connecting seat, and the second connecting rod is hinged to the second positioning seat. The second spring is connected between the second positioning seat and the second connecting seat.

[0022] In the above scheme, the second connecting seat is connected to the first support rod through the movable second connecting seat. The second spring can apply elastic force to the second connecting seat, and then transmit the force to the first connecting rod and the drive wheel through the second connecting seat. This ensures that the drive wheel and the inner wall of the sleeve always maintain a certain pressure, ensuring that the robot remains concentric and centered inside the sleeve. It also increases the friction between the drive wheel and the inner wall of the sleeve, increases the stability of the drive wheel's movement, and ensures that the robot can move smoothly inside the sleeve.

[0023] Optionally, the automatic variable diameter oil pipeline electric gauging robot also includes a power supply, which is connected to the inner wall of the cylinder through a power supply base, and is electrically connected to the drive wheel and the regulating motor.

[0024] In the above scheme, the robot has its own power supply to provide power to the drive wheels and adjustment motor, and the power supply is connected to the inner wall of the cylinder through the power supply base, making full use of the internal space of the cylinder, with a compact overall layout and no increase in the outer diameter of the robot. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of an automatic variable diameter electric pipe gauge robot provided in this application embodiment; Figure 2 A cross-sectional schematic diagram of an automatic variable diameter electric pipe gauge robot provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the posture adjustment of an electric diameter-adjusting robot for an automatic diameter-adjusting oil pipeline, as provided in an embodiment of this application.

[0027] Figure label: 1. End cap; 2. Drive wheel; 3. First positioning seat; 4. First spring; 5. First connecting seat; 6. First connecting rod; 7. Second support rod; 8. First support rod; 9. Cylinder; 10. Second connecting rod; 11. Guide wheel; 12. Go gauge; 13. Power supply seat; 14. Power supply; 15. Screw; 16. Adjusting plate; 17. Fixed seat; 18. Adjusting motor; 19. Go gauge seat; 20. Second connecting seat; 21. Second positioning seat. Detailed Implementation

[0028] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0029] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0030] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0031] In the embodiments of this application, "parallel," "perpendicular," and "equal" include the described situation and situations similar to the described situation, where the range of similarity is within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where the acceptable deviation range for approximate parallelism can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity can also be, for example, a deviation within 5°. "Equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality can be, for example, a difference between the two equals being less than or equal to 5% of either one.

[0032] Combination Figures 1 to 3 As shown in the embodiment of this application, the automatic variable diameter oil pipeline electric gauging robot includes a cylinder 9, multiple gauging gauges 12 of different diameters, and three drive components. The multiple gauging gauges 12 are selectively coaxially connected to the cylinder 9. Each gauging gauge 12 employs a cylindrical mechanism and is connected to the first end of the cylinder 9 via a gauge seat 19. The multiple gauging gauges 12 have the same inner diameter but different outer diameters, allowing them to fit around the outer circumference of the gauge seat 19. The gauges 12 are bolted or threaded to the gauge seat 19, without limitation. The second end of the cylinder 9 is sealed by an end cap 1, isolating the internal environment of the cylinder 9 from the external environment. The drive components include drive wheels 2 and adjusting components. The drive wheels 2 are connected to the cylinder 9 via adjusting components. The three drive wheels 2 are spaced apart around the axis of the cylinder 9 and are evenly distributed circumferentially around the cylinder 9. The drive wheel 2 is suitable for walking on the inner wall of the sleeve. The drive wheel 2 includes a walking wheel and a walking motor. The walking motor is connected to an adjusting component, and the drive wheel 2 is connected to the output shaft of the walking motor, so that the walking motor drives the drive wheel 2 to rotate, achieving self-walking of the robot. The adjusting component is used to adjust the distance between the drive wheel 2 and the axis of the cylinder 9.

[0033] The automatic variable diameter electric gauging robot for oil pipelines provided in this application configuration uses multiple gauging gauges 12 of different diameters, which can be selectively coaxially connected to the cylinder 9. This allows the robot to be applicable to casings of different inner diameters. The three drive components are evenly distributed around the circumference of the cylinder 9, forming a stable three-point support structure. With the help of the adjustment component, the distance between the drive wheel 2 and the axis of the cylinder 9 can be adjusted, so that the drive wheel 2 can fit the pipe wall of casings of different diameters. This ensures that the robot can be applied to casings of different specifications, increases the versatility of the robot, and reduces the cost of equipment purchase and maintenance.

[0034] In some embodiments, the cylinder 9 has corresponding first and second ends, so as to Figure 2 Taking the direction shown as an example, the first end of cylinder 9 is the left end of cylinder 9, and the second end of cylinder 9 is the right end of cylinder 9. Combined with... Figure 2 and Figure 3 As shown, the outer periphery of the cylinder 9 is provided with an adjusting ring and a positioning ring. The adjusting ring is located near the first end of the cylinder 9 and slides along the axial direction of the cylinder 9. The positioning ring is located near the second end of the cylinder 9, and the drive wheel 2 is located near the second end of the cylinder 9. The adjusting component includes a first support rod 8 and a first connecting rod 6. One end of the first support rod 8 is hinged to the adjusting ring, and the other end of the first support rod 8 is connected to the drive wheel 2, specifically to the drive motor of the drive wheel 2. One end of the first connecting rod 6 is hinged to the positioning ring, and the other end of the first connecting rod 6 is hinged to the first support rod 8.

[0035] In this design, by adjusting the ring to slide along the axis of the cylinder 9, the first support rod 8 and the first connecting rod 6 can be linked together to realize the radial position adjustment of the drive wheel 2 relative to the axis of the cylinder 9, so that the drive wheel 2 can fit the inner wall of the sleeve with different inner diameters, ensuring that the robot can walk stably and perform through-hole operations in sleeves of different specifications, and improving the equipment's versatility and operational reliability.

[0036] In some embodiments, the first support rod 8 includes a first strut and two first hinge rods; one end of the first strut is hinged to an adjusting ring, and the other end of the first strut is connected to one end of the two first hinge rods; the two first hinge rods are spaced apart, and the other end of the first connecting rod 6 is hinged between one end of the two first hinge rods, and the drive wheel 2 is rotatably disposed between the other ends of the two first hinge rods.

[0037] In this design, the forked support structure formed by the first strut and the two first hinged rods, in conjunction with the hinged linkage of the first connecting rod 6, can stably drive the drive wheel 2 to achieve radial position adjustment when the adjusting ring moves axially. At the same time, the drive wheel 2 is rotatably set between the two first hinged rods, forming double-sided support, which improves the structural rigidity and operational stability of the drive wheel 2 installation, and ensures the stability and diameter operation accuracy of the robot when walking inside the casing.

[0038] In some embodiments, the automatic variable diameter oil pipeline electric gauging robot also includes a drive unit connected to the cylinder 9 and the adjusting ring, the drive unit being used to drive the adjusting ring to move along the axial direction of the cylinder 9.

[0039] In this design, the radial adjustment of the drive wheel 2 can be automated by setting a drive component. The drive component provides stable power for the axial movement of the adjustment ring. Moreover, the drive component replaces the manual adjustment method, which can realize the automatic diameter change of the robot when working in sleeves of different specifications. The diameter change can be completed without manual intervention, which greatly improves the work efficiency.

[0040] In some implementations, combined Figure 2 and Figure 3 As shown, the driving component includes a fixed base 17, an adjusting motor 18, a screw 15, and an adjusting plate 16. The adjusting motor 18 is connected to the inner wall of the cylinder 9 via the fixed base 17, i.e., the fixed base 17 is connected to the inner wall of the cylinder 9, and the adjusting motor 18 is connected to the fixed base 17. The screw 15 is connected to the output end of the adjusting motor 18, and the screw 15 is parallel to the axis of the cylinder 9, so that the adjusting motor 18 drives the screw 15 to rotate. The adjusting plate 16 is slidably disposed inside the cylinder 9, and the sliding direction of the adjusting plate 16 is parallel to the axial direction of the cylinder 9. The screw 15 is threadedly engaged with the adjusting plate 16, so that the rotation of the screw 15 drives the adjusting plate 16 to move along the axial direction of the cylinder 9. The adjusting plate 16 is connected to an adjusting ring, so that the adjusting plate 16 drives the adjusting ring to move along the axial direction of the cylinder 9.

[0041] In this design, the drive unit adopts a transmission structure of adjusting motor 18, screw 15 and adjusting plate 16. Adjusting motor 18 drives screw 15 to rotate, and through threaded engagement, it drives adjusting plate 16 and adjusting ring to move smoothly, replacing the manual adjustment method. This enables the robot to automatically change diameter when working in sleeves of different specifications, greatly improving work efficiency. At the same time, the threaded transmission has high precision, which can accurately control the movement stroke of the adjusting ring, and thus accurately adjust the position of drive wheel 2.

[0042] In some implementations, reference continues. Figure 2 and Figure 3The automatic diameter-changing electric pipe gauge robot also includes three guiding components, each comprising a guide wheel 11, a second support rod 7, and a second connecting rod 10. The guide wheels 11 are located near the first end of the casing 9. The three guide wheels 11 are spaced apart around the axis of the casing 9 and are evenly distributed circumferentially around the casing 9. The guide wheels 11 are used to support the inner wall of the casing and roll in cooperation with it. The outer side of the guide wheel 11 is on the same plane as the outer side of the drive wheel 2, ensuring the stability of the robot's movement as the drive wheel 2 moves along the inner wall of the casing. One end of the second support rod 7 is hinged to the positioning ring, and the other end is connected to the guide wheel 11. One end of the second connecting rod 10 is hinged to the adjusting ring, and the other end is hinged to the second support rod 7.

[0043] In this design, the three guide wheels 11 are evenly distributed around the cylinder 9 and remain on the same plane as the outer side of the drive wheel 2. This forms a stable three-point support on the inner wall of the sleeve and works in conjunction with the three drive wheels 2 to effectively counteract radial sway and eccentricity during robot movement, ensuring straight-line walking accuracy and posture stability. The guide wheels 11 are hinged to the positioning ring and the adjusting ring respectively through the second support rod 7 and the second connecting rod 10. They can open or close synchronously with the axial movement of the adjusting ring, realizing automatic adjustment of the radial dimensions of the guide wheels 11 and the drive wheels 2. This allows them to adapt to sleeves with different inner diameters and improves the robot's compatibility with various pipe diameters.

[0044] In some embodiments, the second support rod 7 includes a second strut and two second hinge rods; one end of the second strut is hinged to a positioning ring, and the other end of the second strut is connected to one end of the two second hinge rods; the two second hinge rods are spaced apart, and the other end of the second connecting rod 10 is hinged between one end of the two second hinge rods, and the guide wheel 11 is rotatably disposed between the other ends of the two second hinge rods.

[0045] In this design, the bifurcated support structure formed by the second strut and the two second hinged rods, in conjunction with the hinged linkage of the second connecting rod 10, can stably drive the guide wheel 11 to achieve radial position adjustment when the adjusting ring moves axially. At the same time, the guide wheel 11 is rotatably set between the two second hinged rods to form double-sided support, which improves the structural rigidity and operational stability of the guide wheel 11 installation, and ensures the stability and diameter operation accuracy of the robot when walking in the casing.

[0046] In some implementations, combined Figure 2 and Figure 3As shown, the positioning ring includes a first positioning seat 3, a first spring 4, and a first connecting seat 5. The first positioning seat 3 is fixedly connected to the cylinder 9. The first connecting seat 5 is located on the side of the first positioning seat 3 facing the first end of the cylinder 9 and is slidably engaged with the cylinder 9. The first connecting rod 6 is hinged to the first positioning seat 3, and the second support rod 7 is hinged to the first connecting seat 5. The first spring 4 is connected between the first positioning seat 3 and the first connecting seat 5, and there can be multiple first springs 4, preferably 6. The multiple first springs 4 are arranged at intervals along the circumference of the cylinder 9.

[0047] In this design, the first connecting seat 5 is connected to the second support rod 7 through a movable first connecting seat 5. The first spring 4 can apply elastic force to the first connecting seat 5, and then transmit the force to the second support rod 7 and the guide wheel 11 through the first connecting seat 5. This ensures that the guide wheel 11 and the inner wall of the sleeve always maintain a certain pressure, ensuring that the robot remains concentric and centered inside the sleeve, and increasing the friction between the guide wheel 11 and the inner wall of the sleeve.

[0048] In some embodiments, the adjusting ring includes a second positioning seat 21, a second spring, and a second connecting seat 20. The second positioning seat 21 is connected to the adjusting plate 16, and the second connecting seat 20 is located on the side of the second positioning seat 21 facing the second end of the cylinder 9. The first support rod 8 is hinged to the second connecting seat 20, and the second connecting rod 10 is hinged to the second positioning seat 21. The second spring is connected between the second positioning seat 21 and the second connecting seat 20, and there may be multiple second springs, preferably six, which are arranged at intervals along the circumference of the cylinder 9.

[0049] In this design, the second connecting seat 20 is connected to the first support rod 8 through a movable second connecting seat 20. The second spring can apply elastic force to the second connecting seat 20, and then transmit this force to the first connecting rod 6 and the drive wheel 2 through the second connecting seat 20. This ensures that the drive wheel 2 and the inner wall of the sleeve always maintain a certain pressure, ensuring that the robot remains concentric and centered inside the sleeve. It also increases the friction between the drive wheel 2 and the inner wall of the sleeve, increasing the stability of the drive wheel 2's movement and ensuring that the robot can move smoothly inside the sleeve.

[0050] In some embodiments, the automatic variable diameter oil pipeline electric gauging robot also includes a power supply 14, which is connected to the inner wall of the cylinder 9 via a power supply base 13, and is electrically connected to the drive wheel 2 and the regulating motor 18.

[0051] In this design, the robot's built-in power supply 14 provides power to the drive wheel 2 and the regulating motor 18. The power supply 14 is connected to the inner wall of the cylinder 9 through the power supply base 13, making full use of the internal space of the cylinder 9. The overall layout is compact and does not increase the outer diameter of the robot.

[0052] In some embodiments, the automatic variable diameter electric pipeline gauging robot also includes a controller, which is located inside the cylinder 9. The controller is electrically connected to the regulating motor 18 and the drive wheel 2, and can control the start and stop of the regulating motor 18 and the drive wheel 2. In addition, the automatic variable diameter electric pipeline gauging robot also includes an alarm module, which is electrically connected to the controller. During the gauging process, when the drive wheel 2 stops rotating or the robot stops moving forward, the controller controls the alarm module to activate, and the alarm module issues an alarm.

[0053] In some implementations, to reduce the weight of the robot, the main body, such as the cylinder 9, is made of aluminum alloy, while the power supply box 14 and the power supply base 13 are made of high-strength polymer material.

[0054] In the operation of the automatic variable diameter oil pipeline electric gauging robot provided in this application embodiment, the power supply 14 is first turned on, the robot's external dimensions are set according to the size specifications of the casing, a gauging gauge 12 of the same specification is selected to connect to the cylinder 9, and the connection is checked to ensure that each connection is good.

[0055] A worker manually places the robot into the casing. Once inside, the controller adjusts the outer diameter of the drive wheel 2 and guide wheel 11 using the regulating motor 18, ensuring they are supported against the inner wall of the casing. The controller then connects the drive wheel 2 to the power supply 14, causing it to move the robot inside the casing. Close monitoring of the robot's movement is crucial. If the casing becomes deformed or blocked, the controller triggers an alarm module. In this case, the controller can reverse the rotation of the drive wheel 2 to prevent damage to the robot, stop the operation, analyze the cause, and take appropriate measures. Once the robot's guide wheel 11 exits the casing, the controller stops the drive wheel 2, records the findings, and a manual gauging gauge 12 is used to gaug the casing. This process is repeated until all casings are gauged.

[0056] The automatic diameter-changing electric gauging robot for oil pipelines provided in this application can automatically change the diameter of the casing according to its specifications. It can complete the gauging of multiple casings by using one robot in conjunction with multiple gauges 12. The automatic diameter-changing electric gauging robot for oil pipelines can be powered by lithium batteries and driven by low-speed, high-torque hub motors as the drive wheels 2. It features a simple structure, long service life, stable performance, and low failure rate. The adjusting motor 18 and drive wheels 2 are centrally controlled by a controller and are installed inside a waterproof and explosion-proof casing 9, making it suitable for most flammable and explosive construction sites in the oilfield.

[0057] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0058] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic variable-diameter electric pipe gauge robot, characterized in that, include: A cylindrical body (9) and a plurality of gauges (12) of different diameters, wherein the plurality of gauges (12) may be coaxially connected to the cylindrical body (9); Three drive components, each drive component including a drive wheel (2) and an adjusting member, wherein the drive wheel (2) is connected to the cylinder (9) through the adjusting member, the three drive wheels (2) are spaced apart around the axis of the cylinder (9), and the three drive wheels (2) are evenly distributed around the circumference of the cylinder (9); the drive wheel (2) is adapted to travel on the inner wall of the sleeve; the adjusting member is used to adjust the distance between the drive wheel (2) and the axis of the cylinder (9).

2. The automatic variable diameter electric pipe gauge robot according to claim 1, characterized in that, The cylinder (9) has a corresponding first end and a second end. An adjusting ring and a positioning ring are provided on the outer periphery of the cylinder (9). The adjusting ring is close to the first end of the cylinder (9) and is slidably arranged along the axial direction of the cylinder (9). The positioning ring is close to the second end of the cylinder (9). The drive wheel (2) is close to the second end of the cylinder (9). The adjusting component includes a first support rod (8) and a first connecting rod (6); one end of the first support rod (8) is hinged to the adjusting ring, and the other end of the first support rod (8) is connected to the drive wheel (2); one end of the first connecting rod (6) is hinged to the positioning ring, and the other end of the first connecting rod (6) is hinged to the first support rod (8).

3. The automatic variable diameter electric pipe gauge robot according to claim 2, characterized in that, The first support rod (8) includes a first strut and two first hinge rods; one end of the first strut is hinged to the adjusting ring, and the other end of the first strut is connected to one end of the two first hinge rods; the two first hinge rods are spaced apart, and the other end of the first connecting rod (6) is hinged between one end of the two first hinge rods, and the drive wheel (2) is rotatably positioned between the other ends of the two first hinge rods.

4. The automatic variable diameter electric pipe gauge robot according to claim 2, characterized in that, The automatic variable diameter oil pipeline electric caliper robot also includes a drive unit, which is connected to the cylinder (9) and the adjusting ring. The drive unit is used to drive the adjusting ring to move along the axial direction of the cylinder (9).

5. The automatic variable diameter oil pipeline electric diameter-measuring robot according to claim 4, characterized in that, The driving component includes a fixed base (17), an adjusting motor (18), a screw (15), and an adjusting plate (16). The regulating motor (18) is connected to the inner wall of the cylinder (9) through the fixed seat (17). The screw (15) is connected to the output end of the regulating motor (18), and the screw (15) is parallel to the axis of the cylinder (9). The regulating plate (16) is slidably disposed inside the cylinder (9). The sliding direction of the regulating plate (16) is parallel to the axis of the cylinder (9). The screw (15) is threadedly engaged with the regulating plate (16). The regulating plate (16) is connected to the regulating ring.

6. The automatic variable diameter electric pipe gauge robot according to claim 5, characterized in that, The automatic variable diameter oil pipeline electric diameter control robot also includes three guide components, which include a guide wheel (11), a second support rod (7), and a second connecting rod (10). The guide wheel (11) is close to the first end of the cylinder (9), and the three guide wheels (11) are spaced apart around the axis of the cylinder (9) and are evenly distributed around the circumference of the cylinder (9); one end of the second support rod (7) is hinged to the positioning ring, and the other end of the second support rod (7) is connected to the guide wheel (11); one end of the second connecting rod (10) is hinged to the adjusting ring, and the other end of the second connecting rod (10) is hinged to the second support rod (7).

7. The automatic variable diameter electric pipe gauge robot according to claim 6, characterized in that, The second support rod (7) includes a second strut and two second hinge rods; one end of the second strut is hinged to the positioning ring, and the other end of the second strut is connected to one end of the two second hinge rods; the two second hinge rods are spaced apart, and the other end of the second connecting rod (10) is hinged between one end of the two second hinge rods, and the guide wheel (11) is rotatably disposed between the other ends of the two second hinge rods.

8. The automatic variable diameter electric pipe gauge robot according to claim 6, characterized in that, The positioning ring includes a first positioning seat (3), a first spring (4), and a first connecting seat (5). The first positioning seat (3) is fixedly connected to the cylinder (9). The first connecting seat (5) is located on the side of the first positioning seat (3) facing the first end of the cylinder (9) and slides with the cylinder (9). The first connecting rod (6) is hinged to the first positioning seat (3). The second support rod (7) is hinged to the first connecting seat (5). The first spring (4) is connected between the first positioning seat (3) and the first connecting seat (5).

9. The automatic variable diameter electric pipe gauge robot according to claim 8, characterized in that, The adjusting ring includes a second positioning seat (21), a second spring, and a second connecting seat (20). The second positioning seat (21) is connected to the adjusting plate (16). The second connecting seat (20) is located on the side of the second positioning seat (21) facing the second end of the cylinder (9). The first support rod (8) is hinged to the second connecting seat (20), and the second connecting rod (10) is hinged to the second positioning seat (21). The second spring is connected between the second positioning seat (21) and the second connecting seat (20).

10. The automatic variable diameter electric pipe gauge robot according to claim 5, characterized in that, The automatic variable diameter oil pipeline electric diameter control robot also includes a power supply (14), which is connected to the inner wall of the cylinder (9) through a power supply base (13). The power supply (14) is electrically connected to the drive wheel (2) and the regulating motor (18).

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