Underground crawler

Abstract

The underground crawler comprises an electronic section, a hydraulic section, a driving section and an energy storage section, a mounting groove is formed in the driving joint, a supporting seat is arranged in the mounting groove, and a crawling mechanism is arranged on the supporting seat; a first driving mechanism and a second driving mechanism are arranged in the driving joint; the hydraulic joint is provided with a first oil way communicated with the first driving mechanism; the energy storage joint is provided with a second oil way communicating with the first driving mechanism. And the electronic section is respectively connected with the hydraulic section and the driving section. The underground crawler provided by the utility model is high in reliability and sufficient in power, and ensures that a detection instrument is safely dragged underground.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling, in particular to a downhole crawler. Background Art

[0002] When testing cased wells and open-hole wells, the testing instrument can be lowered by gravity in the vertical section, but it cannot move in the inclined section and horizontal section, and a driving device is required to drive the testing instrument to move. Since the testing instrument is heavy and expensive, the power and reliability of the driving device are particularly important. For this reason, a downhole crawler with high reliability and sufficient power is designed to ensure the safe dragging of the testing instrument underground. Utility Model Content

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a downhole crawler with high reliability and sufficient power to ensure the safe dragging of the detection instrument underground.

[0004] The utility model provides a downhole crawler, comprising an electronic section, a hydraulic section, a driving section and an energy storage section which are sequentially connected end to end from a first end to a second end;

[0005] The driving joint is provided with a mounting groove penetrating the driving joint along a first direction, the first direction being a direction perpendicular to the first end to the second end; a support seat is fixedly provided at one end of the mounting groove close to the first end, and a crawling mechanism that can be swung to both sides and stored in the mounting groove is provided on the support seat; a first driving mechanism is provided in the driving joint, for driving the crawling mechanism to swing to both sides of the mounting groove and store in the mounting groove; a second driving mechanism is provided in the driving joint, for driving the crawling mechanism to operate;

[0006] The hydraulic node is provided with a first oil circuit connected to the first drive mechanism, which is used to output driving hydraulic oil to the first drive mechanism; the energy storage node is provided with a second oil circuit connected to the first drive mechanism, which is used to provide assistance for the driving hydraulic oil to flow back to the hydraulic node; the electronic node is electrically connected to the hydraulic node and the drive node respectively, which is used to supply power to the hydraulic node and the drive node and send control signals.

[0007] Furthermore, the electronic node comprises a first cylindrical shell, a frame is fixedly arranged in the first shell, a main control circuit board and a power supply circuit board are arranged on the frame, and the power supply circuit board is electrically connected to the main control circuit board.

[0008] Furthermore, the hydraulic joint includes a cylindrical second outer shell, and a hydraulic pump is fixedly arranged in the second outer shell.

[0009] Furthermore, the driving section is provided with 1-4 sections, and the opening directions of the mounting grooves on adjacent driving sections are perpendicular to each other; the driving section includes a cylindrical third shell, and the first cavity and the second cavity are sequentially arranged in the third shell along the direction from the second end to the first end.

[0010] Furthermore, the crawling mechanism includes crawling legs and crawling wheels. The crawling legs are symmetrically arranged on both sides of the top of the support seat. One end of the two crawling legs is rotatably connected to the support seat through a bearing seat, and the other end is respectively provided with the crawling wheel.

[0011] Further, the first driving mechanism includes a driving piston disposed in the first cavity, one end of the driving piston is provided with a disc spring, and the other end is provided with a return spring, the first cavity is provided with an end of the disc spring connected to the first oil circuit, and the first cavity is provided with an end of the return spring connected to the second oil circuit;

[0012] A driving plate is slidably connected on the support seat between the two crawling legs, and two push rods are fixedly connected between the driving plate and the driving piston. Leg opening guide wheels are respectively provided on one side of one side of the driving plate and the other side of the other side. The leg opening guide wheels on the corresponding side of the crawling leg are provided with arc-shaped leg opening guide grooves, and the leg opening guide wheels are respectively embedded in the corresponding leg opening guide grooves.

[0013] Furthermore, the second driving mechanism includes a driving motor arranged in the second cavity, the output end of the driving motor is connected to the transmission rod, the transmission rod sleeve passes through the first cavity, the transmission rod passes through the transmission rod sleeve and extends into the support seat and is fixedly connected to the first bevel gear, and transmission shafts are respectively rotatably arranged in the bearing seats at the ends of the two crawling legs, one end of the transmission shaft is provided with a second bevel gear meshing with the first bevel gear, and a transmission gear set is arranged between the other end and the corresponding crawling wheel.

[0014] Furthermore, the energy storage node includes a cylindrical fourth shell, a third cavity is arranged in the fourth shell, a fourth cavity is formed between the outer wall of the third cavity and the inner wall of the fourth shell, a guide rod is fixedly arranged in the third cavity, an energy storage piston is slidably sleeved on the guide rod, an energy storage disc spring is sleeved on the guide rod between the energy storage piston and one end of the third cavity, the other end of the third cavity is connected to the second oil circuit, a compensation piston is slidably sleeved on the outer periphery of the third cavity in the fourth cavity, a spring seat is fixedly arranged at one end of the fourth cavity, and the other end is connected to the second oil circuit, and a compensation spring is sleeved on the outer periphery of the third cavity between the compensation piston and the spring seat.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The downhole crawler of the utility model is provided with an electronic node, a hydraulic node, a driving node and an energy storage node; the electronic node is used for power supply and drive control, the hydraulic node outputs driving hydraulic oil to the first driving mechanism to drive the crawling mechanism to open, and the second driving mechanism drives the crawling mechanism to operate, thereby driving the detection instrument to move in the well. After the detection is completed, the hydraulic node withdraws the driving hydraulic oil to retract the crawling mechanism into the installation groove, so that the detection instrument can be pulled out of the well. If the hydraulic node fails, the energy storage node can provide power to press the driving hydraulic oil back to the hydraulic node to ensure that the crawling mechanism is retracted, so that the detection instrument can be smoothly pulled out of the well. The downhole crawler of the present application has high reliability and sufficient power, which ensures the safe dragging of the detection instrument underground.

[0017] It should be understood that the contents described in the utility model summary are not intended to limit the key or important features of the embodiments of the utility model, nor are they intended to limit the scope of the utility model. Other features of the utility model will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0019] Figure 1 It is the structural diagram of the electronic node;

[0020] Figure 2 It is a schematic diagram of the cross-sectional structure of the electronic node;

[0021] Figure 3 It is a structural diagram of the hydraulic section;

[0022] Figure 4 It is a schematic diagram of the cross-sectional structure of the hydraulic joint;

[0023] Figure 5 It is the structural diagram of the driving section;

[0024] Figure 6 It is a schematic diagram of the cross-sectional structure of the driving section;

[0025] Figure 7 It is a structural diagram of the crawling mechanism;

[0026] Figure 8 is a structural schematic diagram of a transmission gear set;

[0027] Fig. 9 It is a structural schematic diagram of the support seat;

[0028] Fig.10 is a schematic diagram of the structure of the first bevel gear and the second bevel gear;

[0029] Fig.11 It is the structural diagram of the energy storage node;

[0030] Fig.12 It is a schematic diagram of the cross-sectional structure of the energy storage node.

[0031] Numbers in the figure: 1, electronic section; 2, hydraulic section; 3, driving section; 4, energy storage section; 5, crawling mechanism; 6, first driving mechanism; 7, second driving mechanism;

[0032] 11. first housing; 12. frame; 13. main control circuit board; 14. power supply circuit board;

[0033] 21. Second housing; 22. Hydraulic pump;

[0034] 31. mounting groove; 32. support seat; 33. third housing; 34. first cavity; 35. second cavity;

[0035] 41. fourth housing; 42. third cavity; 43. fourth cavity; 44. guide rod; 45. energy storage piston; 46. energy storage disc spring; 47. compensation piston; 48. spring seat; 49. compensation spring;

[0036] 51. Crawling leg; 52. Crawling wheel; 53. Bearing seat; 54. Open leg guide groove;

[0037] 61. driving piston; 62. disc spring; 63. return spring; 64. driving plate; 65. push rod; 66. opening leg guide wheel;

[0038] 71. driving motor; 72. transmission rod; 73. transmission rod sleeve; 74. first bevel gear; 75. second bevel gear; 76. transmission gear set. DETAILED DESCRIPTION

[0039] The utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for the convenience of description, only the parts related to the utility model are shown in the accompanying drawings.

[0040] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] Please refer to Figures 1 to 12 , an embodiment of the utility model provides a downhole crawler, comprising an electronic section 1, a hydraulic section 2, a driving section 3 and an energy storage section 4 which are sequentially connected end to end from a first end to a second end;

[0042] The driving section 3 is provided with a mounting groove 31 penetrating the driving section 3 along a first direction, wherein the first direction is a direction perpendicular to the first end to the second end; a support seat 32 is fixedly provided at one end of the mounting groove 31 close to the first end, and a crawling mechanism 5 which can be swung to both sides and stored in the mounting groove 31 is provided on the support seat 32; a first driving mechanism 6 is provided in the driving section 3, and is used to drive the crawling mechanism 5 to swing to both sides of the mounting groove 31 and store in the mounting groove 31; a second driving mechanism 7 is provided in the driving section 3, and is used to drive the crawling mechanism 5 to operate;

[0043] The hydraulic section 2 is provided with a first oil circuit connected to the first drive mechanism 6, which is used to output driving hydraulic oil to the first drive mechanism 6; the energy storage section 4 is provided with a second oil circuit connected to the first drive mechanism 6, which is used to provide assistance for the driving hydraulic oil to flow back to the hydraulic section 2; the electronic section 1 is electrically connected to the hydraulic section 2 and the drive section 3 respectively, and is used to supply power to the hydraulic section 2 and the drive section 3 and send control signals.

[0044] In this embodiment, the detection instrument is connected to the crawler. In the inclined section or horizontal section of the well, the electronic node 1 sends a control signal, and the hydraulic node 2 outputs the driving hydraulic oil to the first driving mechanism 6. The crawler mechanism 5 is opened to both sides of the installation groove 31 through hydraulic drive and contacts the well wall. Then the second driving mechanism 7 drives the crawler mechanism 5 to operate, and at this time the crawler drives the detection instrument to move in the well.

[0045] After the detection instrument arrives at the detection position and completes the detection, the hydraulic joint 2 withdraws the driving hydraulic oil to retract the crawling mechanism 5 into the installation groove 31, and the detection instrument can be pulled out of the well through the traction equipment; if the hydraulic joint 2 fails, the energy storage joint 4 provides power to press the driving hydraulic oil back to the hydraulic joint 2, ensuring that the crawling mechanism 5 is retracted, avoiding the crawler from getting stuck in the well, and ensuring that the detection instrument can be pulled out of the well smoothly. The downhole crawler of the present application has high reliability and sufficient power, ensuring the safe dragging of the detection instrument underground.

[0046] In a preferred embodiment, if Figure 1 and Figure 2 As shown, the electronic node 1 includes a cylindrical first shell 11 , a frame 12 is fixedly arranged in the first shell 11 , a main control circuit board 13 and a power supply circuit board 14 are arranged on the frame 12 , and the power supply circuit board 14 is electrically connected to the main control circuit board 13 .

[0047] In this embodiment, the cylindrical structure ensures the smooth movement of the electronic node 1 underground, and the power circuit board 14 is connected to the power supply equipment on the well to power the crawler; the main control circuit board 13 sends a control signal to the hydraulic node 2 and the drive node 3 to control the operation of the crawler.

[0048] In a preferred embodiment, if Figure 3 and Figure 4 As shown, the hydraulic joint 2 includes a cylindrical second housing 21, and a hydraulic pump 22 is fixedly arranged in the second housing 21. The cylindrical structure ensures smooth movement of the hydraulic joint 2 underground, and the hydraulic pump 22 provides driving hydraulic oil for the first driving mechanism 6, and the driving power is strong.

[0049] In a preferred embodiment, if Figures 5 to 10 As shown, the driving section 3 is provided with sections 1-4, and the opening directions of the mounting grooves 31 on adjacent driving sections 3 are perpendicular to each other; the driving section 3 includes a cylindrical third shell 33, and the first cavity 34 and the second cavity 35 are sequentially arranged in the third shell 33 along the direction from the second end to the first end.

[0050] In this embodiment, 1-4 drive segments 3 can be configured according to the weight of the detection instrument to ensure that the crawler has sufficient driving force. The opening directions of adjacent mounting slots 31 are perpendicular to each other, that is, the opened crawling mechanisms 5 are perpendicular to each other, ensuring the stability of the movement of two or more drive segments 3. The heavier the detection instrument, the more drive segments 3 are configured, and the more stable the driving structure.

[0051] In a preferred embodiment, if Figure 7 and Figure 8 As shown, the crawling mechanism 5 includes crawling legs 51 and crawling wheels 52. The crawling legs 51 are symmetrically arranged on both sides of the top of the support seat 32. One end of the two crawling legs 51 is rotatably connected to the support seat 32 through a bearing seat 53, and the other end is respectively provided with a crawling wheel 52.

[0052] In this embodiment, the first driving mechanism 6 drives the two crawling legs 51 to swing open or retract, thereby ensuring the applicability of the crawling mechanism 5; the second driving mechanism 7 drives the crawling wheel 52 to rotate, thereby realizing the driving and dragging of the detection instrument.

[0053] In a preferred embodiment, if Figure 6 to Figure 10 As shown, the first driving mechanism 6 includes a driving piston 61 disposed in the first cavity 34, one end of the driving piston 61 is provided with a disc spring 62, and the other end is provided with a return spring 63, the first cavity 34 is provided with one end of the disc spring 62 connected to the first oil circuit, and the first cavity 34 is provided with one end of the return spring 63 connected to the second oil circuit;

[0054] A driving plate 64 is slidably connected between the two crawling legs 51 on the support seat 32, and two push rods 65 are fixedly connected between the driving plate 64 and the driving piston 61. Leg opening guide wheels 66 are respectively provided on one side of one side of the driving plate 64 and the other side of the other side. The leg opening guide wheels 66 on the corresponding side of the crawling leg 51 are provided with arc-shaped leg opening guide grooves 54, and the leg opening guide wheels 66 are respectively embedded in the corresponding leg opening guide grooves 54.

[0055] In this embodiment, the leg opening guide groove 54 is in an arc shape, and its center is located on the axis of the bearing seat 53. The hydraulic section 2 injects the driving hydraulic oil into a section of the first cavity 34 provided with the disc spring 62 or withdraws the driving hydraulic oil from the section, thereby driving the driving piston 61 to move, and the driving piston 61 drives the driving plate 64 to move through the push rod 65. Under the cooperation of the leg opening guide wheel 66 and the leg opening guide groove 54, the two crawling legs 51 are driven to open and retract, and the driving power is sufficient, ensuring that the crawling legs 51 have sufficient supporting force.

[0056] In a preferred embodiment, if Figure 6 to Figure 10 As shown, the second driving mechanism 7 includes a driving motor 71 arranged in the second cavity 35, and the output end of the driving motor 71 is transmission-connected with a transmission rod 72, and the transmission rod sleeve 73 passes through the first cavity 34. The transmission rod 72 passes through the transmission rod sleeve 73 and extends into the support seat 32 and is fixedly connected with a first bevel gear 74. Transmission shafts are rotatably arranged in the bearing seats 53 at the ends of the two crawling legs 51, and one end of the transmission shaft is provided with a second bevel gear 75 meshing with the first bevel gear 74, and a transmission gear set 76 is arranged between the other end and the corresponding crawling wheel 52.

[0057] In this embodiment, the driving motor 71 drives the first bevel gear 74 to rotate through the transmission rod 72, the first bevel gear 74 drives the transmission shaft to rotate through the second bevel gear 75, and the transmission shaft drives the crawler wheel 52 to rotate through the transmission gear set 76. Through gear transmission, the transmission power is sufficient to meet the dragging requirements of the detection instrument.

[0058] In a preferred embodiment, if Fig.11 and Fig.12 As shown, the energy storage node 4 includes a cylindrical fourth shell 41, a third cavity 42 is arranged in the fourth shell 41, a fourth cavity 43 is formed between the outer wall of the third cavity 42 and the inner wall of the fourth shell 41, a guide rod 44 is fixedly arranged in the third cavity 42, an energy storage piston 45 is slidably sleeved on the guide rod 44, an energy storage disc spring 46 is sleeved on the guide rod 44 between the energy storage piston 45 and one end of the third cavity 42, the other end of the third cavity 42 is connected to the second oil circuit, a compensation piston 47 is slidably sleeved on the outer periphery of the third cavity 42 in the fourth cavity 43, a spring seat 48 is fixedly arranged at one end of the fourth cavity 43, and the other end is connected to the second oil circuit, and a compensation spring 49 is sleeved on the outer periphery of the third cavity 42 between the compensation piston 47 and the spring seat 48.

[0059] In this embodiment, the hydraulic joint 2 injects the driving hydraulic oil into a section of the first cavity 34 provided with a disc spring 62, and the first cavity 34 is provided with a section of a return spring 63, and the hydraulic oil therein is pressed into the third cavity 42 and the fourth cavity 43, and the hydraulic oil squeezes the energy storage disc spring 46 and the compensation spring 49 respectively through the energy storage piston 45 and the compensation piston 47, so that the energy storage disc spring 46 and the compensation spring 49 accumulate elastic potential energy; when the hydraulic joint 2 draws back the driving hydraulic oil, the energy storage disc spring 46 and the compensation spring 49 release the elastic potential energy to provide assistance, and when the hydraulic joint 2 fails, the energy storage disc spring 46 and the compensation spring 49 release the elastic potential energy to press the driving hydraulic oil back to the hydraulic joint 2, so that the crawling mechanism 5 can still be retracted, ensuring that the equipment can be smoothly pulled out of the well with high safety.

[0060] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] In the description of this specification, the description of the terms "one embodiment", "some embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0062] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A downhole crawler, characterized in that: It comprises an electronic node (1), a hydraulic node (2), a drive node (3) and an energy storage node (4) which are sequentially connected end to end from a first end to a second end; The driving section (3) is provided with a mounting groove (31) penetrating the driving section (3) along a first direction, the first direction being a direction perpendicular to the first end to the second end; a support seat (32) is fixedly provided at one end of the mounting groove (31) close to the first end, and a crawling mechanism (5) is provided on the support seat (32) and can be swung open to both sides and received into the mounting groove (31); a first driving mechanism (6) is provided in the driving section (3) for driving the crawling mechanism (5) to swing open to both sides of the mounting groove (32) and received into the mounting groove (31); a second driving mechanism (7) is provided in the driving section (3) for driving the crawling mechanism (5) to operate; The hydraulic section (2) is provided with a first oil circuit connected to the first drive mechanism (6) for outputting driving hydraulic oil to the first drive mechanism (6); the energy storage section (4) is provided with a second oil circuit connected to the first drive mechanism (6) for providing assistance for the driving hydraulic oil to flow back to the hydraulic section (2); the electronic section (1) is electrically connected to the hydraulic section (2) and the drive section (3) respectively, for supplying power to the hydraulic section (2) and the drive section (3) and sending control signals.

2. The downhole crawler according to claim 1, characterized in that: The electronic node (1) comprises a cylindrical first shell (11), a frame (12) is fixedly arranged inside the first shell (11), a main control circuit board (13) and a power supply circuit board (14) are arranged on the frame (12), and the power supply circuit board (13) is electrically connected to the main control circuit board (14).

3. The downhole crawler according to claim 1, characterized in that: The hydraulic joint (2) comprises a cylindrical second outer shell (21), and a hydraulic pump (22) is fixedly arranged inside the second outer shell (21).

4. The downhole crawler according to claim 1, characterized in that: The driving section (3) is provided with sections 1 to 4, and the opening directions of the mounting grooves (31) on adjacent driving sections (3) are perpendicular to each other; the driving section (3) comprises a cylindrical third shell (33), and a first cavity (34) and a second cavity (35) are sequentially arranged in the third shell (33) along the direction from the second end to the first end.

5. The downhole crawler according to claim 4, characterized in that: The crawling mechanism (5) comprises a crawling leg (51) and a crawling wheel (52), wherein the crawling legs (51) are symmetrically arranged on both sides of the top of the support seat (32), and one end of the two crawling legs (51) is rotatably connected to the support seat (32) through a bearing seat (53), and the other end is respectively provided with the crawling wheel (52).

6. The downhole crawler according to claim 5, characterized in that: The first driving mechanism (6) comprises a driving piston (61) arranged in the first cavity (34), one end of the driving piston (61) is provided with a disc spring (62), and the other end is provided with a return spring (63), one end of the disc spring (62) provided in the first cavity (34) is connected to the first oil circuit, and one end of the return spring (63) provided in the first cavity (34) is connected to the second oil circuit; A driving plate (64) is slidably connected between the two crawling legs (51) on the support seat (32), and two push rods (65) are fixedly connected between the driving plate (64) and the driving piston (61). A leg opening guide wheel (66) is respectively provided on one side of one surface and the other side of the other surface of the driving plate (64), and the leg opening guide wheel (66) on the corresponding same side of the crawling leg (51) is provided with an arc-shaped leg opening guide groove (54), and the leg opening guide wheel (66) is respectively embedded in the corresponding leg opening guide groove (54).

7. The downhole crawler according to claim 6, characterized in that: The second driving mechanism (7) comprises a driving motor (71) arranged in the second cavity (35); the output end of the driving motor (71) is connected to a transmission rod (72); a transmission rod sleeve (73) passes through the first cavity (34); the transmission rod (72) passes through the transmission rod sleeve (73) and extends into the support seat (32) and is fixedly connected to a first bevel gear (74); a transmission shaft is rotatably arranged in the bearing seat (53) at the end of the two crawling legs (51); a second bevel gear (75) meshing with the first bevel gear (74) is arranged at one end of the transmission shaft; and a transmission gear set (76) is arranged between the other end and the corresponding crawling wheel (52).

8. The downhole crawler according to claim 1, characterized in that: The energy storage node (4) comprises a cylindrical fourth shell (41), a third cavity (42) is arranged in the fourth shell (41), a fourth cavity (43) is formed between the outer wall of the third cavity (42) and the inner wall of the fourth shell (41), a guide rod (44) is fixedly arranged in the third cavity (42), an energy storage piston (45) is slidably sleeved on the guide rod (44), and a portion of the guide rod (44) between the energy storage piston (45) and the third cavity (42) is provided. An energy storage disc spring (46) is sleeved between the two ends, the other end of the third cavity (42) is connected to the second oil circuit, and a compensating piston (47) is sleeved on the outer periphery of the third cavity (42) in the fourth cavity (43). A spring seat (48) is fixedly provided at one end of the fourth cavity (43), and the other end is connected to the second oil circuit. A compensating spring (49) is sleeved on the outer periphery of the third cavity (42) between the compensating piston (47) and the spring seat (48).

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