Detection robot suitable for variable-diameter drilling tool

Abstract

The utility model discloses a detection robot suitable for a variable-diameter drilling tool, belongs to the technical field of drilling tool detection, and solves the problem that an existing drilling tool detection device is not suitable for detecting the variable-diameter drilling tool. The device specifically comprises a screw rod mechanism, a moving mechanism, a probe mechanism and an electrical element box, a moving mechanism and a probe mechanism are movably arranged on the screw rod mechanism; the screw rod mechanism is fixedly connected with an electrical element box; the probe mechanism comprises a fixed disc assembly and a movable disc assembly; a plurality of magnetic supporting frames in an annular array are hinged to the periphery of the fixed disc assembly, and a probe assembly is installed at the end of each magnetic supporting frame; the edge of the movable disc assembly abuts against the inner side of the magnetic supporting frame. According to the utility model, when the variable-diameter drilling tool is detected, the position of the movable disc assembly is moved to drive the magnetic supporting frame to be expanded to different degrees, so that even if the aperture of the drilling tool is changed, the probe assembly can still abut against the inner wall of the drilling tool and complete detection, and the variable-diameter drilling tool detection device is suitable for detecting the variable-diameter drilling tool.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling tool detection, in particular to a detection robot suitable for variable-diameter drilling tools. Background Art

[0002] Drilling tools, as an essential component of oil and gas well production, serve as a hub connecting the surface and underground. During their service, they are subjected to complex stresses such as tension, compression, torsion, and bending. They are also corroded by components such as O2, CO2, and H2S dissolved in drilling fluids and mud. Consequently, hollow drill tools and other drilling tools in the oil extraction industry are prone to irreversible damage, resulting in defects such as cracks, punctures, and wear. These defects, if not discovered in time, can lead to serious safety accidents. Therefore, nondestructive testing is necessary to reduce the occurrence of drilling tool failures.

[0003] However, due to the small inner diameter of the drill tool, it is difficult for inspectors to detect and inspect the interior with the naked eye or handheld instruments. Robots can replace human inspectors in drilling tool inspections; however, many drill tools have different inner diameters between the entrance and the middle, so robots are not well adapted to the changes in drill tool diameter. Therefore, using robots to inspect drill tools of different diameters is a challenge.

[0004] Most existing deformable drill tool inspection robots use connecting rods or slide rail structures to change diameters. This type of traditional mechanical structure has relatively many parts and is acceptable for robots suitable for larger pipes. However, when faced with small drill tools with an inner diameter usually below 150 mm, the telescopic device in the traditional mechanical structure is difficult to meet the strength requirements. Since the detection probe is often small and needs to be radially wrapped around the robot, more than 10 support mechanisms are usually required to install the probe to achieve comprehensive detection; since the space allowed for expansion and contraction of the robot is very small, traditional mechanisms such as slide rails and connecting rods are difficult to miniaturize to meet the usage standards, and installation and maintenance are also very difficult. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a detection robot suitable for variable-diameter drill tools, which solves the problem that the existing drill tool detection device is not suitable for detecting variable-diameter drill tools.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A detection robot suitable for variable diameter drilling tools comprises a screw mechanism, a moving mechanism, a probe mechanism and an electrical component box; the moving mechanism and the probe mechanism are movably arranged on the screw mechanism; the electrical component box is fixedly connected to the screw mechanism;

[0008] The probe mechanism includes a fixed disk assembly and a movable disk assembly. The fixed disk assembly is fixedly connected to the screw mechanism. Several magnetic support frames in a ring array are hinged around the fixed disk assembly, and a probe assembly is installed at the end of each magnetic support frame. The movable disk assembly is movably connected to the screw mechanism, and the edge of the movable disk assembly abuts the inner side of the magnetic support frame.

[0009] In this solution, when inspecting the drill tool, the inspection robot is placed inside the drill tool, and the screw mechanism drives the movable disk assembly to move, pushing several magnetic support frames to expand during the movement, so that the probe assembly at the end of the magnetic support frame abuts the inner wall of the drill tool, and the moving mechanism drives the inspection robot to walk, and completes the inspection of this section of the drill tool during walking; when the inspection of this section is completed and the next section is inspected, the movable disk assembly is driven to move again by the screw mechanism, so that the probe assembly at the end of the magnetic support frame abuts the inner wall of the drill tool again, and the inspection can be performed again; when inspecting drill tools with changing diameters, this design drives the magnetic support frame to expand to different degrees by moving the position of the movable disk assembly. Therefore, even if the diameter of the drill tool changes, the probe assembly can still abut the inner wall of the drill tool and complete the inspection, which is suitable for inspecting variable-diameter drill tools.

[0010] Furthermore, the screw mechanism includes a transmission screw, the two ends of which are movably connected to the two fixed plates; three load-bearing skeleton rods are arranged around the transmission screw, and the two ends of the three load-bearing skeleton rods are fixedly connected to the two fixed plates;

[0011] The optical axis section of the transmission screw rod passes through the fixed disk assembly and is movably connected to the fixed disk assembly; the threaded section of the transmission screw rod passes through the movable disk assembly and is threadedly connected to the movable disk assembly;

[0012] The moving mechanism is connected with the transmission screw.

[0013] In this solution, the transmission screw is rotated, and the transmission screw drives the movable disk assembly to move through the action of the thread; the three load-bearing skeleton rods fix and support the fixed disk assembly, and also limit the movable disk assembly to prevent the movable disk assembly from rotating with it when the transmission screw rotates, instead of moving along its axial direction.

[0014] Furthermore, the moving mechanism includes an opening and closing slider, which is threadedly connected to the threaded section of the transmission screw; three arc-shaped limit grooves are opened around the opening and closing slider, and three load-bearing skeleton rods are respectively embedded in the three limit grooves; a plurality of connecting rods in a ring array are hinged to the edge of the opening and closing slider, and the end of each connecting rod is movably connected to the lower shell of the motor box, and two driving wheels are respectively provided on both sides of the lower shell of the motor box. A micro motor and a reduction gear are installed inside the lower shell of the motor box, and the micro motor is connected to the two driving wheels through the reduction gear; the upper shell of the motor box is fixed to the lower shell of the motor box by screws; the upper shell of the motor box is hinged to the edge of the motor shell fixing seat away from the end of the connecting rod;

[0015] The optical axis section of the transmission screw rod passes through the motor housing fixing seat and is movably connected to the motor housing fixing seat; the three load-bearing skeleton rods pass through the motor housing fixing seat and are fixedly connected to the motor housing fixing seat.

[0016] In this solution, during the rotation of the transmission screw, the opening and closing slider is driven to move along the transmission screw by the action of the thread. During the movement, the lower shell of the motor box is pushed away from the transmission screw by the connecting rod until the drive wheel abuts against the inner wall of the drill tool; the micro motor drives the drive wheel to rotate, and then drives the entire inspection robot to move along the drill tool, realizing inspection while moving, and can quickly complete the inspection work.

[0017] Furthermore, the movable disk assembly includes a pulley mounting middle plate, the pulley mounting middle plate is provided with strip holes equal in number to the magnetic support frame around it, and a pulley shaft is provided in the strip holes; a pulley mounting front plate and a pulley mounting rear plate are connected to the two sides of the pulley mounting middle plate respectively, and the pulley mounting front plate and the pulley mounting rear plate fix the pulley shaft; a cast iron wheel is rotatably connected to the pulley shaft, and the cast iron wheel is set in a through groove running through the edges of the pulley mounting middle plate, the pulley mounting front plate and the pulley mounting rear plate; the edge of the cast iron wheel is magnetically attracted to the inner side of the magnetic support frame;

[0018] A screw nut is installed on the side of the pulley mounting front plate away from the pulley mounting middle plate through a bolt; the screw nut is threadedly connected to the threaded section of the transmission screw; three load-bearing skeleton rods are arranged through the through holes on the pulley mounting front plate, the pulley mounting middle plate and the pulley mounting rear plate;

[0019] The fixed disk assembly includes a probe rack installation middle plate, the probe rack installation middle plate is provided with strip holes equal in number to the magnetic support frames around it, and a hinge shaft is provided in the strip holes; the probe rack installation front plate and the probe rack installation rear plate are connected to the two sides of the probe rack installation middle plate respectively, and the probe rack installation front plate and the probe rack installation rear plate fix the hinge shaft; the end of the magnetic support frame is provided in a through groove running through the edge of the probe rack installation middle plate, the probe rack installation front plate and the probe rack installation rear plate, and is rotatably connected to the hinge shaft;

[0020] The optical axis section of the transmission screw rod is arranged through the probe frame installation middle plate, the probe frame installation front plate and the probe frame installation rear plate.

[0021] In this solution, when the pulley mounting middle plate moves along the transmission screw toward the fixed disk assembly, the cast iron wheel follows it to expand several magnetic support frames; when the pulley mounting middle plate moves along the transmission screw toward the direction away from the fixed disk assembly, the cast iron wheel drives several magnetic support frames to retract toward the center through magnetic attraction; this design has a simple structure and can realize the simultaneous expansion or contraction of several magnetic support frames, and can still maintain a good annular structure in the expanded or contracted state, ensuring that each probe assembly can abut against the inner wall of the drill bit.

[0022] Furthermore, the probe assembly includes a buffer spring and an eddy current detection probe; one side of the buffer spring is connected to the magnetic support frame, and the other side of the buffer spring is connected to the eddy current detection probe.

[0023] In this solution, the buffer spring can buffer the force between the eddy current detection probe and the inner wall of the drill tool, avoiding excessive positive pressure between the eddy current detection probe and the inner wall of the drill tool, resulting in excessive friction and severe wear of the eddy current detection probe.

[0024] Furthermore, the electrical component box includes a box body with a movable cover hinged on the box body; a positioning sleeve with a triangular cross-section is provided inside the box body, and three load-bearing skeleton rods pass through the side cover of the box body and are sleeved in the positioning sleeve; a programmable PLC controller and a battery are installed on the positioning sleeve; the programmable PLC controller and the battery are electrically connected; a number of wire holes for leading out the wiring harness are opened on the side cover of the box body.

[0025] Furthermore, the end of the transmission screw is connected to a hand crank connection fixture, and the hand crank connection fixture is sleeved with a hand crank.

[0026] Furthermore, two sets of probe mechanisms are provided on the screw mechanism; the two sets of probe mechanisms are respectively provided on both sides of the electrical component box; the positions of several probe assemblies in one set of probe mechanisms are staggered with the positions of several probe assemblies in the other set of probe mechanisms.

[0027] In this solution, the positions of the probe components in the two sets of probe mechanisms are staggered, which can detect the entire area of ​​the drilling tool to the greatest extent, thereby achieving efficient and rapid detection work.

[0028] Furthermore, two groups of moving mechanisms are provided on the screw mechanism; the two groups of moving mechanisms are respectively provided on both sides of the electrical component box.

[0029] In this solution, the two sets of mobile mechanisms can provide better support for the inspection robot, allowing it to be stably supported inside the drilling tool.

[0030] The beneficial effects of the utility model are:

[0031] In the inspection robot for variable-diameter drill tools provided by the utility model, the movable disk assembly is driven to move by rotating the transmission screw, and several magnetic support frames are stretched during the movement, so that the probe assembly at the end of the magnetic support frame abuts the inner wall of the drill tool; compared with the traditional method of using a slide rail to drive the movement of the inspection probe, this design is more suitable for the inspection of small drill tools and can meet the inspection requirements of drill tools with an inner diameter of less than 150 mm.

[0032] The cast iron wheel moves axially along the transmission screw and pushes the magnetic support frame to expand. The reverse movement of the cast iron wheel drives the magnetic support frame to retract through magnetic attraction, realizing the deformation and extension of the probe assembly, making it suitable for the detection of variable diameter drilling tools. It has a simple structure, is easy to maintain, and is sturdy and reliable.

[0033] The movable disk assembly adopts the method of clamping the pulley shaft in the strip hole of the pulley mounting middle plate by using the pulley mounting front plate and the pulley mounting rear plate, which is convenient for assembling the pulley shaft and the cast iron wheel. During installation, only the pulley shaft needs to be placed in the strip hole of the pulley mounting middle plate, and then the probe frame mounting front plate and the probe frame mounting rear plate are connected by bolts, which is convenient for assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of a detection robot suitable for variable diameter drilling tools in the utility model;

[0035] Figure 2 This is a schematic diagram of the structure of the mobile mechanism of the utility model;

[0036] Figure 3 This is a schematic diagram of the probe mechanism structure of the utility model;

[0037] Figure 4 This is a schematic diagram of the probe mechanism structure of the utility model;

[0038] Figure 5 This is a schematic diagram of the structure of the buffer spring of the utility model;

[0039] Figure 6 This is a structural diagram of the electrical component box of the utility model;

[0040] Figure 7 This is a schematic diagram of the internal structure of the electrical component box of the utility model;

[0041] Figure 8 This is a schematic diagram of the structure of the hand crank of the utility model.

[0042] Reference numerals:

[0043] 1. Screw mechanism; 11. Drive screw; 12. Load-bearing skeleton rod; 13. Fixing plate; 14. Hand crank connecting fixture; 15. Hand crank; 2. Moving mechanism; 21. Opening and closing slider; 22. Connecting rod; 23. Lower shell of motor box; 24. Upper shell of motor box; 25. Driving wheel; 26. Motor shell fixing seat; 3. Probe mechanism; 31. Fixing plate assembly; 311. Probe frame installation front plate; 312. Probe frame installation middle plate; 313. Probe frame installation rear plate; 314. Hinge Connecting shaft; 32. Movable disk assembly; 321. Pulley mounting front plate; 322. Pulley mounting middle plate; 323. Pulley mounting rear plate; 324. Pulley shaft; 325. Cast iron wheel; 326. Screw nut; 33. Magnetic support frame; 34. Probe assembly; 341. Buffer spring; 342. Eddy current detection probe; 4. Electrical component box; 41. Box body; 411. Wire hole; 42. Movable cover; 43. Programmable PLC controller; 44. Battery; 45. Positioning sleeve; DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. The specific embodiments of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be understood that the present invention is not limited to the specific embodiments. For those skilled in the art, as long as various variations are within the spirit and scope of the present invention as defined and determined by the appended claims, these variations are obvious, and all inventions and creations utilizing the concepts of the present invention are protected.

[0045] like Figure 1 As shown, this embodiment provides a detection robot suitable for variable diameter drill tools. When detecting the variable diameter drill tools, the detection robot can make the eddy current detection probe always abut against the inner wall of the drill tool through telescopic deformation, thereby realizing the detection of the variable diameter drill tool; the robot specifically includes:

[0046] Screw mechanism 1, moving mechanism 2, probe mechanism 3 and electrical component box 4; the moving mechanism 2 and probe mechanism 3 are movably arranged on the screw mechanism 1; the electrical component box 4 is fixedly connected to the screw mechanism 1; during inspection, the inspection robot is placed inside the drill tool, and the probe mechanism 3 inspects the drill tool.

[0047] The probe mechanism 3 includes a fixed disk assembly 31, a movable disk assembly 32, a magnetic support frame 33 and a probe assembly 34; the fixed disk assembly 31 is fixedly connected to the screw mechanism 1; a number of magnetic support frames 33 in a ring array are hinged around the fixed disk assembly 31, and a probe assembly 34 is installed at the end of each magnetic support frame 33; the movable disk assembly 32 is movably connected to the screw mechanism 1, and the edge of the movable disk assembly 32 abuts against the inner side of the magnetic support frame 33; the screw mechanism 1 drives the movable disk assembly 32 to move, and pushes a number of magnetic support frames 33 to expand during the movement, so that the probe assembly 34 at the end of the magnetic support frame 33 abuts against the inner wall of the drill bit, and the moving mechanism 2 drives the detection robot to walk, and completes the detection of the drill bit during walking.

[0048] like Figure 2 As shown, the screw mechanism 1 includes a movable screw and three load-bearing skeleton rods 12. The two ends of the transmission screw 11 are movably connected to two fixed plates 13 respectively; three load-bearing skeleton rods 12 are arranged around the transmission screw 11, and the two ends of the three load-bearing skeleton rods 12 are fixedly connected to the two fixed plates 13 respectively. The optical axis section of the transmission screw 11 passes through the fixed disk assembly 31 and is movably connected to the fixed disk assembly 31; the threaded section of the transmission screw 11 passes through the movable disk assembly 32 and is threadedly connected to the movable disk assembly 32. When the transmission screw 11 is rotated, the transmission screw 11 drives the movable disk assembly 32 to move through the action of the thread; the three load-bearing skeleton rods 12 fix and support the fixed disk assembly 31, and also limit the movable disk assembly 32 to prevent the movable disk assembly 32 from rotating with the transmission screw 11 when it rotates, rather than moving along its axial direction. The moving mechanism 2 is connected to the transmission screw 11.

[0049] like Figure 2As shown, the moving mechanism 2 includes an opening and closing slider 21, a connecting rod 22, a motor box lower shell 23, a driving wheel 25, a motor box upper shell 24 and a motor shell fixing seat 26; the opening and closing slider 21 is threadedly connected to the threaded section of the transmission screw 11; three arc-shaped limit grooves are opened around the opening and closing slider 21, and three load-bearing skeleton rods 12 are respectively embedded in the three limit grooves; the edge of the opening and closing slider 21 is hinged with a plurality of connecting rods 22 in a ring array, and the end of each connecting rod 22 is movably connected to the motor box lower shell 23, and the two sides of the motor box lower shell 23 are respectively Two drive wheels 25 are provided, and a micro motor and a reduction gear are installed inside the motor box lower shell 23. The micro motor is connected to the two drive wheels 25 through the reduction gear. The motor box upper shell 24 is fixed to the motor box lower shell 23 by screws. The end of the motor box upper shell 24 away from the connecting rod 22 is hinged to the edge of the motor shell fixing seat 26. The optical axis section of the transmission screw 11 passes through the motor shell fixing seat 26 and is movably connected to the motor shell fixing seat 26. The three load-bearing skeleton rods 12 pass through the motor shell fixing seat 26 and are fixedly connected to the motor shell fixing seat 26. During the rotation of the transmission screw 11, the opening and closing slider 21 is driven to move along the transmission screw 11 by the action of the thread. During the movement, the motor box lower shell 23 is pushed away from the transmission screw 11 by the connecting rod 22 until the drive wheel 25 abuts the inner wall of the drilling tool. The micro motor drives the drive wheel 25 to rotate, and then drives the entire detection robot to move along the drilling tool, realizing detection while moving. In this embodiment, the driving wheel 25 is preferably a truncated cone-shaped rubber-coated wheel, which can fit tightly with the inner wall of the small-diameter drilling tool to improve the wall gripping force.

[0050] like Figure 3 and Figure 4As shown, the movable disk assembly 32 includes a pulley mounting front plate 321, a pulley mounting middle plate 322, a pulley mounting rear plate 323, a cast iron wheel 325 and a screw nut 326; the pulley mounting middle plate 322 is provided with strip holes equal in number to the magnetic support frame 33 around it, and a pulley shaft 324 is provided in the strip holes; the pulley mounting middle plate 322 is connected to the pulley mounting front plate 321 and the pulley mounting rear plate 323 on both sides, and the pulley mounting front plate 321 and the pulley mounting rear plate 323 fix the pulley shaft 324; the pulley shaft 324 is rotatably connected to a cast iron wheel. Wheel 325, the cast iron wheel 325 is arranged in a through groove that passes through the edge of the pulley mounting middle plate 322, the pulley mounting front plate 321 and the pulley mounting rear plate 323; the edge of the cast iron wheel 325 is magnetically attracted to the inner side of the magnetic support frame 33; the side of the pulley mounting front plate 321 away from the pulley mounting middle plate 322 is installed with a screw nut 326 by a bolt; the screw nut 326 is threadedly connected to the threaded section of the transmission screw 11; three load-bearing skeleton rods 12 are set through the through holes on the pulley mounting front plate 321, the pulley mounting middle plate 322 and the pulley mounting rear plate 323. When the pulley mounting middle plate 322 moves along the transmission screw 11 toward the fixed disk assembly 31, the cast iron wheel 325 moves with it, and expands several magnetic support frames 33; when the pulley mounting middle plate 322 moves along the transmission screw 11 toward the direction away from the fixed disk assembly 31, the cast iron wheel 325 drives several magnetic support frames 33 to retract toward the center through magnetic attraction; this design has a simple structure and can realize the simultaneous expansion or contraction of several magnetic support frames 33, and can still maintain a good annular structure in the expanded or contracted state, ensuring that each probe assembly 34 can abut against the inner wall of the drill bit.

[0051] like Figure 3 and Figure 4 As shown, the fixed disk assembly 31 includes a probe frame mounting front plate 311, a probe frame mounting middle plate 312 and a probe frame mounting rear plate 313. The probe frame mounting middle plate 312 is provided with strip holes around the probe frame mounting middle plate 312, the number of which is equal to the magnetic support frame 33, and a hinge shaft 314 is provided in the strip holes; the two sides of the probe frame mounting middle plate 312 are respectively connected to the probe frame mounting front plate 311 and the probe frame mounting rear plate 313, and the probe frame mounting front plate 311 and the probe frame mounting rear plate 313 fix the hinge shaft 314; the end of the magnetic support frame 33 is set in a through groove passing through the edge of the probe frame mounting middle plate 312, the probe frame mounting front plate 311 and the probe frame mounting rear plate 313, and is rotatably connected to the hinge shaft 314; the optical axis section of the transmission screw 11 is set through the probe frame mounting middle plate 312, the probe frame mounting front plate 311 and the probe frame mounting rear plate 313.

[0052] The probe assembly 34 includes a buffer spring 341 and an eddy current detection probe 342; one side of the buffer spring 341 is connected to the magnetic support frame 33, and the other side of the buffer spring 341 is connected to the eddy current detection probe 342. The structure of the buffer spring 341 is as follows Figure 5 As shown; the buffer reed 341 can buffer the force between the eddy current detection probe 342 and the inner wall of the drill, avoiding the eddy current detection probe 342 and the inner wall of the drill generating excessive positive pressure, resulting in excessive friction and severe wear of the eddy current detection probe 342.

[0053] like Figure 6 and Figure 7 As shown, the electrical component box 4 includes a box body 41, a movable cover 42, a positioning sleeve 45, a programmable PLC controller 43 and a battery 44; the movable cover 42 is hinged on the box body 41; a positioning sleeve 45 with a triangular cross-section is provided inside the box body 41, and three load-bearing skeleton rods 12 pass through the side cover of the box body 41 and are sleeved in the positioning sleeve 45; a programmable PLC controller 43 and a battery 44 are installed on the positioning sleeve 45; the programmable PLC controller 43 and the battery 44 are electrically connected; a plurality of wire holes 411 for leading out the wiring harness are provided on the side cover of the box body 41.

[0054] The end of the transmission screw rod 11 is connected to a hand crank connection fixture 14, and a hand crank 15 is sleeved on the hand crank connection fixture 14; the hand crank 15 has a structure as shown in FIG. Figure 8 shown.

[0055] As a preferred embodiment of this embodiment, two groups of probe mechanisms 3 are provided on the screw mechanism 1; the two groups of probe mechanisms 3 are respectively arranged on both sides of the electrical component box 4; the positions of several probe assemblies 34 in one group of probe mechanisms 3 and the positions of several probe assemblies 34 in the other group of probe mechanisms 3 are staggered with each other; this design can detect the entire area of ​​the drilling tool to the greatest extent, thereby realizing efficient and rapid detection work.

[0056] As a preferred embodiment of this invention, two groups of moving mechanisms 2 are provided on the screw mechanism 1; the two groups of moving mechanisms 2 are respectively provided on both sides of the electrical component box 4; the two groups of moving mechanisms 2 can provide better support for the detection robot, so that it can be stably supported inside the drilling tool.

[0057] The working principle of this embodiment is:

[0058] When the inspection robot for variable-diameter drill tools provided in this embodiment is used to inspect drill tools, the hand crank 15 is inserted into the hand crank connecting fixture 14 and the transmission screw 11 is rotated, so that the driving wheel 25 and the magnetic support frame 33 are retracted toward the transmission screw 11. After adjusting to a suitable position, the inspection robot is placed inside the drill tool; the transmission screw 11 is rotated again to make the driving wheel 25 and the magnetic support frame 33 open outward and abut against the inner wall of the drill tool; the micro motor is started to drive the inspection robot to move, and the eddy current inspection probe 342 at the end of the magnetic support frame 33 inspects the drill tool during movement.

[0059] If an area where the inner diameter of the drill tool is enlarged is detected, the hand crank 15 is connected again to drive the transmission screw 11 to rotate, so that the cast iron wheel 325 moves along the transmission screw 11 and several magnetic support frames 33 are spread open, so that the eddy current detection probes 342 at the ends of several magnetic support frames 33 are re-contacted with the inner wall of the drill tool; and the area can be detected again.

[0060] If an area where the inner diameter of the drill tool is reduced is detected, the transmission screw 11 is driven to rotate by the hand crank 15, so that the cast iron wheel 325 moves in the opposite direction along the transmission screw 11, and the magnetic attraction action drives several magnetic support frames 33 to retract; after retraction, the detection robot is pushed into the area with a smaller inner diameter for detection.

[0061] Those skilled in the art will appreciate that the embodiments herein are intended to help readers understand the principles of the present invention, and should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can, based on the technical teachings disclosed in this utility model, make various other specific variations and combinations that do not depart from the essence of the present invention, and such variations and combinations are still within the scope of protection of the utility model.

Claims

1. A detection robot suitable for variable diameter drilling tools, characterized by: The invention comprises a screw mechanism (1), a moving mechanism (2), a probe mechanism (3) and an electrical component box (4); the moving mechanism (2) and the probe mechanism (3) are movably arranged on the screw mechanism (1); the electrical component box (4) is fixedly connected to the screw mechanism (1); The probe mechanism (3) comprises a fixed disk assembly (31) and a movable disk assembly (32), wherein the fixed disk assembly (31) is fixedly connected to the screw mechanism (1); a plurality of magnetic support frames (33) in an annular array are hinged around the fixed disk assembly (31), and a probe assembly (34) is installed at the end of each magnetic support frame (33); the movable disk assembly (32) is movably connected to the screw mechanism (1), and the edge of the movable disk assembly (32) abuts against the inner side of the magnetic support frame (33).

2. The inspection robot for variable diameter drilling tools according to claim 1, characterized in that: The screw mechanism (1) comprises a transmission screw (11), and the two ends of the transmission screw (11) are movably connected to two fixed plates (13); three load-bearing skeleton rods (12) are arranged around the transmission screw (11), and the two ends of the three load-bearing skeleton rods (12) are fixedly connected to the two fixed plates (13); The optical axis section of the transmission screw (11) passes through the fixed disk assembly (31) and is movably connected to the fixed disk assembly (31); the threaded section of the transmission screw (11) passes through the movable disk assembly (32) and is threadedly connected to the movable disk assembly (32); The moving mechanism (2) is connected to the transmission screw (11).

3. The inspection robot for variable-diameter drilling tools according to claim 2, characterized in that: The moving mechanism (2) comprises an opening and closing slider (21), the opening and closing slider (21) being threadedly connected to the threaded section of the transmission screw (11); three arc-shaped limiting grooves are provided around the opening and closing slider (21), and the three load-bearing skeleton rods (12) are respectively embedded in the three limiting grooves; a plurality of connecting rods (22) in a ring array are hinged on the edge of the opening and closing slider (21), and the end of each connecting rod (22) is movably connected to the motor box lower shell (23), and two driving wheels (25) are respectively provided on both sides of the motor box lower shell (23); a micro motor and a reduction gear are installed inside the motor box lower shell (23), and the micro motor is transmission-connected to the two driving wheels (25) through the reduction gear; a motor box upper shell (24) is fixed to the motor box lower shell (23) by screws; the motor box upper shell (24) is hinged to the edge of the motor box fixing seat (26) at one end away from the connecting rod (22); The optical axis section of the transmission screw (11) passes through the motor housing fixing seat (26) and is movably connected to the motor housing fixing seat (26); the three load-bearing skeleton rods (12) pass through the motor housing fixing seat (26) and are fixedly connected to the motor housing fixing seat (26).

4. The inspection robot for variable diameter drilling tools according to claim 2, characterized in that: The movable disk assembly (32) includes a pulley mounting middle plate (322), and the pulley mounting middle plate (322) is provided with strip holes equal in number to the magnetic support frame (33), and a pulley shaft (324) is provided in the strip holes; the pulley mounting middle plate (322) is connected to a pulley mounting front plate (321) and a pulley mounting rear plate (323) on both sides, and the pulley mounting front plate (321) and the pulley mounting rear plate (323) fix the pulley shaft (324); a cast iron wheel (325) is rotatably connected to the pulley shaft (324), and the cast iron wheel (325) is provided in a through groove that passes through the edges of the pulley mounting middle plate (322), the pulley mounting front plate (321) and the pulley mounting rear plate (323); the edge of the cast iron wheel (325) is magnetically attracted to the inner side of the magnetic support frame (33); A screw nut (326) is installed on the side of the pulley mounting front plate (321) away from the pulley mounting middle plate (322) through a bolt; the screw nut (326) is threadedly connected to the threaded section of the transmission screw (11); the three load-bearing skeleton rods (12) are arranged through the through holes on the pulley mounting front plate (321), the pulley mounting middle plate (322) and the pulley mounting rear plate (323); The fixed disk assembly (31) includes a probe rack installation middle plate (312), and the probe rack installation middle plate (312) is provided with strip holes equal in number to the magnetic support frame (33) around the probe rack installation middle plate (312), and a hinge shaft (314) is provided in the strip holes; the two sides of the probe rack installation middle plate (312) are respectively connected to the probe rack installation front plate (311) and the probe rack installation rear plate (313), and the probe rack installation front plate (311) and the probe rack installation rear plate (313) fix the hinge shaft (314); the end of the magnetic support frame (33) is set in a through groove running through the edges of the probe rack installation middle plate (312), the probe rack installation front plate (311) and the probe rack installation rear plate (313), and is rotatably connected to the hinge shaft (314); The optical axis section of the transmission screw (11) is arranged through the probe frame installation middle plate (312), the probe frame installation front plate (311) and the probe frame installation rear plate (313).

5. The inspection robot for variable diameter drilling tools according to claim 4, characterized in that: The probe assembly (34) comprises a buffer spring (341) and an eddy current detection probe (342); one side of the buffer spring (341) is connected to the magnetic support frame (33), and the other side of the buffer spring (341) is connected to the eddy current detection probe (342).

6. The inspection robot for variable diameter drilling tools according to claim 2, characterized in that: The electrical component box (4) comprises a box body (41), a movable cover (42) is hingedly connected to the box body (41); a positioning sleeve (45) with a triangular cross-section is provided inside the box body (41), three load-bearing skeleton rods (12) pass through the side cover of the box body (41) and are sleeved in the positioning sleeve (45); a programmable PLC controller (43) and a battery (44) are installed on the positioning sleeve (45); the programmable PLC controller (43) and the battery (44) are electrically connected; and a plurality of wire holes (411) for leading out a wiring harness are provided on the side cover of the box body (41).

7. The inspection robot for variable diameter drilling tools according to claim 2, characterized in that: The end of the transmission screw rod (11) is connected to a hand crank connection fixture (14), and the hand crank connection fixture (14) is sleeved with a hand crank (15).

8. The inspection robot for variable diameter drilling tools according to any one of claims 2 to 7, characterized in that: Two groups of probe mechanisms (3) are provided on the screw mechanism (1); the two groups of probe mechanisms (3) are respectively provided on both sides of the electrical component box (4); the positions of the plurality of probe assemblies (34) of one group of the probe mechanisms (3) and the positions of the plurality of probe assemblies (34) of the other group of the probe mechanisms (3) are staggered.

9. The inspection robot for variable diameter drilling tools according to any one of claims 2 to 7, characterized in that: Two groups of moving mechanisms (2) are provided on the screw mechanism (1); the two groups of moving mechanisms (2) are respectively provided on both sides of the electrical component box (4).

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