A troubleshooting robot for use down a well

Abstract

The utility model discloses a kind of troubleshooting robots for underground, involve the field of troubleshooting robots, including: overhauling device;Up and down crawling device, it is provided with multiple, and be installed in the outside of overhauling device in annular array, along up and down sliding of shaft;Adjusting device, it is installed on overhauling device, and it is used to drive multiple up and down crawling device to open or fold up;Manipulator, it is installed at the bottom of overhauling device;Lighting device, it is provided with multiple, and it is installed in the outside of overhauling device, and it is used to carry out lighting to shaft;The swing arm subassembly in the utility model up and down crawling device can provide buffer force, make walking track always with shaft inner wall close contact, simultaneously hit protrusion or collapse can be through telescopic self-adapting adjustment of swing arm subassembly, avoid jamming phenomenon, improve the stability of crawling process;Up and down crawling device is opened or folded up by adjusting device drive.

Description

Technical Field

[0001] This utility model relates to the field of fault diagnosis robot technology, and in particular to a fault diagnosis robot for use in wells. Background Technology

[0002] In mining, oil drilling, and urban underground pipe networks, shafts serve as vital underground passages, undertaking critical functions such as personnel transport, equipment transport, ventilation, and drainage. During long-term operation, shafts are susceptible to structural damage such as bulges, collapses, and cracks due to factors including changes in geological conditions, groundwater erosion, equipment wear, and material impact. Simultaneously, the supporting equipment within the shaft (such as pipes, supports, and cables) may experience loosening, breakage, or blockages. If these malfunctions are not promptly identified and repaired, they can not only affect the shaft's operational efficiency but also potentially lead to serious safety accidents such as collapses and equipment shutdowns, posing a significant threat to production operations and personnel safety.

[0003] Manual inspections require maintenance personnel to enter narrow, dark, damp shafts that may contain toxic or harmful gases. This is not only physically demanding and involves a harsh working environment, but also poses extremely high safety risks. Furthermore, it is difficult to achieve comprehensive coverage of deep shafts and high-risk areas. With the development of automation technology, traditional mechanized maintenance equipment is gradually replacing some manual operations.

[0004] Traditional maintenance equipment's crawling mechanisms are mostly fixed structures with no adjustable opening range, making them suitable only for shafts of specific inner diameters. However, in actual engineering projects, the inner diameter of shafts varies significantly across different scenarios (e.g., the inner diameter of mine shafts may range from 2 to 8 meters, and the inner diameter of underground pipeline shafts can span from 0.5 to 3 meters). This necessitates a specific type of equipment for each shaft specification, increasing equipment procurement costs and reducing the flexibility of maintenance operations.

[0005] The inner surface of wells often has uneven areas, such as protrusions formed by concrete pouring, collapses caused by geological subsidence, or attached debris. The crawling components of traditional maintenance equipment are mostly rigidly connected, lacking effective buffering and adaptive adjustment mechanisms. When encountering the above-mentioned irregular surfaces, problems such as track slippage, mechanism jamming, or even equipment tipping over are prone to occur. Utility Model Content

[0006] This invention provides a downhole fault diagnosis robot to solve the problem of poor adaptability and difficulty in matching vertical shafts with different inner diameters in the prior art.

[0007] The technical problem solved by this utility model is achieved by the following technical solution:

[0008] A fault-finding robot for downhole applications includes:

[0009] Maintenance equipment;

[0010] Multiple climbing devices are installed in a circular array on the outside of the maintenance device and slide up and down along the vertical shaft.

[0011] An adjustment device, which is installed on the maintenance device, is used to drive multiple vertical crawling devices to open or retract.

[0012] A robotic arm, which is installed at the bottom of the maintenance device;

[0013] Multiple lighting devices are provided and installed on the outside of the maintenance equipment to illuminate the shaft.

[0014] Optionally, the maintenance device includes:

[0015] The central cylinder, whose bottom is connected to the robotic arm;

[0016] The guide slides are multiple and arranged in a circular array on the central cylinder.

[0017] Optionally, the adjusting device includes:

[0018] The drive unit is installed inside the central cylinder;

[0019] The guide device is installed at the output end of the drive device and located inside the central cylinder;

[0020] The lifting assembly has two parts and extends to the outside of the central cylinder, sliding up and down along the guide rail under the drive of the guiding device.

[0021] Optionally, the guiding device includes:

[0022] The support frame is installed inside the central cylinder.

[0023] A threaded rod, which is installed at the output end of the drive unit, passes downward through two lifting components and is rotatably connected to the bracket;

[0024] The nut slider has two parts, which move closer or further apart under the drive of the threaded rod.

[0025] Optionally, the lifting assembly includes:

[0026] The lifting plate is fixed to the outside of the nut slider and is concentrically set with the central cylinder and the threaded rod;

[0027] Multiple receiving blocks are provided and slide up and down along the guide rails;

[0028] The receiving ring is fixedly installed on the outside of the receiving block and connected to the upper and lower crawling device.

[0029] Optionally, the climbing device includes:

[0030] Walking tracks;

[0031] Multiple swing arm assemblies are provided and hinged to the outside of the walking track;

[0032] The lifting block is fixed to the bottom of the receiving ring and hinged to the swing arm assembly.

[0033] Optionally, the swing arm assembly includes:

[0034] The outer swing arm is hinged to the walking track;

[0035] The inner end swing arm is hinged to the lifting block;

[0036] The connector rod is fixed to the end of the inner swing arm and inserted into the interior of the outer swing arm;

[0037] A compression spring is fitted on the outside of the plug rod, with its two ends contacting the outer and inner swing arms, respectively.

[0038] Optionally, a limiting slide is provided on the outer end swing arm, and a limiting rod that slides along the limiting slide is installed on the plug rod.

[0039] Optionally, the lighting device includes:

[0040] The lighting fixture is installed on the outside of the central cylinder.

[0041] The protective cover is mounted on the central cylinder and encloses the lighting fixture inside.

[0042] Optional, also includes:

[0043] The power supply wire is inserted downwards into the interior of the central cylinder.

[0044] The beneficial effects of this utility model are:

[0045] By adjusting the device to drive the climbing mechanism to open or retract, it can adapt to vertical shafts with different inner diameters, solving the problem of poor adaptability of traditional maintenance equipment and expanding the application range of robots.

[0046] The swing arm assembly in the climbing device provides cushioning force, ensuring that the walking track remains in close contact with the inner wall of the shaft. At the same time, when encountering protrusions or collapses, the swing arm assembly can adaptively adjust through extension and retraction to avoid jamming and improve the stability of the climbing process.

[0047] The robotic arm installed at the bottom can perform precise inspection and repair operations on fault points in different locations within the shaft. Combined with the clear vision provided by multiple lighting devices, it improves the efficiency and accuracy of fault diagnosis. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the structure of this utility model;

[0050] Figure 2 This is a schematic diagram of the structure of this utility model;

[0051] Figure 3 This is a schematic diagram of the structure of this utility model;

[0052] Figure 4 This is a schematic diagram of the structure of this utility model;

[0053] Figure 5 This is a schematic diagram of the structure of this utility model.

[0054] In the diagram: 100, maintenance device; 110, central cylinder; 120, guide slide;

[0055] 200. Crawling device; 210. Track; 220. Swing arm assembly; 221. Outer swing arm; 222. Inner swing arm; 223. Connecting rod; 224. Compression spring; 225. Limiting slide; 226. Limiting rod; 230. Lifting block;

[0056] 300. Adjusting device; 310. Driving device; 320. Guiding device; 321. Bracket; 322. Threaded rod; 323. Nut slider; 330. Lifting assembly; 331. Lifting plate; 332. Receiving block; 333. Receiving ring;

[0057] 400. Robotic arm;

[0058] 500. Lighting device; 510. Lighting lamp; 520. Protective cover;

[0059] 600. Power supply wire. Detailed Implementation

[0060] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below with reference to specific illustrations.

[0061] Reference Figure 1-5 The illustrated downhole troubleshooting robot includes:

[0062] Inspection device 100;

[0063] Multiple climbing devices 200 are installed on the outside of the maintenance device 100 in a circular array to cooperate with the inner wall of the shaft to achieve smooth up and down movement and ensure the accurate positioning and movement of the maintenance device 100 in the shaft.

[0064] An adjustment device 300 is installed on the maintenance device 100 and is used to drive multiple vertical crawling devices 200 to open or retract, so that the multiple vertical crawling devices 200 can adapt to vertical shafts with different inner diameters.

[0065] In this utility model, the adjustment device 300 can use several existing structures to drive the opening or retraction of the vertical crawling device 200; for example, by using multiple telescopic rods, the vertical crawling device 200 can be moved towards the center or outside the center of the maintenance device 100 by the extension and retraction of the telescopic rods, so as to realize the opening or retraction of the vertical crawling device 200 and adapt to vertical shafts with different inner diameters.

[0066] Similarly, the adjustment device 300 can also adopt two lifting structures as described below. When the two lifting structures move towards each other, the up and down crawling device 200 is driven to open, and when the two lifting structures move relative to each other, the up and down crawling device 200 is driven to retract.

[0067] As can be seen from the above, the regulating device 300 can be implemented using several existing technologies, which will not be elaborated here;

[0068] The robotic arm 400 is installed at the bottom of the maintenance device 100 to perform grabbing, operation or maintenance work on the equipment inside the shaft;

[0069] Multiple lighting devices 500 are installed on the outside of the maintenance device 100 to illuminate the shaft, ensuring sufficient light in the work area and improving the safety and efficiency of maintenance work.

[0070] Among them, the up-and-down crawling device can be opened or retracted by adjusting the device 300, which can adapt to vertical shafts with different inner diameters, solving the problem of poor adaptability of traditional maintenance equipment and expanding the application range of robots.

[0071] The robotic arm 400 installed at the bottom can perform precise inspection and repair operations on fault points in different locations within the shaft. Combined with the clear field of vision provided by multiple lighting devices 500, it improves the efficiency and accuracy of fault diagnosis.

[0072] The working principle of this embodiment is as follows:

[0073] In use, the adjustment device 300 is activated, which drives the vertical crawling device 200 to open, so that the vertical crawling device 200 comes into contact with the inner wall of the shaft. The vertical crawling device 200 is then activated, allowing it to slide downwards along the shaft. During this sliding motion, the lighting device 500 provides a field of vision. Once the robotic arm 400 has descended to the appropriate position, it is activated to troubleshoot any malfunctions in the shaft.

[0074] In some embodiments of this utility model, reference is made to Figure 5 As shown, the maintenance device 100 includes:

[0075] The central cylinder 110 is rigidly connected at its bottom to the end effector of the robot arm 400 or the installation platform via a flange or special connector, so as to realize the overall lifting, rotation and positioning functions of the maintenance device.

[0076] Multiple guide rails 120 are provided and arranged in a circular array on the central cylinder 110 to ensure the stability and accuracy of the adjusting device 300 during the sliding process, while improving the positioning accuracy of the device.

[0077] In order to drive the climbing device 200 to open or retract, in some embodiments of this utility model, refer to Figure 2 As shown, the adjustment device 300 includes:

[0078] The drive device 310 is installed inside the central cylinder 110. In this embodiment, the drive device 310 can be implemented using various existing technologies such as a geared motor, an asynchronous motor, or a motor.

[0079] The guide device 320 is installed at the output end of the drive device 310 and located inside the central cylinder 110. The function of the guide device 320 is to convert the rotational motion output by the drive device 310 into linear motion. In this embodiment, the guide device 320 can be implemented using various existing technologies such as lead screw and nut pair, ball screw or rack and pinion pair.

[0080] There are two lifting components 330, which extend to the outside of the central cylinder 110. Driven by the guiding device 320, they slide up and down along the guide slide 120. The guide slide 120 is usually set on the inner wall of the central cylinder 110 to constrain and guide the movement trajectory of the lifting components 330, so as to ensure that they remain stable and accurate during the up and down sliding process.

[0081] In order to drive the lifting assembly 330 to rise and fall, in some embodiments of this utility model, refer to Figure 3 As shown, the guiding device 320 includes:

[0082] The bracket 321 is installed inside the central cylinder 110 to provide stable support and mounting base for the entire guiding device, ensuring that the position of each component is fixed and the movement is smooth during operation;

[0083] The threaded rod 322 is detachably mounted on the output end of the drive device 310 and passes downward through the two lifting components 330 and is rotatably connected to the bracket 321. It achieves rotational motion through cooperation with the drive device 310 and converts the rotational motion into linear motion.

[0084] There are two nut sliders 323, which move closer to or further away from the threaded rod 322 under the drive of the threaded rod 322. The nut sliders 323 will make linear reciprocating motion along the axial direction of the threaded rod 322 under the action of the thread. The arrangement of two nut sliders 323 can improve the stability and synchronization of the motion, thereby completing the guiding and driving function of the lifting assembly 330.

[0085] In order to drive the crawling device 200 and restrict the rotation of the nut slider 323, in some embodiments of this utility model, refer to Figure 3 As shown, the lifting assembly 330 includes:

[0086] The lifting plate 331 is fixed to the outside of the nut slider 323 and is concentrically arranged with the central cylinder 110 and the threaded rod 322;

[0087] Multiple receiving blocks 332 are provided and slide up and down along the guide slide 120. The number of receiving blocks 332 is determined according to the actual load requirements and structural layout, usually 2, 4 or more. Each receiving block 332 is installed in the guide slide 120 by sliding fit. The receiving blocks 332 slide up and down synchronously under the constraint of the guide slide 120.

[0088] The receiving ring 333 is fixedly installed on the outside of the receiving block 332 by bolts to ensure that there is no relative rotation or displacement between the receiving ring 333 and the receiving block 332 during the lifting process, and is connected to the vertical crawling device 200. The inner side of the receiving ring 333 is provided with a connection structure that matches the vertical crawling device 200. When the lifting assembly 330 drives the receiving ring 333 to rise and fall, the vertical crawling device 200 can be adjusted synchronously.

[0089] The working principle of this embodiment is as follows:

[0090] Start the drive device 310, which drives the threaded rod 322 to rotate. Since the receiving block 332 is restricted by the inner wall of the guide slide 120, the rotation of the threaded rod 322 will drive the nut slider 323 to slide up and down, which in turn drives the lifting plate 331 and the receiving ring 333 to slide up and down.

[0091] In order to enable normal crawling, in some embodiments of this utility model, refer to Figure 2 As shown, the climbing device 200 includes:

[0092] The walking track 210, as the main moving part of the device, is usually composed of multiple track plates connected by pins. It has good grounding performance and grip, and can adapt to the crawling requirements under different terrain conditions, ensuring that the device moves stably on vertical or inclined surfaces.

[0093] Multiple swing arm assemblies 220 are provided and are hinged to the outside of the walking track 210. The hinged manner allows the swing arm assemblies 220 to rotate flexibly within a certain angle range to adapt to crawling surfaces of different heights or to adjust the posture of the device.

[0094] The lifting block 230 is fixed to the bottom of the receiving ring 333 and hinged to the swing arm assembly 220. Driven by the receiving ring 333, the lifting block 230 drives the swing arm assembly 220 to rotate, so that the swing arm assembly 220 pushes or pulls the walking track 210 to move.

[0095] The swing arm assembly 220 in the climbing device 200 provides a buffer force, ensuring that the walking track 210 is always in close contact with the inner wall of the shaft. At the same time, when encountering protrusions or collapses, it can adaptively adjust through the extension and retraction of the swing arm assembly to avoid jamming and improve the stability of the climbing process.

[0096] In order for the walking track 210 to overcome any obstacle, in some embodiments of this utility model, reference is made to Figure 3 As shown, the swing arm assembly 220 includes:

[0097] The outer swing arm 221 is hinged to the walking track 210. The hinge is achieved through a pin and a specific connection point of the walking track 210, allowing the outer swing arm 221 to rotate around the pin at a certain angle to adapt to the walking and operation needs of the equipment under different terrain conditions.

[0098] The inner swing arm 222 is hinged to the lifting block 230. It is also hinged to the connection part of the lifting block 230 through a pin. When the lifting block 230 moves up and down, the inner swing arm 222 can swing accordingly, thereby transmitting the movement of the lifting block 230 to other components.

[0099] The plug rod 223 is fixed to the end of the inner swing arm 222 and inserted into the interior of the outer swing arm 221 to form a connection structure that can slide relative to each other but has a certain guiding property, so as to ensure that the motion relationship between the inner swing arm 222 and the outer swing arm 221 is stable and reliable.

[0100] The compression spring 224 is sleeved on the outside of the plug rod 223, and its two ends are in contact with the outer swing arm 221 and the inner swing arm 222 respectively. When the inner swing arm 222 is displaced relative to the outer swing arm 221, the compression spring 224 will be compressed or stretched, thereby generating elastic force. This elastic force can buffer the impact and vibration of the swing arm assembly 220 during the movement to a certain extent, and at the same time provide a restoring force, so that the swing arm assembly 220 can maintain the preset balance position when it is not subjected to external force, thus ensuring the smoothness and stability of the equipment operation.

[0101] The working principle of this embodiment is as follows:

[0102] When the track 210 moves to the raised position, the track 210 will slide inward under the pressure of the raised position, causing the track 210 to first push the lower outer swing arm 221 to rotate, and then push the upper outer swing arm 221 to rotate. Since the height of the lifting block 230 remains unchanged, the outer swing arm 221 compresses the compression spring 224 during rotation, causing the compression spring 224 to compress. At the same time, the connecting rod 223 slides. After the track 210 passes the raised position, the elastic force of the compression spring 224 is released, allowing the track 210 to return to the walking state.

[0103] In order to limit the sliding range of the plug rod 223, in some embodiments of this utility model, refer to Figure 4 As shown, a limiting slide 225 is provided on the outer end swing arm 221, and a limiting rod 226 is installed on the plug-in rod 223 that slides along the limiting slide 225 to ensure the stability and guidance of the limiting rod 226 during the sliding process. When the plug-in rod 223 is plugged in or disassembled on the outer end swing arm 221, the limiting rod 226 can slide along the length of the slide 225, thereby guiding the plug-in rod 223 to accurately enter the predetermined position. After being plugged in, the limiting rod 226 cooperates with the inner wall of the end of the limiting slide 225 to limit the position of the plug-in rod 223.

[0104] For normal lighting, in some embodiments of this utility model, refer to Figure 5 As shown, the lighting device 500 includes:

[0105] The lighting lamp 510 is installed on the outside of the central cylinder 110. As the core light-emitting component of the lighting device 500, the lighting lamp 510 usually uses an LED light source, which has the characteristics of energy saving, long life and high brightness. Its installation position is located on the outside of the central cylinder 110 so that the light can effectively illuminate the external space and meet the lighting needs of specific areas.

[0106] The protective cover 520 is installed on the central cylinder 110 and encloses the lighting lamp 510 inside. In order to ensure the safety and stability of the lighting lamp 510 during operation and to prevent damage to the lamp body from the external environment, its structural design must take into account both protective performance and light transmission. It is usually made of semi-transparent or transparent material to ensure that the light can pass through smoothly and diffuse evenly.

[0107] In some embodiments of this utility model, reference is made to Figure 5 As shown, it also includes:

[0108] The power cord 600 is inserted downward into the interior of the central cylinder 110. One end of the power cord 600 is connected to the power interface or power supply module outside the device, and the other end is connected to the circuit board, control unit or other electrical components inside the central cylinder 110 by being inserted downward.

[0109] The working method of this utility model:

[0110] Based on the inner diameter of the shaft to be inspected, the drive unit 310 is activated via the control system. The drive unit 310 drives the threaded rod 322 to rotate. Since the two threads on the threaded rod 322 rotate in opposite directions, the two nut sliders 323 drive the lifting plate 331 and the receiving ring 333 to move closer to or further away from each other. When the receiving ring 333 moves, the lifting block 230 drives the swing arm assembly 220 to unfold or retract, thereby adjusting the distance between the traveling track 210 and the central cylinder 110, so that the traveling track 210 is in close contact with the inner wall of the shaft.

[0111] The drive motor of the walking track 210 is started, and the walking track 210 rotates, causing the robot to crawl up and down along the inner wall of the shaft. During the crawling process, the compression spring 224 in the swing arm assembly 220 is always in a compressed state, providing clamping force to the walking track 210 and ensuring reliable contact between the walking track 210 and the inner wall of the shaft. At the same time, the limiting rod 226 slides along the limiting slide 225 to limit the extension and retraction range of the swing arm assembly 220 and avoid excessive extension and retraction.

[0112] The lighting device 500's lighting lamp 510 is turned on, providing sufficient illumination underground. Maintenance personnel operate the robotic arm 400 through the control system to inspect, clean, or perform simple repairs on equipment malfunction points inside the shaft, completing troubleshooting work.

[0113] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A fault-finding robot for downhole applications, characterized in that, include: Maintenance device (100); Multiple climbing devices (200) are installed on the outside of the maintenance device (100) in a circular array and slide up and down along the shaft; An adjustment device (300) is mounted on the maintenance device (100) and is used to drive multiple climbing devices (200) to open or retract; A robotic arm (400) is mounted on the bottom of the maintenance device (100); A lighting device (500), which is provided in multiples and installed on the outside of the maintenance device (100), is used to illuminate the shaft.

2. The downhole fault diagnosis robot according to claim 1, characterized in that: The maintenance device (100) includes: The central cylinder (110) is connected at its bottom to the robotic arm (400); Multiple guide rails (120) are provided and arranged in a circular array on the central cylinder (110).

3. The downhole fault diagnosis robot according to claim 1, characterized in that: The regulating device (300) includes: A drive unit (310) is installed inside the maintenance unit (100); A guide device (320) is installed at the output end of the drive device (310) and located inside the central cylinder (110); Two lifting components (330) are provided and extend to the outside of the maintenance device (100), and slide up and down along the maintenance device (100) under the drive of the guide device (320).

4. The downhole fault diagnosis robot according to claim 3, characterized in that: The guiding device (320) includes: A bracket (321) is installed inside the maintenance device (100); A threaded rod (322) is mounted on the output end of the drive unit (310) and passes downward through two lifting assemblies (330) and is rotatably connected to the bracket (321); Nut sliders (323) are provided in two and move closer or further away under the drive of threaded rods (322).

5. The downhole fault diagnosis robot according to claim 4, characterized in that: The lifting assembly (330) includes: The lifting plate (331) is fixed to the outside of the nut slider (323) and is concentrically arranged with the maintenance device (100) and the threaded rod (322); Multiple receiving blocks (332) are provided and slide up and down along the maintenance device (100); The receiving ring (333) is fixedly installed on the outside of the receiving block (332) and connected to the climbing device (200).

6. The downhole fault diagnosis robot according to claim 1, characterized in that: The climbing device (200) includes: Walking track (210); Multiple swing arm assemblies (220) are provided and hinged to the outside of the walking track (210); The lifting block (230) is fixed to the bottom of the adjusting device (300) and hinged to the swing arm assembly (220).

7. The downhole fault diagnosis robot according to claim 6, characterized in that: The swing arm assembly (220) includes: The outer end swing arm (221) is hinged to the walking track (210); The inner end swing arm (222) is hinged to the lifting block (230); The plug rod (223) is fixed to the end of the inner swing arm (222) and inserted into the interior of the outer swing arm (221); A compression spring (224) is fitted on the outside of the plug rod (223), and its two ends are in contact with the outer end swing arm (221) and the inner end swing arm (222) respectively.

8. The downhole fault diagnosis robot according to claim 7, characterized in that: The outer end swing arm (221) is provided with a limiting slide (225), and the plug rod (223) is equipped with a limiting rod (226) that slides along the limiting slide (225).

9. A fault-finding robot for downhole applications according to claim 2, characterized in that: The lighting device (500) includes: A lighting lamp (510) is installed on the outside of the central cylinder (110); A protective cover (520) is mounted on the central cylinder (110) and encloses the lighting lamp (510) inside.

10. A downhole fault diagnosis robot according to claim 2, characterized in that: Also includes: The power supply wire (600) is inserted downward into the interior of the central cylinder (110).

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