An intelligent inspection robot for downhole

Abstract

The utility model discloses an underground intelligent inspection robot relates to track type inspection robot technical field, including the walking track of arrangement in the shaft top and the inspection robot of mobile in this walking track, wherein: the inspection robot includes the walking part and the main part department, and the main part department includes the extension, and the extension extends to the walking part in and presents the rotary connection, the walking part includes the walking guide roller of symmetrical distribution about the walking track and the step motor of the walking guide roller circumferential rotation, and the high definition camera is fixedly installed to at least one lateral surface of the main part department. The utility model adopts the rotary connection between the main part department and the walking part, makes the robot to be able to nimblely pass through the track section of small bending radius, and especially suitable for the operation environment of narrow, many bends in the well.

Description

Technical Field

[0001] This utility model relates to the processing technology of track-type inspection robots, specifically an intelligent inspection robot for underground wells. Background Technology

[0002] Current underground coal mining is primarily equipment-driven, with equipment such as coal mining machines, scraper conveyors, hydraulic supports, and tunneling machines widely used in underground mining operations. Underground operations are gradually developing towards automation and intelligence. However, the harsh underground environment, the large number and size of mining machinery, and the constantly changing working environment increase the risk to machine operators and the probability of malfunctions. Furthermore, due to long communication distances, signal transmission is susceptible to interference, resulting in poor monitoring quality underground. The coverage area of ​​cameras is also relatively small, making it difficult to effectively monitor the operating status of many underground mining equipment. Utility Model Content

[0003] The purpose of this invention is to provide an intelligent downhole inspection robot to address the aforementioned shortcomings in the existing technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an intelligent downhole inspection robot, comprising a walking track arranged on the top of the wellbore and an inspection robot moving on the walking track, wherein: The inspection robot includes a main body and a walking part. The main body includes an extension part that extends into the walking part and is rotatably connected to it. The walking unit includes walking guide rollers symmetrically distributed about the walking track and a stepper motor that drives the walking guide rollers to rotate circumferentially. A high-definition camera is fixedly mounted on at least one side of the main body.

[0005] Preferably, the cross-section of the walking track is rectangular.

[0006] Preferably, the outer wall of the traveling guide roller is fitted with a plurality of rubber rings whose sidewalls are in contact with each other, and the contact surface between the rubber rings and the sidewalls of the traveling track is provided with a grid pattern.

[0007] Preferably, the walking part includes a bracket, and two walking guide rollers are rotatably mounted on the bracket, with a shaft extending to the upper surface of the bracket fixedly installed on the end face of the walking guide rollers. A rectangular boring hole is provided on the end face of the shaft. The stepper motor is fixed to the bracket by screws, and the output shaft is embedded in the rectangular boring hole.

[0008] Preferably, the number of the walking parts is two, and they are symmetrically distributed about the center of the main body.

[0009] Preferably, each of the two walking parts has one stepper motor, which are distributed along a diagonal line.

[0010] Preferably, a recess is provided at the center of the bottom of the main body, and a centrally distributed T-shaped limiting part is fixedly installed in the recess; It also includes a flow plate, one end of which has a slot. The T-shaped limiting part is divided into a vertical part and a horizontal part according to its structure. The slot is inserted into the vertical part, so that the entire T-shaped limiting part is embedded in the space between the horizontal part and the recessed part.

[0011] Preferably, the T-shaped limiting part is rotatably provided with rubber balls that roll and intercept the travel track. In the above technical solution, the intelligent inspection robot for underground wells provided by this utility model has the following beneficial effects: a walking track is pre-arranged in the wellbore, and then the inspection robot is suspended and moves on the walking track. The inspection robot consists of a main body and a walking part, and the two are rotatably connected. During the movement, it can easily pass through the walking track with a small curvature angle, thus making it more suitable for deployment in narrow and curved underground passages. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model; Figure 2 This is a structural diagram of the bracket in its disassembled state provided in an embodiment of the present utility model; Figure 3 A schematic diagram of the structure of the flow plate and rubber balls provided in this embodiment of the utility model; Figure 4 A schematic diagram of the combined state of the flow plate and the T-shaped limiting part provided in an embodiment of this utility model; Figure 5 Provided for the embodiments of this utility model Figure 4 A schematic diagram of the structure under explosive conditions.

[0014] Explanation of reference numerals in the attached figures: 1. Traveling track; 2. Main body; 21. Extension; 22. T-shaped limiting part; 23. Rubber ball; 24. Recess; 3. Traveling part; 31. Traveling guide roller; 311. Shaft; 312. Rectangular boring hole; 32. Stepper motor; 33. Rubber ring belt; 34. Bracket; 4. High-definition camera; 5. Flow plate; 51. Slot; 6. Bolt. Detailed Implementation

[0015] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0016] Please see Figure 1-5 This utility model provides a technical solution: an intelligent downhole inspection robot, comprising a walking track 1 arranged on the top of the wellbore and an inspection robot moving on the walking track 1, wherein: The inspection robot includes a main body 2 and a walking part 3. The main body 2 includes an extension 21, which extends into the walking part 3 and is rotatably connected. The walking unit 3 includes walking guide rollers 31 symmetrically distributed about the walking track 1 and stepper motors 32 that drive the walking guide rollers 31 to rotate circumferentially. A high-definition camera 4 is fixedly installed on at least one side of the main body 2.

[0017] Specifically, the cross-section of the aforementioned traveling track 1 is rectangular, and it is made of stainless steel or polyethylene plastic. It can be fixed directly by expansion bolts or nails by being pre-placed on the top of the shaft.

[0018] Secondly, the aforementioned high-definition camera 4 is an existing product that can rotate 360 ​​degrees and is suitable for complex underground environments. The detailed model will not be elaborated here, and the captured images are transmitted via a network transmission module through a local area network.

[0019] In the aforementioned technology, a walking track 1 is pre-arranged in the wellbore, and then the inspection robot is suspended and moved on the walking track 1. The inspection robot consists of a main body 2 and a walking part 3, which are rotatably connected. During movement, it can easily pass through the walking track 1 with a small curvature angle, thus making it more suitable for deployment in narrow and curved underground passages.

[0020] As a further embodiment of this utility model, the walking unit 3 includes a bracket 34, with two walking guide rollers 31 rotatably mounted on the bracket 34. A shaft 311 extending to the upper surface of the bracket 34 is fixedly mounted on the end face of each walking guide roller 31. A rectangular boring hole 312 is formed on the end face of the shaft 311. A stepper motor 32 is fixed to the bracket 34 with screws, and its output shaft is embedded in the rectangular boring hole 312. It should be noted that there are two walking units 3, symmetrically distributed about the center of the main body 2. That is, they are distributed at the forward and rear ends along the forward direction of the inspection robot.

[0021] It should be noted that there is one stepper motor 32 on each of the two walking parts 3, and they are distributed along the diagonal.

[0022] Specifically, each of the two walking units 3 is equipped with a stepper motor 32, and the two are arranged diagonally. This layout helps to balance the driving torque, improve the robot's stability on curves or uneven track sections, and reduce the risk of getting stuck.

[0023] As a further embodiment of this utility model, a recessed portion 24 is centrally located at the bottom of the main body 2, and a centrally located T-shaped limiting portion 22 is fixedly installed within the recessed portion 24. This embodiment also includes a flow plate 5, one end of which has a slot 51. The T-shaped limiting portion 22 is structurally divided into a vertical portion and a horizontal portion. The slot 51 is inserted into the vertical portion, so that the entire T-shaped limiting portion 22 is embedded in the space between the horizontal portion and the recessed portion 24. Furthermore, a rubber ball bearing 23 is rotatably provided on the T-shaped limiting portion 22 to intercept the rolling motion of the travel track 1.

[0024] Specifically, a rubber ball bearing 23 is rotatably mounted on the T-shaped limiting part 22. The ball bearing rolls in contact with the surface of the traveling track 1, playing an auxiliary limiting and guiding role, which can reduce the shaking of the main body 2 during movement and improve the running stability.

[0025] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent downhole inspection robot, characterized in that, Includes a travel track (1) arranged on the top of the shaft and an inspection robot moving on the travel track (1), wherein: The inspection robot includes a main body (2) and a walking part (3). The main body (2) includes an extension (21), which extends into the walking part (3) and is rotatably connected. The walking unit (3) includes walking guide rollers (31) symmetrically distributed about the walking track (1) and a stepper motor (32) that drives the walking guide rollers (31) to rotate circumferentially. The main body (2) has a high-definition camera (4) fixedly installed on at least one side.

2. The intelligent downhole inspection robot according to claim 1, characterized in that, The cross-section of the walking track (1) is rectangular.

3. The intelligent downhole inspection robot according to claim 1, characterized in that, The outer wall of the walking guide roller (31) is fitted with a plurality of rubber ring belts (33) with their side walls in contact with each other, and the contact surface between the rubber ring belts (33) and the side wall of the walking track (1) is provided with a grid pattern.

4. The intelligent downhole inspection robot according to claim 1, characterized in that, The walking part (3) includes a bracket (34), and two walking guide rollers (31) are rotatably mounted on the bracket (34). The end face of the walking guide roller (31) is fixedly mounted with a shaft (311) whose end face extends to the upper surface of the bracket (34). A rectangular boring hole (312) is provided on the end face of the shaft (311). The stepper motor (32) is fixed to the bracket (34) by screws, and the output shaft is embedded in the rectangular boring hole (312).

5. The intelligent downhole inspection robot according to claim 1, characterized in that, The number of the walking parts (3) is two, and they are symmetrically distributed about the center of the main body (2).

6. The intelligent downhole inspection robot according to claim 5, characterized in that, Each of the two walking parts (3) has one stepper motor (32) and they are distributed along the diagonal.

7. The intelligent downhole inspection robot according to claim 1, characterized in that, The bottom of the main body (2) is provided with a recess (24) in the center, and a T-shaped limiting part (22) is fixedly installed in the recess (24). It also includes a flow plate (5), one end of which is provided with a slot (51). The T-shaped limiting part (22) is divided into a vertical part and a horizontal part according to its structure. The slot (51) is inserted into the vertical part, so that the entire T-shaped limiting part (22) is embedded in the space between the horizontal part and the recessed part (24).

8. The intelligent downhole inspection robot according to claim 7, characterized in that, The T-shaped limiting part (22) is rotatably provided with rubber balls (23) that roll and intercept the travel track (1).

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