CN113969764B

CN113969764B - Cable-free paraffin removal robot

Info

Publication number: CN113969764B
Application number: CN202111341573.7A
Authority: CN
Inventors: 金立川; 尹学超; 陈南干; 王佳佳; 闫江浩; 汪奇; 李华晶; 叶哲宁; 康庆泽; 李德根
Original assignee: Hangzhou Qianjing Technology Co ltd
Current assignee: Hangzhou Qianjing Technology Co ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2022-05-24
Anticipated expiration: 2041-11-12
Also published as: CN114687704A; CN114704226B; CN113969764A; CN114704226A; CN114687704B

Abstract

The application discloses no cable paraffin removal robot, include driving system, the axle of crawling, right the pole, scrape wax sword and gyro wheel, the axle of crawling with right the pole respectively directly or indirectly with the driving system cooperation together, driving system is used for the drive axle of crawling to rotate, scrape the wax sword and install on righting the pole, the gyro wheel is directly or indirectly rotated and is installed on the lateral wall of the axle of crawling. The robot has the following beneficial effects: through the combination use driving system, the axle of crawling, right the pole, scrape wax sword and gyro wheel, formed a robot that can go up down in oil pipe, at the robot in-process that goes up down, scrape wax on the wax sword can strike off the pipe wall, work efficiency is high.

Description

Cable-free paraffin removal robot

Technical Field

The invention relates to the field of oil pipe cleaning, in particular to a cable-free paraffin removal robot.

Background

In the petroleum transportation pipeline, because the temperature is reduced gradually near the wellhead position and the wax precipitation phenomenon appears on the inner wall of the oil pipe, the wax removal cannot be carried out in time and the flow area in the oil pipe is reduced or blocked, and the petroleum transportation efficiency is reduced. At present, the following wax removal modes are mainly adopted:

firstly, a wax precipitation oil pipe is lifted out of an oil well and transported to an oil pipe factory, and a wax scraper is extended into the oil pipe to scrape wax, so that the production is influenced by the shutdown of the oil well, time and labor are wasted, and the cost is high;

secondly, chemical reagents are added into a wax-deposited oil well and are discharged along with well liquid after undergoing chemical reaction and decomposition with wax, and the chemical reagents are difficult to separate from the well liquid in such a way, so that chemical reagent residues are caused, oil liquid is polluted, and even the environment is polluted;

thirdly, wax is removed by pouring hot water and electric heating, so that the energy consumption is high and the cost is high;

and fourthly, a paraffin removing mode is mechanically adopted, a balancing weight is bound on a paraffin scraping knife, the paraffin scraping knife is thrown into an oil well from the well head, paraffin is removed by driving the paraffin scraping knife by gravity, then the well head is pulled back by a steel wire rope bound at the tail part, and the paraffin is removed repeatedly in the way, so that the oil well is shut down and the manual operation is required.

There is no machine that can quickly clean the wax in the tubing without the use of a wireline.

Disclosure of Invention

The invention provides a cable-free paraffin removal robot aiming at the problems.

The technical scheme adopted by the invention is as follows:

the utility model provides a no cable paraffin removal robot, includes driving system, the axle of crawling, rights pole, scrapes wax sword and gyro wheel, the axle of crawling with right pole respectively directly or indirectly with the driving system cooperation together, driving system is used for the drive axle of crawling to rotate, scrape the wax sword and install on right pole, the gyro wheel is direct or indirectly rotate and install on the lateral wall of the axle of crawling.

In this kind of paraffin removal robot, through the combination use driving system, the axle of crawling, right the pole, scrape wax sword and gyro wheel, formed one kind and can go up the robot of descending in oil pipe, in-process that the robot went up the descending, scrape wax on the wax sword can strike off the pipe wall, work efficiency is high.

The method for the concrete work comprises the following steps that firstly, the whole robot is placed into an oil pipe, the roller is attached to the inner wall of the oil pipe, the power system starts to work, the power system drives the crawling shaft to rotate, then the roller of the crawling shaft and the oil pipe are driven to rotate relatively, the roller rotates to drive the whole robot to move in the oil pipe, and therefore the wax scraping knife is driven to move along the inner wall of the oil pipe, paraffin removal of the cable-free paraffin removal robot is achieved, and cost and labor are saved.

It needs to be further explained that the wax scraping knife in the structure is a wax scraping knife in a shape of a hollow tube, the wax scraping knife is rotatably sleeved on the righting rod, a central axis of the wax scraping knife is overlapped with a central axis of the righting rod, the wax scraping knife can rotate around the righting rod and can also move along the righting rod, and therefore the probability that the wax scraping knife is clamped is conveniently reduced during wax scraping.

Optionally, still include mounting panel, support, adjusting spring and adjusting screw, the mounting panel passes through adjusting screw to be installed on the lateral wall of axle of crawling, adjusting spring overlaps to be established on adjusting screw, and the both ends of spring support the mounting panel respectively and the axle of crawling, the support mounting is on the mounting panel, the gyro wheel rotates and installs on the support.

The gyro wheel is installed on the support of mounting panel, and the distance between mounting panel and the axle of crawling can change through twisting adjusting screw, so the distance between gyro wheel and the axle lateral wall of crawling can be adjusted, and the distance between gyro wheel and the axle lateral wall of crawling also has certain scalability, the power that the mechanism compressed tightly the oil pipe inner wall is crawled in altitude mixture control through adjusting screw locking before going into the pit, guarantee the elasticity of spring unanimous through the altitude mixture simultaneously, realize motor output and utilize the maximize. And in the up-and-down operation process of the robot, the spring can be adjusted to automatically stretch and retract. When the wax is in a thick position, the spring is compressed, otherwise, the sliding piece is stretched to ensure that the sliding piece can tightly press the oil pipe, and the maximum outer diameter of the crawling mechanism is automatically adjusted in the operation process, so that the crawling mechanism can adapt to the oil pipes in different conditions.

Optionally, the driving system includes shell, motor, shaft coupling, speed reducer, rights bearing and footstep bearing, the speed reducer connects with the axle of motor, the axle of crawling meets with the speed reducer through the shaft coupling, is provided with between shaft coupling and the axle of crawling footstep bearing, it sets up between axle of crawling and shell to right the bearing.

The motor is used for converting electric energy into mechanical energy, and the speed reducer is used for improving torque by reducing rotating speed and transmitting the torque to the crawling shaft through the coupler.

Overall structure eccentric motion can lead to motor energy utilization to reduce, spare part wearing and tearing aggravation, and long-term eccentric motion leads to the mechanism to block easily simultaneously, paraffin removal effect variation, and the motor can not bear the axial force simultaneously. Therefore, a centering bearing and a thrust bearing are designed between the motor and the crawling shaft, the centering bearing ensures the concentricity of the shaft, the shaft coupling realizes non-concentric adjustment, and the thrust bearing bears axial force and can keep rotating.

Optionally, still include rotatory oil blanket, rotatory oil blanket and the normal running fit of crawling, and rotatory oil blanket sets up the one end of shell.

In order to protect the motor, a rotary oil seal is added at the crawling shaft to prevent well liquid from entering the motor cavity through the rotary crawling shaft.

Optionally, the motor sealing device further comprises a joint and a capsule, the joint is arranged at one end of the shell, the rotary oil seal and the joint are respectively located at two ends of the shell, the rotary oil seal, the joint and the crawling shaft are enclosed together to form a motor cavity, a sealing connection end used for plugging the motor cavity is arranged on the joint, the motor is located in the motor cavity, the capsule is arranged on one side of the joint, and the capsule is communicated with the motor cavity.

Because whole robot is to work in the well liquid, when motor cavity and external well liquid pressure imbalance appear, the pressure differential can make the oil blanket damage to well liquid gets into the motor and leads to the motor to damage. Therefore, in order to maintain the pressure balance between the motor cavity and external well fluid and ensure that the volume of the fluid is slightly influenced by temperature and pressure, the motor cavity in the robot needs to be filled with clean motor oil.

In the above, in order to further improve the pressure difference change resistance of the motor cavity, the motor cavity is additionally provided with the capsule. When the motor oil expands or contracts, the capsule expands with heat and contracts with cold, and the pressure is balanced by the breathing action of the capsule, so that the problem that the motor oil expands when the motor generates heat is solved.

Optionally, the power system further comprises a two-section type folding connecting rod, a sliding part, a first spring, a second spring, a sleeve ring and a locking adjusting part, wherein one end of the power system is directly or indirectly provided with a joint, the centering rod and the joint are fixed together, the sleeve ring is sleeved on the centering rod, the first spring and the second spring are respectively located at two ends of the connecting rod, the locking adjusting part is arranged on the centering rod, two ends of the first spring respectively abut against the joint and the sleeve ring, two ends of the second spring respectively abut against the sleeve ring and the locking adjusting part, two ends of the two-section type folding connecting rod are respectively hinged and matched with the joint and the sleeve ring, and the sliding part is rotatably installed at a bending position of the two-section type folding connecting rod.

The specific first spring and the second spring are both in a compression state, the locking adjusting piece is screwed, the compression state of the first spring and the compression state of the second spring can be changed, the compression state of the first spring and the compression state of the second spring are changed, the bending angle of the two-section type folding connecting rod can also be adjusted, the distance between the sliding piece and the righting rod can be adjusted, and different pipe diameters can be better adapted. The first spring, the second spring, the two-section type folding connecting rod and the sliding piece equivalently form a righting mechanism, and the righting mechanism can prevent the righting rod from being twisted. Meanwhile, in the robot, when the motor drives the crawling shaft to rotate, the motor can generate an acting force which is consistent with the rotating direction, if the acting force cannot be offset, the motor can rotate to cause the whole robot to crawl up and down smoothly, and the righting mechanism can press the pipe wall of the oil pipe through the sliding piece to generate a friction force which is opposite to the rotating direction of the motor to prevent the motor from rotating, so that the robot can crawl up and down stably and smoothly.

Optionally, the number of the two-section type folding connecting rods is three, the three two-section type folding connecting rods are distributed around the righting rod in an equal radian, and a sliding piece is rotatably mounted on each two-section type folding connecting rod.

The three sliding parts are uniformly distributed, and the force of the springs is the same, so that the opening angles of the supports are also the same, the whole paraffin removal mechanism and the oil pipe can be kept concentric, and the mechanism has a function of righting.

The specific sliding part can be a wheel or a sliding block, and the wheel is selected as the sliding part in the scheme.

The specific locking adjusting piece can be a hoop or a check ring or a locking adjusting nut, and the locking adjusting nut is selected to be used as the locking adjusting piece in the scheme.

Optionally, the wireless charging device further comprises a battery, a control chip, a charging module and a wireless antenna module, wherein the control chip is electrically connected with the power system, the battery is electrically connected with the control chip, and the charging module and the wireless antenna module are electrically connected with the control chip.

Concrete battery, control chip, the module of charging and wireless antenna module all are located the shell, the effect of battery is the power supply, control chip, the module of charging and wireless antenna module have formed the control unit, be with the stable transport of voltage of battery for the motor, and according to the operation and the stop of antenna received signal control motor, the whole mechanism of automatic control returns the well head when the power electric quantity is not enough simultaneously and charges, the module of charging then plays the protection battery effect during charging.

Optionally, the roller is an oval ball-shaped roller, and the central axis of the roller is not parallel to the central axis of the crawling shaft.

The central axis of the roller is not parallel to the central axis of the crawling shaft, so that the roller can generate an acting force for pushing the crawling shaft to move along the oil pipe when rotating. Can rotate round the axle, the mounting panel is installed on the gyro wheel support slope 15 (be for the axis of shaft of crawling promptly), and the mounting panel that total three circumferencial direction equipartition of whole mechanism was placed, 12 gyro wheels in total. There is the space between 12 gyro wheels, just so can let the well liquid in the oil pipe flow through between the gyro wheel, just so can guarantee that whole robot of crawling has paraffin removal under the prerequisite that fluid flows in oil pipe, so the oil well can normally work, need not to stop.

The invention has the beneficial effects that: through the combination use driving system, the axle of crawling, right the pole, scrape wax sword and gyro wheel, formed a robot that can go up down in oil pipe, at the robot in-process that goes up down, scrape wax on the wax sword can strike off the pipe wall, work efficiency is high.

Description of the drawings:

figure 1 is a schematic diagram of a cableless paraffin removal robot,

figure 2 is a schematic diagram of the mounting structure of the roller on the creeper shaft,

figure 3 is a schematic sketch of the mounting structure of the creeper shaft,

figure 4 is a schematic view of the fit of the righting pole and the two-section folding link,

FIG. 5 is a schematic diagram of the relationship of the slider to the tubing.

The figures are numbered: 1. a roller; 2. a housing; 3. a slider; 4. locking the adjusting piece; 5. a wax scraping knife; 6. a righting rod; 7. adjusting the spring; 8. a support; 9. an adjusting screw; 10. mounting a plate; 11. a creeper shaft; 12. rotating the oil seal; 13. righting the bearing; 14. a thrust bearing; 15. a speed reducer; 16. a motor; 17. sealing the end head; 18. a joint; 19. a capsule; 20. an oil pipe; 21. a two-section folding connecting rod; 2201. a first spring; 2202. a second spring; 23. a collar.

The specific implementation mode is as follows:

the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, 2, 3, 4 and 5, the cableless paraffin removal robot comprises a power system, a crawling shaft 11, a righting rod 6, a paraffin scraper 5 and a roller 1, wherein the crawling shaft 11 and the righting rod 6 are respectively directly or indirectly matched with the power system, the power system is used for driving the crawling shaft 11 to rotate, the paraffin scraper 5 is installed on the righting rod 6, and the roller 1 is directly or indirectly rotatably installed on the side wall of the crawling shaft 11.

In this kind of paraffin removal robot, through the combination use driving system, creep shaft 11, right pole 6, scrape wax sword 5 and gyro wheel 1, formed one kind and can be in oil pipe 20 robot of up-and-down going, in-process that the robot went up-and-down going, scrape wax sword 5 and can scrape the wax on the pipe wall, work efficiency is high.

The specific working method comprises the following steps that firstly, the whole robot is placed into the oil pipe 20, the roller 1 is tightly attached to the inner wall of the oil pipe 20, the power system starts to work, the power system drives the crawling shaft 11 to rotate, then the roller 1 of the crawling shaft 11 and the oil pipe 20 are driven to rotate relatively, the rotation of the roller 1 drives the whole robot to move in the oil pipe 20, and therefore the wax scraper 5 is driven to move along the inner wall of the oil pipe 20. Realize the paraffin removal of no cable paraffin removal robot, save cost and manual work.

It needs to be further explained that, in this structure, the wax scraping knife 5 is a wax scraping knife 5 in the shape of a hollow pipe, the wax scraping knife 5 is rotatably sleeved on the righting rod 6, the central axis of the wax scraping knife 5 coincides with the central axis of the righting rod 6, the wax scraping knife 5 can rotate around the righting rod 6 and can also move along the righting rod 6, so that the probability that the wax scraping knife 5 is blocked is reduced when scraping wax.

As shown in the attached drawings 1 and 2, the device further comprises a mounting plate 10, a support 8, an adjusting spring 7 and an adjusting screw 9, wherein the mounting plate 10 is mounted on the side wall of the crawling shaft 11 through the adjusting screw 9, the adjusting spring 7 is sleeved on the adjusting screw 9, two ends of the spring respectively abut against the mounting plate 10 and the crawling shaft 11, the support 8 is mounted on the mounting plate 10, and the roller 1 is rotatably mounted on the support 8.

The gyro wheel 1 is installed on the support 8 of mounting panel 10, and the distance between mounting panel 10 and the axle 11 of crawling can change through twisting adjusting screw 9, so the distance between gyro wheel 1 and the axle 11 lateral wall of crawling is adjustable, and the distance between gyro wheel 1 and the axle 11 lateral wall of crawling also has certain scalability, the power of mechanism 20 inner wall is climbed in altitude mixture control who locks through adjusting screw 9 before going into the pit, guarantee the elasticity of spring unanimity through the altitude mixture simultaneously, realize motor 16 output and utilize the maximize. And in the up-and-down operation process of the robot, the adjusting spring 7 can realize automatic extension and retraction. When the wax is in a thicker position, the spring is compressed, otherwise, the sliding piece 3 can be stretched to ensure that the sliding piece can tightly press the oil pipe 20, and the maximum outer diameter of the crawling mechanism can be automatically adjusted in the operation process, so that the crawling mechanism can adapt to the oil pipes 20 under different conditions.

As shown in fig. 1 and 3, the power system includes a housing 2, a motor 16, a coupling, a speed reducer 15, a centering bearing 13, and a thrust bearing 14, the speed reducer 15 is connected to a shaft of the motor 16, the crawling shaft 11 is connected to the speed reducer 15 through the coupling, the thrust bearing 14 is disposed between the coupling and the crawling shaft 11, and the centering bearing 13 is disposed between the crawling shaft 11 and the housing 2.

The motor 16 converts electric energy into mechanical energy, and the reducer 15 increases torque by reducing the rotating speed and transmits the torque to the creeper shaft 11 through a coupling.

The eccentric motion of the whole structure can lead to the reduction of the energy utilization rate of the motor 16 and the aggravation of the abrasion of parts, meanwhile, the long-term eccentric motion can easily lead to the clamping of the mechanism and the poor paraffin removal effect, and meanwhile, the motor 16 can not bear the axial force. Therefore, a centering bearing 13 and a thrust bearing 16 are designed between the motor 16 and the creeper shaft 11, the centering bearing ensures the concentricity of the shaft, the shaft coupling realizes non-concentric adjustment, and the thrust bearing bears the axial force of the shaft 14 and can keep rotating.

As shown in fig. 3, the device further comprises a rotary oil seal 12, the rotary oil seal 12 is rotatably matched with the creeper shaft 11, and the rotary oil seal 12 is arranged at one end of the shell 2.

In order to protect the motor 16, a rotary oil seal 12 is added at the position of the crawling shaft 11 to prevent well fluid from entering a motor cavity through the rotary crawling shaft 11.

As shown in the attached drawing 3, the sealing device further comprises a joint 18 and a capsule 19, the joint 18 is arranged at one end of the housing 2, the rotary oil seal 12 and the joint 18 are respectively located at two ends of the housing 2, the rotary oil seal 12, the joint 18 and the crawling shaft 11 surround together to form a motor cavity, a sealing connection end 17 used for plugging the motor cavity is arranged on the joint 18, the motor 16 is located in the motor cavity, the capsule 19 is arranged at one side of the joint 18, and the capsule 19 is communicated with the motor cavity.

Since the entire robot is intended to operate in well fluid, when there is an imbalance of pressure between the motor chamber and the surrounding well fluid, the pressure differential can cause the oil seal to break, and thus well fluid enters the motor 16 causing damage to the motor 16. Therefore, in order to maintain the pressure balance between the motor cavity and the external well fluid and the influence of the temperature and the pressure on the volume of the fluid is small, the motor cavity of the robot needs to be filled with clean oil of the motor 16.

The whole robot is provided with a plurality of sections of shells, and the shells are connected together through joints.

In the above, in order to further improve the pressure difference change resistance of the motor cavity, the capsule 19 is added in the motor cavity. When the motor 16 oil expands or contracts, the capsule 19 expands with heat and contracts with cold, and the pressure is balanced by the breathing action of the capsule 19, so that the problem that the motor 16 oil expands when the motor 16 generates heat is solved.

As shown in fig. 1 and 4, the foldable lifting device further comprises a two-section type folding connecting rod 21, a sliding element 3, a first spring 2201, a second spring 2202, a collar and a locking adjusting element 4, wherein a joint 18 is directly or indirectly arranged at one end of the power system, the centering rod 6 is fixed with the joint 18, the collar is sleeved on the centering rod 6, the first spring 2201 and the second spring 2202 are respectively located at two ends of the connecting rod, the locking adjusting element 4 is arranged on the centering rod, two ends of the first spring 2201 respectively abut against the joint 18 and the collar, two ends of the second spring 2202 respectively abut against the collar and the locking adjusting element 4, two ends of the two-section type folding connecting rod 21 are respectively hinged and matched with the joint 18 and the collar, and the sliding element 3 is rotatably mounted at a bending position of the two-section type folding connecting rod 21.

Referring to fig. 5, specifically, the first spring 2201 and the second spring 2202 are both in a compressed state, and the locking adjusting member 4 is screwed to change the pressing state of the first spring 2201 and the second spring 2202, so that the compressed state of the first spring 2201 and the second spring 2202 is changed, and the bending angle of the two-section type folding connecting rod 21 can be adjusted, so that the distance between the sliding member 3 and the righting rod 6 can be adjusted, and different pipe diameters can be better adapted. The first spring 2201, the second spring 2202, the two-section folding link 21 and the slider 3 form a righting mechanism that allows the righting bar 6 to avoid twisting. Meanwhile, in the robot, when the motor 16 drives the crawling shaft 11 to rotate, the motor 16 generates an acting force in accordance with the rotating direction, if the acting force cannot be counteracted, the motor 16 rotates to cause the whole robot to be incapable of crawling up and down smoothly, and the righting mechanism can press the pipe wall of the oil pipe 20 through the sliding piece to generate a friction force (marked by f in figure 5) opposite to the rotating direction of the motor 16 to prevent the motor 16 from rotating, so that the robot can crawl up and down stably and smoothly. The pressure between the slips and the tubing is indicated at F.

As shown in fig. 4 and 5, there are three two-section folding links 21, and the three two-section folding links 21 are distributed in an equal arc around the righting rod 6, and each two-section folding link 21 is rotatably mounted with the sliding member 3.

The three sliding parts 3 are uniformly distributed, and the force of the springs is the same, so that the opening angle of the bracket 8 is the same, the whole paraffin removal mechanism and the oil pipe 20 can be kept concentric, and the mechanism is righted.

The specific sliding part 3 can be a wheel or a sliding block, and the wheel is selected as the sliding part 3 in the scheme.

The specific locking adjusting piece 4 can be a hoop or a check ring or a locking adjusting nut, and the locking adjusting nut is selected to be used as the locking adjusting piece 4 in the scheme.

The charging system further comprises a battery, a control chip, a charging module and a wireless antenna module, wherein the control chip is electrically connected with the power system, the battery is electrically connected with the control chip, and the charging module and the wireless antenna module are electrically connected with the control chip.

Concrete battery, control chip, the module of charging and wireless antenna module all are located shell 2, the effect of battery is the power supply, control chip, the module of charging and wireless antenna module have formed the control unit, be with the stable transport of voltage of battery for motor 16, and according to the operation and the stop of antenna received signal control motor 16, the whole mechanism of automatic control returns the well head when power electric quantity is not enough simultaneously and charges, the module of charging then plays the protection battery effect during charging.

As shown in fig. 1 and 2, the roller 1 is an oval roller 1, and the central axis of the roller 1 is not parallel to the central axis of the creeper shaft 11.

The central axis of the roller 1 is not parallel to the central axis of the creeper shaft 11, so that the roller 1 can generate a force for pushing the creeper shaft 11 to move along the oil pipe 20 when rotating. Can rotate around the axle, the gyro wheel 1 support 8 inclines 15 (namely for the axis of climbing 11) and installs on mounting panel 10, and the mounting panel 10 that the total three circumferencial direction equipartitions of whole mechanism were placed, 12 gyro wheels 1 in total. Gaps exist among the 12 rollers 1, so that well fluid in the oil pipe 20 can flow through the rollers 1, and the whole crawling robot can be guaranteed to wax on the premise that the oil in the oil pipe 20 flows, so that the oil well can normally work without stopping.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, which is defined by the claims, and all the modifications and equivalents of the claims, which can be directly or indirectly applied to other related fields, are also included in the scope of the present invention.

Claims

1. The cableless paraffin removal robot is characterized by comprising a power system, a crawling shaft, a righting rod, a paraffin scraper and a roller, wherein the crawling shaft and the righting rod are respectively directly or indirectly matched with the power system, the power system is used for driving the crawling shaft to rotate, the paraffin scraper is mounted on the righting rod, and the roller is directly or indirectly rotatably mounted on the side wall of the crawling shaft;

the power system comprises a shell, a motor, a coupler, a speed reducer, a centering bearing and a thrust bearing, wherein the speed reducer is connected with a shaft of the motor, the crawling shaft is connected with the speed reducer through the coupler, the thrust bearing is arranged between the coupler and the crawling shaft, and the centering bearing is arranged between the crawling shaft and the shell;

the crawler belt type;

the motor sealing device is characterized by further comprising a joint and a capsule, wherein the joint is arranged at one end of the shell, the rotary oil seal and the joint are respectively positioned at two ends of the shell, the rotary oil seal, the joint and the crawling shaft are surrounded together to form a motor cavity, a sealing connection end used for plugging the motor cavity is arranged on the joint, the motor is positioned in the motor cavity, the capsule is arranged on one side of the joint, and the capsule is communicated with the motor cavity;

still include two festival formula folding connecting rod, slider, first spring, second spring, the lantern ring and locking regulating part, driving system one end is provided with directly or indirectly and connects, right the pole with connect together fixedly, the lantern ring cover is established on righting the pole, first spring and second spring cover are established on righting the pole, first spring and second spring are located the both ends of connecting rod respectively, the locking regulating part sets up on righting the pole, the both ends of first spring support respectively connect and the lantern ring, the both ends of second spring support respectively the lantern ring and locking regulating part, the both ends of two festival formula folding connecting rod are in the same place with connecting and lantern ring are articulated respectively, the slider rotates the department of bending of installing at two festival formula folding connecting rod.

2. The cableless paraffin removal robot according to claim 1, further comprising a mounting plate, a bracket, an adjusting spring and an adjusting screw, wherein the mounting plate is mounted on the side wall of the creeping shaft through the adjusting screw, the adjusting spring is sleeved on the adjusting screw, two ends of the spring respectively abut against the mounting plate and the creeping shaft, the bracket is mounted on the mounting plate, and the roller is rotatably mounted on the bracket.

3. The cableless paraffin removal robot of claim 1, wherein there are three two-section folding links, and the three two-section folding links are distributed in an equal arc around the centralizing rod, and each two-section folding link is rotatably mounted with a sliding member.

4. The cableless paraffin removal robot of claim 1, further comprising a battery, a control chip, a charging module and a wireless antenna module, wherein the control chip is electrically connected to the power system, the battery is electrically connected to the control chip, and the charging module and the wireless antenna module are electrically connected to the control chip.

5. The untethered paraffin removal robot of claim 1, wherein the rollers are oval rollers and the central axes of the rollers are not parallel to the central axis of the creeper shaft.