CN210105840U

CN210105840U - Self-adaptive robot suitable for horizontal well

Info

Publication number: CN210105840U
Application number: CN201920261741.3U
Authority: CN
Inventors: 方向清; 马瑞花
Original assignee: CHINA NATIONAL ADMINISTRATION OF COAL GEOLOGY HYDROLOGY GEOLOGIC BUREAU
Current assignee: The second hydrogeological team of China General Administration of coal geology
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2020-02-21
Anticipated expiration: 2029-03-01

Abstract

The utility model relates to a self-adaptation robot suitable for horizontal well relates to horizontal well detection technical field, including telecontrol equipment, universal transmission, tip cleaning device and self-adaptation device, two tip cleaning device install respectively in two tips of telecontrol equipment through universal transmission for remove the process at the telecontrol equipment and carry out the clearance action, the telecontrol equipment is used for driving tip cleaning device and moves in the horizontal well, and self-adaptation device installs in the top of telecontrol equipment, and is located the contact of the outer part of telecontrol equipment and horizontal well inner wall. The utility model discloses a motion state of self-adaptation robot is adjusted to telecontrol equipment combines tip cleaning device at telecontrol equipment's both ends, clears up in the horizontal well, and effectual assurance self-adaptation robot can be at the reciprocating motion in complicated horizontal well, provides the solution for structure detection, regional improvement slip casting effect detection in the horizontal branch hole.

Description

Self-adaptive robot suitable for horizontal well

Technical Field

The utility model relates to a horizontal well detection technology field especially relates to a self-adaptation robot suitable for horizontal well.

Background

The method for geophysical prospecting in the horizontal well is more, and the method is widely applied to the aspects of detecting water-rich property, karst development condition and the like of faults, collapse columns, cracks and aquifers, and obtains good geological effect. In the past, a geophysical prospecting method in a horizontal well is mostly used in a vertical well and cannot be carried out in a horizontal branch hole, mainly because a detecting device cannot reach the horizontal branch hole, if the distribution conditions of the structure and the water-rich property are not checked, great potential safety hazards are generated in coal mine production.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the present invention is expected to provide a self-adaptive robot suitable for a horizontal well, in order to solve at least one technical problem in the prior art.

In order to achieve the above object, the embodiment of the present invention provides a technical solution that: the utility model provides a self-adaptation robot suitable for horizontal well, includes telecontrol equipment, universal transmission, tip cleaning device and self-adaptation device, two tip cleaning device installs respectively in two tips of telecontrol equipment through universal transmission for remove the in-process at the telecontrol equipment and carry out the clearance action, the telecontrol equipment is used for driving tip cleaning device and moves in the horizontal well, self-adaptation device install in telecontrol equipment's top, and be located the outer part of telecontrol equipment contacts with the horizontal well inner wall, is used for adapting to horizontal well inner wall profile.

On the basis of the technical scheme, the utility model discloses can also do as follows the improvement:

further, the motion device comprises a motion main body, a driving motor, a variable-speed connecting device and a driving wheel, wherein the driving motor and the variable-speed connecting device are both arranged in the motion main body, the input end of the variable-speed connecting device is connected with the output end of the driving motor, the output end of the variable-speed connecting device is connected with the driving wheel, and the driving wheel is located outside the motion main body and rotates along the inner wall of the horizontal well.

Furthermore, the number of the variable speed connecting devices is 2, and the number of the driving wheels connected with each variable speed connecting device is 2.

Further, tip cleaning device includes support frame, clearance motor and actuating mechanism, the support frame passes through universal transmission and is connected with the one end of telecontrol equipment, the clearance motor sets up in the support frame, actuating mechanism sets up in the one side that the telecontrol equipment was kept away from to the support frame, and with the output of clearance motor is connected.

Further, actuating mechanism is including clearance impeller and clearance blade, the one end of clearance impeller is connected with the output of clearance motor, the clearance blade sets up in the other end of clearance impeller.

Furthermore, the number of the cleaning blades is 2-6.

Furthermore, tip cleaning device still includes the cable, cable one end is connected with external control system, and the other end is connected with clearance motor and driving motor respectively, the cable overcoat is equipped with the cable protection pipe.

Further, self-adaptation device includes bolster, swing piece and follower, the bolster sets up in the motion main part, one end with motion main part inner wall connection, the other end with the swing piece is connected, the other end of swing piece is located outside the motion main part, and with the follower is connected, the follower rotates along the horizontal well inner wall.

Further, the buffer piece is a spring, and one end of the spring is arranged in the motion body through a fixed seat.

Furthermore, the number of the motion devices is at least one, and the number of the self-adaptive devices arranged on each motion device is 1-5.

To sum up, the beneficial effects of the utility model are that: the utility model discloses a self-adaptation robot, be applied to the detection in the horizontal well, the motion state of self-adaptation robot is adjusted to the telecontrol equipment, combine tip cleaning device at the both ends of at least one motion main part, clear up in the horizontal well, effectual assurance self-adaptation robot can be at the horizontal well reciprocating motion of complicacy, and connect through adopting universal transmission between the two, can realize the motion of self-adaptation robot in the drilling of bending, construct in the horizontal branch hole and survey, the slip casting effect is administered to the region detects and provides the solution.

Drawings

Fig. 1 is a schematic view of the overall structure of the adaptive robot of the present invention;

fig. 2 is a schematic structural diagram of the exercise device and the adaptive device according to the present invention;

FIG. 3 is a schematic structural view of the cleaning device of the present invention;

fig. 4 is another schematic structural diagram of the cleaning device of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a motion device; 11. a motion body; 12. a drive motor; 13. a variable speed connection; 14. a driving wheel; 2. a universal drive; 3. an end cleaning device; 31. a support frame; 32. cleaning the motor; 33. an actuator; 331. cleaning the impeller; 332. cleaning the blades; 34. a cable protection tube; 4. an adaptive device; 41. a fixed seat; 42. a buffer member; 43. a swinging member 431, a rotation shaft; 44. a driven wheel.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1, the utility model provides a self-adaptation robot suitable for horizontal well, including telecontrol equipment 1, universal transmission 2, tip cleaning device 3 and self-adaptation device 4, two tip cleaning device 3 is installed respectively in two tip of telecontrol equipment 1 through universal transmission 2 for remove the in-process at telecontrol equipment 1 and carry out the clearance action, telecontrol equipment 1 is used for driving tip cleaning device 3 and moves in the horizontal well, self-adaptation device 4 install in telecontrol equipment 1's top, and be located the outer part of telecontrol equipment 1 and the contact of horizontal well inner wall for adaptation horizontal well inner wall profile.

Compared with the prior art, the utility model discloses a self-adaptation robot is applied to the survey in the horizontal well, the motion state of self-adaptation robot is adjusted to telecontrol equipment 1, combine tip cleaning device 3 at least one telecontrol equipment 1's both ends, clear up in the horizontal well, effectual assurance self-adaptation robot can be at the reciprocating motion in the horizontal well of complicacy, and connect through adopting universal transmission 2 between the two, can realize the motion of self-adaptation robot in crooked drilling, for the structure is surveyed in the horizontal branch hole, regional improvement slip casting effect detects and provides the solution.

As shown in fig. 1-2, the movement device 1 includes a movement main body 11, a driving motor 12, a speed change connection device 13 and a driving wheel 14, the driving motor 12 and the speed change connection device 13 are installed in the movement main body 11, an input end of the speed change connection device 13 is connected with an output end of the driving motor 12, an output end of the speed change connection device 13 is connected with the driving wheel 14, and the driving wheel 14 is located outside the movement main body 11 and rotates along the inner wall of the horizontal well. The variable speed connection 13 and the driving motor 12 are fixedly installed in the moving body 11, respectively. The number of the variable speed connecting devices is 2, and the number of the driving wheels connected with each variable speed connecting device is 2. That is, a pair of driving wheels 14 are mounted on both sides of the moving body 11. Optionally, in some embodiments of the present invention, the motion body 11 is a cylinder, and a square frame is additionally installed. For example, the cylinder is a steel cylinder with a diameter of 50-150mm and a length of 300-1200mm, and the square framework is a framework with a size of 100 x 100 mm. The transaxle 13 is a transaxle or a transaxle, and preferably is a transaxle. The driving motor 12 is a planetary reducer.

As shown in fig. 3-4, the end cleaning device 3 includes a supporting frame 31, a cleaning motor 32 and an actuating mechanism 33, the supporting frame 31 is connected to the moving device 1 through the universal transmission device 2, the cleaning motor 32 is disposed in the supporting frame 31, and the actuating mechanism 33 is disposed on a side of the supporting frame 31 away from the moving device 1 and connected to an output end of the cleaning motor 32. The actuating mechanism 33 comprises a cleaning impeller 331 and cleaning blades 332, one end of the cleaning impeller 331 is connected with the output end of the cleaning motor 32, and the cleaning blades 332 are arranged at the other end of the cleaning impeller 331. Alternatively, the cleaning blade 332 is fixed to the outside of the cleaning impeller 331 by a fastener such as welding or a bolt. Specifically, the number of the end cleaning devices 3 is two, and the two end cleaning devices are respectively a front end cleaning device and a rear end cleaning device, are arranged at two ends of the moving device 1, and are used for cleaning a horizontal well when the self-adaptive robot moves in the horizontal direction. When the number of the motion devices 1 is more than 1, a plurality of the motion devices 1 are connected in series, and the end cleaning devices 3 are respectively arranged at the front end and the rear end of the motion devices after being connected in series. Optionally, the number of the cleaning blades 332 is 2 to 6, and when the cleaning motor 32 rotates, the plurality of cleaning blades 332 form a steel elliptical rotating surface at the end of the supporting frame 31. The cleaning blade 332 is a steel plate with the thickness of 5mm, and hard alloy teeth for mines are welded on the edge.

Further, the end cleaning device 3 further comprises a cable, one end of the cable is connected with an external control system, the other end of the cable is respectively connected with the cleaning motor 32 and the driving motor 12, and a cable protection pipe 34 is sleeved outside the cable. The cable protection pipe 34 is a steel pipe with an inner diameter of 20mm, and is fixed on the support frame 31 through a fixing clamp or welding, and the distance between the cable protection pipe 34 and the cleaning blade 332 is 10 mm.

As shown in fig. 1-2, the adaptive device 4 includes a buffer 42, a swinging member 43 and a driven wheel 44, the buffer 42 is disposed in the motion body 11, one end of the buffer is connected to the inner wall of the motion body 11, the other end of the buffer is connected to the swinging member 43, the other end of the swinging member 43 is located outside the motion body 11 and is connected to the driven wheel 44, and the driven wheel 44 rotates along the inner wall of the horizontal well. Specifically, the swinging member 43 is movably connected to the moving body 11 through a rotating shaft 431, and the buffer member 42 is a spring or a rubber member. One end of the buffer member 42 is disposed in the moving body 11 through the fixing seat 41. The driven wheel 44 is connected with one end of the swinging member 42 through a sealing bearing; the swinging member 43 is connected to the rotating shaft 431 through a seal bearing in the middle, and the swinging member 43 can freely rotate around the rotating shaft 431; the damper 42 is welded or fixed to the other end of the swing member 43 and the fixing base 411 by a fastener such as a bolt. The damper 42 can keep the driven wheel 44 in contact with the inner wall of the horizontal well. Alternatively, the oscillating member 43 is a connecting rod, such as a steel cross-bar.

The universal drive 2 is a device for transmitting power between two shafts whose relative positions are constantly changed during operation. The function of the device is to connect the moving device 1 and the cleaning device 3 which are not on the same straight line, and ensure that power can be reliably transmitted under the condition that the included angle and the distance between the moving device and the cleaning device are constantly changed. It is mainly composed of universal joint, drive shaft and intermediate support. When the universal joint forks at the two ends of the transmission shaft are installed, the universal joint forks are in the same plane. In some embodiments of the present invention, the universal transmission 2 is a cross universal coupling.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The self-adaptive robot is characterized by comprising a moving device, universal transmission devices, end cleaning devices and self-adaptive devices, wherein the two end cleaning devices are respectively arranged at two ends of the moving device through the universal transmission devices and used for executing cleaning actions in the moving process of the moving device;

the movement device comprises a movement main body, a driving motor, a variable-speed connecting device and a driving wheel, wherein the driving motor and the variable-speed connecting device are both arranged in the movement main body, the input end of the variable-speed connecting device is connected with the output end of the driving motor, the output end of the variable-speed connecting device is connected with the driving wheel, and the driving wheel is positioned outside the movement main body and rotates along the inner wall of the horizontal well;

self-adaptation device includes bolster, swing piece and follower, the bolster sets up in the motion main part, one end with motion main part inner wall connection, the other end with the swing piece is connected, the other end of swing piece is located outside the motion main part, and with the follower is connected, the follower rotates along the horizontal well inner wall.

2. The adaptive robot suitable for the horizontal well is characterized in that the number of the variable-speed connecting devices is 2, and the number of driving wheels connected with each variable-speed connecting device is 2.

3. The self-adaptive robot suitable for the horizontal well is characterized in that the end cleaning device comprises a support frame, a cleaning motor and an actuating mechanism, the support frame is connected with the end of the moving device through a universal transmission device, the cleaning motor is arranged in the support frame, and the actuating mechanism is arranged on one side, far away from the moving device, of the support frame and is connected with the output end of the cleaning motor.

4. The self-adaptive robot suitable for the horizontal well is characterized in that the execution mechanism comprises a cleaning impeller and a cleaning blade, one end of the cleaning impeller is connected with the output end of a cleaning motor, and the cleaning blade is arranged at the other end of the cleaning impeller.

5. The adaptive robot suitable for the horizontal well is characterized in that the number of the cleaning blades is 2-6.

6. The self-adaptive robot suitable for the horizontal well is characterized in that the cleaning device further comprises a cable, one end of the cable is connected with an external control system, the other end of the cable is respectively connected with the cleaning motor and the driving motor, and a cable protection pipe is sleeved outside the cable.

7. The adaptive robot suitable for the horizontal well is characterized in that the buffer member is a spring, and one end of the spring is arranged in the motion body through a fixed seat.

8. The adaptive robot suitable for the horizontal well according to claim 1, wherein the number of the motion devices is at least one, and the number of the adaptive devices arranged on each motion device is 1-5.