CN217941230U - Shale trachea way robot of crawling - Google Patents
Shale trachea way robot of crawling Download PDFInfo
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- CN217941230U CN217941230U CN202222165255.6U CN202222165255U CN217941230U CN 217941230 U CN217941230 U CN 217941230U CN 202222165255 U CN202222165255 U CN 202222165255U CN 217941230 U CN217941230 U CN 217941230U
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Abstract
The utility model relates to a shale gas development field, in particular to shale trachea way robot of crawling. A shale trachea is crawled robot, including a body, the said body is equipped with the coring apparatus; the two ends of the coring instrument are sequentially connected with a pushing unit, a crawling unit and a righting unit, and the two ends of the coring instrument are symmetrically arranged at the two ends of the body. The utility model discloses to the not enough problem of load capacity of current shale gas pipeline robot of crawling, the utility model discloses optimize the unit structure design of crawling, solve the long pipeline of shale gas and get the core drive problem of the high load capacity of robot of crawling.
Description
Technical Field
The utility model relates to a shale gas development field, in particular to shale trachea way robot of crawling.
Background
As oil and gas industrial equipment, the horizontal well shale gas pipeline crawling robot can be equipped with different logging instruments to enter a long horizontal well section to complete underground environment sampling and detection, and the excellent performance of the robot is widely accepted by the society. In the exploration and exploitation process of shale gas, coring of a rock sample is a key link. The core sample of the underground rock stratum is obtained by engineering personnel through the coring technology, the lithology, physical property and other properties of the underground rock reservoir stratum are tested, effective data of the rock stratum properties of the drilling section can be obtained, the shale gas drilling success rate is improved, high-efficiency development is realized, and the drilling and completion cost is reduced.
The rotary type well wall coring technology is a novel rock sample coring mode, has the advantages of convenience in underground operation, high efficiency, low cost and the like, and provides a novel rock sample coring mode for low-cost and efficient exploration and exploitation of shale gas reservoirs. The shale gas long-pipeline drilling type borehole wall coring robot integrates all functions of an underground shale gas pipeline crawling robot and a drilling type borehole wall coring instrument, has the capabilities of underground autonomous crawling, intelligent positioning, large-diameter coring, airtight core storage and the like, and solves the problem of difficulty in coring of shale gas long-pipeline rock samples.
After the shale trachea is crawled the robot and is driven coring equipment and get into the horizontal well, the coring robot need stop and keep the stationary state to the appearance ware of coring can accomplish the process of coring smoothly, and this just needs to carry out the axial locking to the coring robot through a mechanism that can lock, keeps current position fixed, is favorable to going on smoothly of coring action.
Disclosure of Invention
The utility model aims at providing a shale gas pipeline robot of crawling to above-mentioned problem.
The technical scheme of the utility model lies in:
a shale trachea way crawling robot comprises a body, wherein a coring instrument is arranged in the body; two ends of the coring instrument are sequentially connected with a pushing unit, a crawling unit and a righting unit and symmetrically arranged at two ends of the coring instrument in the body;
the crawling unit comprises a rack, and a crawling motor, a planetary reducer, a coupler and a bevel gear pair which are sequentially connected are arranged in the rack; the planetary crawling wheel is connected to the bevel gear pair through a crawling arm at one end and connected to the rack through a supporting arm at the other end;
the righting unit comprises a righting hydraulic cylinder, an adjusting arm and a compression spring which are connected in sequence; the compression spring is provided with a movable end and a fixed end; the fixed end is preset on the inner wall of the body, and the movable end is connected with the adjusting arm;
the adjusting arm comprises a righting wheel, one end of the righting wheel is provided with a first righting arm, the other end of the righting wheel is provided with a second righting arm, the righting wheel is connected to the righting hydraulic cylinder through the first righting arm, and the righting wheel is connected to the movable end of the compression spring through the second righting arm; the first centralizing arm and the second centralizing arm are radially arranged and form an included angle with the axial direction of the shale gas pipeline crawling robot; the number of the adjusting arms is not less than 2;
the pushing unit comprises a pushing hydraulic cylinder and a locking wheel which are sequentially connected; one end of the locking wheel is movably connected to an output shaft of the pushing hydraulic cylinder through a pushing arm, and the other end of the locking wheel is fixedly connected to the inner wall of the body through the pushing arm.
The crawling arm is of a hollow structure, and a chain is arranged in the crawling arm; one end of the planet crawling wheel is connected to the bevel gear pair through a chain.
The righting hydraulic cylinder is provided with a piston end, the piston end is connected with a push plate, and the first righting arm is connected to the push plate.
The push plate is a circular plate, a hinge hole is formed in the outer circumference of the circular plate, and the first righting arm is connected to the hinge hole.
The pushing unit is connected with the crawling unit through a steering knuckle.
The number of the first righting arm, the number of the second righting arm and the number of the righting wheels are the same and are all more than or equal to 2.
The technical effects of the utility model reside in that:
(1) Aiming at the problem of insufficient load capacity of the existing shale gas pipeline crawling robot, the utility model optimizes the structural design of the crawling unit and solves the driving problem of high load capacity of the shale gas long pipeline coring crawling robot;
(2) The utility model relates to a pushing unit with self-locking function, which can fix the shale gas pipeline crawling robot on one side of the well wall to complete the coring action;
(3) The utility model discloses a knuckle increases the curved ability of crossing of robot of crawling.
Drawings
Fig. 1 is the utility model discloses shale trachea way robot of crawling's structure schematic diagram.
Fig. 2 is a schematic structural view of the centering unit of the present invention.
Fig. 3 is a schematic structural diagram of the crawling unit of the present invention.
Fig. 4 is a schematic structural diagram of the pushing unit of the present invention.
1, a righting unit; 2. a crawling unit; 3. a knuckle; 4. a pushing unit; 5. a coring apparatus; 2.1, a crawling motor; 2.2, a planetary reducer; 2.3, a coupler; 2.4, a chain; 2.5, a bevel gear pair; 2.6, a crawling arm; 2.7, planetary crawling wheels; 2.8, a support arm; 2.9, a frame; 1.1, righting a hydraulic cylinder; 1.2, a first righting arm; 1.3, a centralizing wheel; 1.4, compressing the spring; 1.5, a second righting arm; 1.6, a push plate; 1.7, a piston end; 4.1, pushing against the hydraulic cylinder; 4.2, pushing the arm; 4.3, locking wheel.
Detailed Description
Example 1
A shale trachea way crawling robot comprises a body, wherein a coring instrument 5 is arranged in the body; two ends of the coring instrument 5 are sequentially connected with a pushing unit 4, a crawling unit 2 and a righting unit 1, and are symmetrically arranged at two ends of the coring instrument 5 in the body;
the crawling unit 2 comprises a rack 2.9, and the rack 2.9 comprises a crawling motor 2.1, a planetary reducer 2.2, a coupler 2.3 and a bevel gear pair 2.5 which are sequentially connected; the crawler type crawler belt is characterized by further comprising a planetary crawling wheel 2.7, wherein one end of the planetary crawling wheel 2.7 is connected to the bevel gear pair 2.5 through a crawling arm 2.6, and the other end of the planetary crawling wheel is connected to the rack 2.9 through a supporting arm 2.8;
the crawling arm 2.6 is used as a main structure of the shale gas pipeline crawling robot, and on one hand, the crawling arm can be used as a transmission mechanism to transmit the power of the bevel gear pair 2.5 to the planetary crawling wheel 2.7; on the other hand, the crawling arm 2.6 is used as an extending part, a planet crawling wheel 2.7 is assembled, and the crawling wheel is matched with the supporting arm 2.8, so that the compaction work of the crawling wheel is completed. The supporting arm 2.8 is used as a supporting and adjusting mechanism of the shale gas pipeline crawling robot, and can finely adjust the motion state to achieve the pre-pressure required by the shale gas pipeline crawling robot. The utility model discloses select planetary gear as main power transmission scheme, the characteristics that the bevel gear pair 2.5 of arranging again can change the transmission direction accomplish the design work of whole transmission scheme.
The righting unit 1 comprises a righting hydraulic cylinder 1.1, an adjusting arm and a compression spring 1.4 which are connected in sequence; the compression spring 1.4 is provided with a movable end and a fixed end; the fixed end is preset on the inner wall of the body, and the movable end is connected with the adjusting arm; the adjusting arm comprises a righting wheel 1.3, one end of the righting wheel 1.3 is provided with a first righting arm 1.2, the other end of the righting wheel is provided with a second righting arm 1.5, the righting wheel 1.3 is connected to a righting hydraulic cylinder 1.1 through the first righting arm 1.2, and is connected to the movable end of a compression spring 1.4 through the second righting arm 1.5; the first centralizing arm 1.2 and the second centralizing arm 1.5 are radially arranged and form an included angle with the axial direction of the shale gas pipeline crawling robot; the number of the adjusting arms is not less than 2;
the utility model discloses shale trachea way robot of crawling need drive coring instrument 5 and get into and accomplish down-hole and get core work, and shale trachea way robot of crawling must near wall of a well one side when getting core, so right unit 1 and need have power control, goes into vertical well and camber well state normal use under, controls right unit 1 and withdraws when getting core work, makes to lean on arm 4.2 and can push away to hug closely in wall of a well one side and accomplish to get core action by the robot. Therefore, one end of the centralizing unit 1 is connected by a compression spring 1.4, the other end of the centralizing unit is controlled by a centralizing hydraulic cylinder 1.1, the centralizing unit 1 is ejected when needed, and the centralizing unit 1 is controlled to be retracted when not needed, so that other actions are completed;
righting unit 1 and need overcoming the shale gas pipeline and crawling the total sum that robot gross weight and core quality added of getting, righting unit 1 sets up two sets ofly, arranges respectively in coring instrument 5 both sides, selects to right pneumatic cylinder 1.1 and provides power for righting the arm, can provide more stable righting power. The centralizing hydraulic cylinder 1.1 only has the function that when the shale gas pipeline crawling robot reaches a working position, the centralizing unit 1 needs to be retracted so that the coring instrument 5 can normally work, so that the centralizing hydraulic cylinder 1.1 only needs hydraulic thrust to be balanced with the elastic force of the compression spring 1.4, and hydraulic tension only needs to be capable of completing the retraction work of the first centralizing arm 1.2 and the second centralizing arm 1.5;
righting unit 1 is shale trachea and crawls robot and can keep the axis position when the downhole work, rationally avoids the effective mechanism of underground obstacle, when through vertical well and camber well, sets up righting unit 1 for shale trachea is crawled robot and can effectively avoid shale trachea to crawl robot and receive the influence of external factor, avoids shale trachea to crawl robot and blocks and buckle the phenomenon appear.
The pushing unit 4 comprises a pushing hydraulic cylinder 4.1 and a locking wheel 4.3 which are connected in sequence; one end of the locking wheel 4.3 is movably connected to an output shaft of the pushing hydraulic cylinder 4.1 through a pushing arm 4.2, and the other end of the locking wheel is fixedly connected to the inner wall of the body through the pushing arm 4.2. The driving force is provided by a pushing hydraulic cylinder 4.1, a pushing unit 4 is established by utilizing the principle of a crank-slider mechanism, and a pushing arm 4.2 is pushed out under the motion of axial pushing force to be pressed against the well wall. In order to ensure that the mechanism can stabilize the machine vibration caused by coring bit pressure, the pushing unit 4 cannot use spring shock absorption.
The utility model discloses a theory of operation does:
the utility model provides a righting force through the righting unit 1 to ensure the motion posture of the shale gas pipeline crawling robot; the crawling unit 2 is driven to integrally advance by the driving force provided by the planetary crawling wheels 2.7, and the planetary crawling wheels 2.7 are symmetrically arranged, so that obstacles can be effectively avoided; before the coring instrument 5 works, the pushing unit 4 is responsible for pushing the shale gas pipeline crawling robot to one side of a well wall for fixing; the shale gas pipeline crawling robot is stored in the body in a state that the pushing unit 4 is contracted in the crawling process.
Example 2
On the basis of embodiment 12, the method further comprises the following steps:
the crawling arm 2.6 is of a hollow structure, and a chain 2.4 is arranged in the crawling arm; one end of the planet crawling wheel 2.7 is connected to the bevel gear pair 2.5 through a chain 2.4.
Example 3
On the basis of embodiment 2, the method further comprises the following steps:
the righting hydraulic cylinder 1.1 is provided with a piston end 1.7, the piston end 1.7 is connected with a push plate 1.6, and the first righting arm 1.2 is connected to the push plate 1.6. The push plate 1.6 is a circular plate, a hinge hole is formed in the outer circumference of the circular plate, and the first centering arm 1.2 is connected to the hinge hole.
Example 4
On the basis of embodiment 3, the method further comprises the following steps:
the pushing unit 4 is connected with the crawling unit 2 through a steering knuckle 3. The number of the first righting arms 1.2, the number of the second righting arms 1.5 and the number of the righting wheels 1.3 are the same and are all more than or equal to 2. The knuckle 3 can increase the over-bending capacity and effectively prevent the blockage phenomenon of the shale gas pipeline crawling robot.
Claims (6)
1. A shale trachea way crawling robot comprises a body, wherein a coring instrument (5) is arranged in the body; the method is characterized in that: both ends of the coring instrument (5) are sequentially connected with a pushing unit (4), a crawling unit (2) and a righting unit (1) which are symmetrically arranged at both ends of the coring instrument (5) in the body;
the crawling unit (2) comprises a rack (2.9), and a crawling motor (2.1), a planetary reducer (2.2), a coupler (2.3) and a bevel gear pair (2.5) which are sequentially connected are arranged in the rack (2.9); the crawler type crawler belt is characterized by further comprising a planetary crawling wheel (2.7), wherein one end of the planetary crawling wheel (2.7) is connected to the bevel gear pair (2.5) through a crawling arm (2.6), and the other end of the planetary crawling wheel is connected to the rack (2.9) through a supporting arm (2.8);
the centralizing unit (1) comprises a centralizing hydraulic cylinder (1.1), an adjusting arm and a compression spring (1.4) which are sequentially connected; the compression spring (1.4) is provided with a movable end and a fixed end; the fixed end is preset on the inner wall of the body, and the movable end is connected with the adjusting arm;
the adjusting arm comprises a righting wheel (1.3), one end of the righting wheel (1.3) is provided with a first righting arm (1.2), the other end of the righting wheel is provided with a second righting arm (1.5), the righting wheel (1.3) is connected to a righting hydraulic cylinder (1.1) through the first righting arm (1.2), and is connected to the movable end of a compression spring (1.4) through the second righting arm (1.5); the first centralizing arm (1.2) and the second centralizing arm (1.5) are radially arranged and form an included angle with the axial direction of the shale gas pipeline crawling robot; the number of the adjusting arms is not less than 2;
the pushing unit (4) comprises a pushing hydraulic cylinder (4.1) and a locking wheel (4.3) which are sequentially connected; one end of the locking wheel (4.3) is movably connected to an output shaft of the pushing hydraulic cylinder (4.1) through a pushing arm (4.2), and the other end of the locking wheel is fixedly connected to the inner wall of the body through the pushing arm (4.2).
2. The shale gas pipeline crawling robot of claim 1, wherein: the crawling arm (2.6) is of a hollow structure, and a chain (2.4) is arranged in the crawling arm; one end of the planet crawling wheel (2.7) is connected to the bevel gear pair (2.5) through a chain (2.4).
3. The shale gas pipeline crawling robot of claim 2, wherein: the righting hydraulic cylinder (1.1) is provided with a piston end (1.7), the piston end (1.7) is connected with a push plate (1.6), and the first righting arm (1.2) is connected to the push plate (1.6).
4. The shale gas pipeline crawling robot of claim 3, wherein: the push plate (1.6) is a circular plate, a hinge hole is formed in the outer circumference of the circular plate, and the first righting arm (1.2) is connected to the hinge hole.
5. The shale gas pipeline crawling robot of claim 4, wherein: the pushing unit (4) is connected with the crawling unit (2) through a steering knuckle (3).
6. The shale gas pipeline crawling robot of claim 5, wherein: the number of the first righting arms (1.2), the number of the second righting arms (1.5) and the number of the righting wheels (1.3) are the same and are all more than or equal to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222165255.6U CN217941230U (en) | 2022-08-17 | 2022-08-17 | Shale trachea way robot of crawling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222165255.6U CN217941230U (en) | 2022-08-17 | 2022-08-17 | Shale trachea way robot of crawling |
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| Publication Number | Publication Date |
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| CN217941230U true CN217941230U (en) | 2022-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222165255.6U Active CN217941230U (en) | 2022-08-17 | 2022-08-17 | Shale trachea way robot of crawling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117967909A (en) * | 2024-03-29 | 2024-05-03 | 陕西海格瑞恩实业有限公司 | Crawling device |
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2022
- 2022-08-17 CN CN202222165255.6U patent/CN217941230U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117967909A (en) * | 2024-03-29 | 2024-05-03 | 陕西海格瑞恩实业有限公司 | Crawling device |
| CN117967909B (en) * | 2024-03-29 | 2024-06-07 | 陕西海格瑞恩实业有限公司 | Crawling device |
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