WO2021027128A1

WO2021027128A1 - Shaft inspection system and steel wire rope moving device thereof

Info

Publication number: WO2021027128A1
Application number: PCT/CN2019/117094
Authority: WO
Inventors: 周公博; 唐超权; 朱真才; 张岗; 何贞志; 汤洪伟; 李伟; 江帆
Original assignee: 中国矿业大学
Priority date: 2019-08-09
Filing date: 2019-11-11
Publication date: 2021-02-18
Also published as: CN110577125A; CN110577125B

Abstract

A shaft inspection system and a steel wire rope moving device thereof. The moving device comprises steel wire rope moving tracks (2) and moving mechanisms. Each moving mechanism comprises a housing (5), a driving motor, and several moving rollers (10); the housing (5) is provided with a steel wire rope locking mechanism (22). The moving rollers (10) comprise a driving roller and driven rollers. Each moving roller (10) is located and supported by one roller shaft. The base of the driving motor (8) is fixedly mounted on the housing (5), and the power output end of the driving motor (8) is connected, by means of a speed reducer (9), to the roller shaft supporting the driving roller. The driving roller can drive all the driven rollers to move along the steel wire rope moving tracks (2) under the drive of the driving motor (8). According to the moving device, a steel wire rope can move in the circumferential direction of a shaft wall while a shaft inspection robot conducts inspection on a shaft in a longitudinal direction along the steel wire rope.

Description

Shaft inspection system and steel wire rope moving device

Technical field

The invention relates to the field of mechanical engineering, in particular to a wellbore inspection system and a wire rope moving device thereof.

Background technique

In mining production, the shaft is the main import and export of the mine to the ground. It is the throat project for lifting coal (or gangue), lifting personnel, transporting materials and equipment, ventilation and drainage during mine production. During the long working process of the wellbore, due to many strata, complex geological conditions, harsh operating environment and other factors, the wellbore has longitudinal, circumferential and radial strains. These strains are extremely difficult to find in a short time. If you cannot understand the wellbore and The evolution status of its key facilities is likely to cause shaft skew due to long-term accumulation, deformation of the guiding device of the lifting system, high-speed operation jam of the lifting vessel, and even water inrush and water inrush caused by the gradual accumulation to sudden change. Major accidents such as rope falling. Although the "Coal Mine Safety Regulations" stipulates the inspection frequency and requirements for coal mine shaft facilities, the current shaft inspection work is mainly completed by manpower, with high efficiency and low cost, high misjudgment rate, and subtle changes that cannot be discovered in time, and it is difficult The formation of the continuity and systematicness of the overall inspection of the mine shaft, often due to the failure of the in-depth environmental inspection and repair in time, the damage and irreparable damage to the industrial infrastructure working in it are caused.

The application number CN201910207682.6 proposes a robot that climbs along the twisting direction of the wire rope guide. The robot can quickly climb along the surface of the complex wire rope, which solves the problem of unstable movement and low life of the climbing robot along the wire rope. Using robot technology and wireless sensor network technology to establish a patrol inspection system composed of inspection robots to monitor the mine shaft in real time, but the mine shaft often has a large radius and there are related industrial equipment in the shaft. A fixed wire rope cannot be used to inspect the entire wellbore.

Summary of the invention

The technical problem to be solved by the present invention is to address the shortcomings of the prior art, and provide a wire rope moving device, which enables the wellbore inspection robot to patrol the longitudinal direction of the wellbore along the wire rope while moving the wire rope along the circumference of the wellbore wall. Thus, the circumferential inspection of the wellbore can be used to obtain better monitoring results. The invention can solve the problem that the mine monitoring network composed of inspection robots cannot cover the entire shaft interior.

In order to solve the above technical problems, the technical solution adopted by the present invention is:

A wire rope moving device of a wellbore inspection system includes a wire rope moving track arranged in the wellbore and a moving mechanism capable of carrying the wire rope to move along the wire rope moving track; wherein: the moving mechanism includes a housing, a driving motor, and several The movable roller; the housing is provided with a wire rope locking mechanism; the movable roller includes a driving roller and more than one driven roller; each movable roller is positioned and supported by a roller shaft, and each roller shaft passes through a bearing Installed in the housing; the base of the drive motor is fixedly installed on the housing, and the power output end of the drive motor is connected to the roller shaft supporting the active roller through a reducer; the active roller can drive each slave under the power of the drive motor The movable roller moves along the wire rope moving track.

Further, the moving mechanism is equipped with a guiding mechanism; the guiding mechanism includes a horizontal guiding mechanism and a longitudinal guiding mechanism; the horizontal guiding mechanism includes a horizontal guiding bracket and a horizontal guiding roller; one end of the horizontal guiding bracket is connected with the housing, and the other end is connected with the horizontal guiding roller Connection, the axial direction of the horizontal guide roller is parallel to the rolling surface where the moving roller is located; the longitudinal guide mechanism includes a longitudinal guide bracket and a longitudinal guide roller; one end of the longitudinal guide bracket is connected to the housing, and the other end is connected to the longitudinal guide roller. The axial direction is perpendicular to the rolling surface on which the moving roller is located; driven by the power of the drive motor, the active roller can coordinate with the positioning and guidance of the horizontal guide mechanism and the longitudinal guide mechanism to drive the driven rollers to always move along the wire rope moving track.

Further, the wire rope moving track includes a rolling surface, a lateral guide surface and a longitudinal guide surface; one side of the rolling surface is provided with a longitudinal guide surface perpendicular to the rolling surface, and the other side is provided with an L-shaped penetrating through at the turning position Groove, the L-shaped groove includes a vertical groove and a horizontal groove. The groove body of the vertical groove extends perpendicular to the rolling surface, and the groove of the vertical groove is flush with the rolling surface, and the groove body of the horizontal groove extends in the same direction as the rolling surface. The rolling surfaces are parallel, and the transverse groove has a transverse guide surface parallel to the rolling surface; each movable roller is placed directly above the rolling surface; the transverse guide bracket is placed in the vertical groove, and the transverse guide roller is placed in the transverse groove, and One end of the horizontal guide bracket is connected to the housing after passing through the vertical slot, the other end of the horizontal guide bracket is connected with the horizontal guide roller that blocks the horizontal guide surface, and the horizontal guide roller is connected with the horizontal guide surface line; the longitudinal guide roller is connected with the longitudinal guide Upper thread connection; driven by the power of the drive motor, the active roller can drive the horizontal guide roller to roll along the horizontal guide surface, the longitudinal guide roller to roll along the longitudinal guide surface, and the driven rollers to roll along the rolling surface.

Further, the housing is arranged in a ring sector shape; each roller shaft is arranged along the radial direction of the ring sector housing.

Further, the two radial cross-sectional ends of the ring sector housing are provided with a fixed bracket; each fixed bracket is provided with a longitudinal guide mechanism and a transverse guide mechanism; the longitudinal guide mechanism is arranged on the fixed bracket and the ring sector housing The inner circular surface of the adjacent end; and the transverse guide mechanism is set at the end adjacent to the outer circular surface of the fixed bracket and the ring sector shell; the two longitudinal guide mechanisms at the two radial cross-section ends of the ring sector shell are symmetrically arranged, and at the same time , The two transverse guide mechanisms separately arranged at the two radial section ends of the ring sector shell are symmetrically arranged; the axis of the longitudinal guide roller is perpendicular to the ring sector of the ring sector housing; the axis of the transverse guide roller is parallel to the ring sector of the ring sector housing; longitudinal The positions of the guide bracket and the horizontal guide bracket on the fixed bracket can be adjusted along the radial direction of the ring sector shell.

Further, the fixing bracket includes more than one cross-bar, each of the cross-bars is equidistantly distributed along the height direction of the radial section end of the ring sector housing; the radial section end of the ring sector housing is provided with a fixing block; each The cross bar is supported and fixed by a fixed block and is arranged along the radial direction of the ring sector shell, and both ends of the cross bar are threadedly connected with lock nuts; the longitudinal guide bracket is provided with a mounting hole a for each cross bar; The longitudinal guide bracket is sleeved on the corresponding cross bar through each installation hole a, and a spring a is sleeved on the periphery of each cross bar between the longitudinal guide bracket and the fixed block; the horizontal guide bracket is for each cross bar. A mounting hole b is provided; the horizontal guide bracket is sleeved on the corresponding cross bar through the mounting hole b, and a spring b is sleeved on the periphery of each cross bar between the horizontal guide bracket and the fixed block.

Further, the steel wire rope moving track has two moving tracks, an upper moving track and a lower moving track, which are correspondingly embedded in the inner wall of the shaft, and the upper moving track is located above the lower moving track; the upper moving track is equipped with an upper moving mechanism The lower moving track is equipped with a lower moving mechanism group; both the upper moving mechanism group and the lower moving mechanism group include at least one moving mechanism; the shells of each moving mechanism in the upper moving mechanism group pass through the lateral direction of the respective lateral guide mechanism. The guide rollers are embedded in the upper moving track and are located above the rolling surface of the upper moving track; and the moving rollers of each moving mechanism in the upper moving mechanism group are connected with the rolling surface of the upper moving track; each moving in the lower moving mechanism group The shells of the mechanism are all embedded in the lower moving rail through the lateral guide rollers of the respective lateral guiding mechanisms, and are hung below the rolling surface of the lower moving rail; and the moving rollers of each moving mechanism in the lower moving mechanism group are rolling with the lower moving rail. Upper thread connection.

Further, the steel wire rope moving track is an annular track; the annular track is formed by splicing several arc tracks.

Further, the wire rope locking mechanism is a wire rope clamp.

The invention also discloses a wellbore inspection system, which includes the above-mentioned wire rope moving device.

According to the above technical solution, compared with the prior art, the present invention has the following advantages:

(1) The moving device moves along a plane perpendicular to the pulling force of the wire rope, and the required driving force is smaller.

(2) The driving mechanism of the mobile device adopts a roller mechanism, which makes the movement smooth and continuous. High working efficiency and easy to control.

(3) The outer surface of the roller of the mobile device is wrapped with buffer material, which can effectively reduce the impact of the mobile device on the guide rail and reduce the impact of the vibration of the mobile device on the track. At the same time, the buffer material on the outer surface of the mobile device roller can also increase the roller and The friction between the tracks improves the mobility of the mobile device.

(4) The moving device is composed of two rollers. According to the load of the wire rope after tension, the moving device can increase the number of rollers to provide better power. The axial direction of the rollers is the same as the radial direction of the track, so that the rollers can move along Follow the track in a circular motion.

(5) The control circuit of the mobile device is designed in accordance with the electrical equipment used in the intrinsically safe explosive gas environment, which can meet the requirements of coal mine explosion-proof. It can not only realize the inspection of the mine shaft environment, but also can be applied to other deep environment working occasions to realize the surrounding The environment is inspected in real time.

(6) The guiding mechanism is symmetrically arranged, which can not only prevent the mobile device from deflecting, but also prevent the mobile device from falling; the spring damping system of the guiding device has the function of buffering and preventing the mobile device from jamming.

(7) The rollers and guiding mechanism of the robot can be replaced as required, and it is convenient to disassemble and assemble, which increases the scope of application of the robot to the diameter of the wire rope and the monitoring range of the environment, and has universality and multi-function.

Description of the drawings

Figure 1 is a schematic diagram of the layout of the wire rope moving track in the shaft;

Figure 2a is a plan view of the wire rope moving device arranged in the shaft;

Figure 2b is a rotated cross-sectional view in the direction of A-O-A in Figure 2a;

Fig. 2c is an enlarged schematic diagram of part I in Fig. 2b;

Figure 3 is a top view of the moving mechanism;

Figure 4 is a left view of the moving mechanism;

Figure 5 is an axonometric view of the moving mechanism;

Figure 6a is a schematic diagram of the structure of the lateral guide mechanism;

Figure 6b is a cross-sectional view in the direction of B-B in Figure 6a;

Figure 7 is the control principle diagram of the electronic control device.

In the figure, 1. shaft wall; 2. wire rope moving track; 2-1, upper moving track; 2-2, lower moving track; 2-3, the rolling surface of the moving mechanism; 2-4, the longitudinal guiding surface of the moving mechanism 2-5. Transverse guide surface of the moving mechanism; 3. Wire rope moving device; 4. Wire rope; 5. Shell; 5-1. Radial section end of the shell; 5-2. Ring sector surface of the shell; 6. Spring 7. Bearing end cover; 8. Motor; 9. Reducer; 10. Roller; 11. Guide roller limit nut; 12. Longitudinal guide mechanism; 12-1. Longitudinal guide roller; 13. Horizontal guide mechanism; 14. Connecting bolts; 15, reducer end cover; 16, steel wire rope tensioning mechanism; 17, transverse guide bracket; 18, transverse guide roller; 19, bearing; 20, limit nut for transverse guide roller; 21, sleeve; 22, Wire rope locking mechanism.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention. Unless specifically stated otherwise, the relative arrangement, expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn in accordance with actual proportional relationships. The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.

For ease of description, spatially relative terms such as "above", "above", "above", "above", etc. can be used here to describe as shown in the figure. Shows the spatial positional relationship between one device or feature and other devices or features. It should be understood that the spatially relative terms are intended to encompass different orientations in use or operation other than the orientation of the device described in the figure. For example, if the device in the figure is inverted, then the device described as "above the other device or structure" or "above the other device or structure" will then be positioned as "below the other device or structure" or "on Under other devices or structures". Thus, the exemplary term "above" can include both orientations "above" and "below". The device can also be positioned in other different ways (rotated by 90 degrees or in other orientations).

As shown in Figures 1 to 7, the wire rope moving device of the wellbore inspection system of the present invention can drive the robot proposed by Chinese patent CN201910207682.6 to climb along the wire rope guide rail to move along the circumference of the wellbore wall. , So as to carry out the circumferential inspection of the wellbore to get a better monitoring effect.

Specifically, the wire rope moving device includes a wire rope moving track set in the wellbore and a moving mechanism that can carry the wire rope to move along the wire rope moving track; the center of the wellbore is a cage, a counterweight or other working equipment, so it is effective To avoid interfering with the normal operation of the working equipment inside the wellbore, the wire rope moving track is arranged inside the wellbore close to the wellbore wall 1. It can be seen that the arrangement close to the wellbore wall 1 can effectively avoid interference with the normal operation of the working equipment inside the wellbore. among them:

The moving mechanism includes a housing, a driving motor, and several moving rollers; the size and number of the moving rollers can be determined by the specific load, and the outer edge of the moving rollers can be wrapped with polyurethane or other cushioning materials to reduce the vibration of the moving mechanism Impact on the wire rope moving track. In the drawing, there are two moving rollers.

The casing is provided with a wire rope locking mechanism to lock the wire rope for the robot to climb through the wire rope locking mechanism; the wire rope locking mechanism can be a commercially available wire rope clamp, of course, other mechanisms can also be used for locking Tight limit. The number of wire rope clamps can be one or more than two. When there is only one wire rope moving track, there are at least two wire rope grippers, so that the wire rope that can carry the robot to climb is moved along the shaft.

The movable roller includes a driving roller and more than one driven roller; each movable roller is positioned and supported by a roller shaft, and each roller shaft is installed in the housing through a bearing; the base of the driving motor is fixedly installed in the housing The power output end of the driving motor is connected to the roller shaft supporting the driving roller through the reducer; the driving roller can drive the driven rollers to move along the wire rope moving track under the power of the driving motor.

Specifically, the driven roller is connected to the housing by a roller shaft and a cylindrical roller bearing, and the two ends are axially limited by the bearing end cover; the driving roller is connected with the housing by the roller shaft and the cylindrical roller bearing, and one end depends on the bearing end The cover is axially limited, and the other end is connected with the reducer, and the power of the drive motor is transmitted to the driving roller through the reducer.

In order to ensure that the moving mechanism can move along the wire rope moving track according to a preset trajectory (wellbore wall circumferential direction), the moving mechanism of the present invention is equipped with a guiding mechanism; the guiding mechanism includes a horizontal guiding mechanism and a longitudinal guiding mechanism; wherein, the longitudinal guiding mechanism Used to realize the longitudinal (axis direction of the wellbore) positioning between the moving mechanism and the wire rope moving track, which can prevent the moving mechanism from sideways; the lateral guide mechanism is used to realize the lateral (with the shaft axis of the moving mechanism) and the wire rope moving track. To the perpendicular direction) positioning.

The transverse guide mechanism includes a transverse guide bracket and a transverse guide roller; one end of the transverse guide bracket is connected with the housing, and the other end is connected with the transverse guide roller. The axial direction of the transverse guide roller is parallel to the rolling surface where the moving roller is located. Specifically, as shown in Figure 6a and Figure 6b, the lateral guide bracket is an L-shaped rod arranged in an L shape, including a vertical section (a section where the L-shaped rod is parallel to the shaft axis of the wellbore) and a horizontal straight section (the L-shaped rod A section parallel to the horizontal direction of the shaft), the vertical section is connected with the shell, the horizontal and straight section is provided with a shaft shoulder, the horizontal and straight section outside the shaft shoulder is equipped with a horizontal guide roller, and the horizontal guide roller is installed between the horizontal and straight section For the bearing, the horizontal straight section outside the horizontal guide roller is threaded with a limit nut. It can be seen that one side of the horizontal guide roller is positioned by the shoulder, and the other side is positioned by the limit nut. The longitudinal guide mechanism includes a longitudinal guide support and a longitudinal guide roller; one end of the longitudinal guide support is connected with the housing, and the other end is connected with the longitudinal guide roller, the axial direction of the longitudinal guide roller is perpendicular to the rolling surface where the moving roller is located; the active roller is at the drive motor Under power drive, coordinated with the positioning and guidance of the horizontal guide mechanism and the longitudinal guide mechanism, it can drive each driven roller to always move along the wire rope moving track.

In order to facilitate the installation of the moving rollers of the moving mechanism and the guiding rollers of the guiding mechanism (including the transverse guide rollers and the longitudinal guide rollers), the wire rope moving track of the present invention includes a rolling surface, a horizontal guiding surface and a longitudinal guiding surface; One side is provided with a longitudinal guide surface perpendicular to the rolling surface, and the other side is provided with an L-shaped groove penetrating at the turning position. The L-shaped groove includes a vertical groove and a horizontal groove. The groove body of the vertical groove extends The direction is perpendicular to the rolling surface, and the notch of the vertical groove is flush with the rolling surface, the extending direction of the groove body of the transverse groove is parallel to the rolling surface, and the transverse groove has a horizontal guiding surface parallel to the rolling surface; each movable roller is directly placed Above the rolling surface; the horizontal guide bracket is placed in the vertical groove, and the horizontal guide roller is placed in the horizontal groove, and one end of the horizontal guide bracket passes through the vertical groove to connect with the shell, and the other end of the horizontal guide bracket is connected with The horizontal guide roller that hooks the horizontal guide surface is connected, the horizontal guide roller is connected with the horizontal guide surface line; the longitudinal guide roller is connected with the vertical guide surface line; the active roller is driven by the power of the drive motor, which can drive the horizontal guide roller to guide along the horizontal direction Surface rolling, driving the longitudinal guide roller to roll along the longitudinal guide surface, and driving each driven roller to roll along the rolling surface. The structural form of the steel wire rope moving track of the present invention can provide guide working surfaces (lateral guide surface, longitudinal guide surface) for each guide roller and mobile working surface (rolling surface) for each movable roller. On the other hand, it can also provide installation space for the lateral guide mechanism, and through a specific installation method, the main part of the mobile mechanism (the housing and the moving rollers, drive motors, and roller shafts respectively installed on the housing) are embedded through the lateral guide mechanism. Installed in the wire rope moving track. It can be seen that the lateral guiding mechanism of the present invention not only has a lateral guiding function, but also serves as a connection bridge between the main part of the moving mechanism and the wire rope moving track.

In order to make the wire rope moving device move in the circumferential direction of the shaft wall, the present invention sets the housing in a ring sector shape. The ring sector housing, referring to FIG. 5, is subject to the direction of the figure and passes through the upper ring fan plate and the left side plate. , The right side plate, the front side arc plate, and the rear side arc plate are enclosed to form a semi-closed shell with a lower ring fan-shaped end face and open. Among them: the left side plate and the right side plate are respectively arranged at the left and right radial cross-section ends of the ring sector housing; the front arc plate is located on the outer circular surface of the ring sector housing, and the rear arc plate is located on the ring sector housing The inner circle surface. At this time, the driving motor is directly installed on the upper surface of the upper ring sector plate, and each roller shaft is arranged along the radial direction of the ring sector housing; and each movable roller can be set to expose the lower ring sector open end surface of the ring sector housing, so that Each moving roller can directly contact the rolling surface of the wire rope moving track.

When selecting different drive motors according to different loads, you can add motor bases, couplings and other facilities for fixing according to actual needs.

In order to realize the connection between the guiding mechanism and the housing, while ensuring the stability of the guiding, the two radial section ends of the ring sector housing of the present invention are provided with a fixed bracket; each fixed bracket is provided with a longitudinal guide mechanism and a transverse guide. Guide mechanism; the longitudinal guide mechanism is arranged at the end of the fixed bracket adjacent to the inner circular surface of the ring sector shell; and the transverse guide mechanism is arranged at the end of the fixed bracket adjacent to the outer circular surface of the ring sector shell; divided into the ring sector shell The two longitudinal guide mechanisms at the two radial section ends of the two radial section ends are arranged symmetrically. At the same time, the two transverse guide mechanisms at the two radial section ends of the ring sector housing are arranged symmetrically; the axis of the longitudinal guide roller is perpendicular to the ring sector of the ring sector housing; The axis of the roller is parallel to the ring sector surface of the ring sector shell; the positions of the longitudinal guide bracket and the transverse guide bracket on the fixed bracket can be adjusted along the radial direction of the ring sector shell.

Specifically, the fixing bracket includes more than one cross-bar, each of the cross-bars is equidistantly distributed along the height direction of the radial section end of the ring sector housing; the radial section end of the ring sector housing is provided with a fixing block; each The cross bar is supported and fixed by a fixed block and is arranged along the radial direction of the ring sector shell, and both ends of the cross bar are threadedly connected with lock nuts; the longitudinal guide bracket is provided with a mounting hole a for each cross bar; The longitudinal guide bracket is sleeved on the corresponding cross bar through each mounting hole a, and each cross bar between the longitudinal guide bracket and the fixed block is sleeved with a spring a. The spring a can be set to reduce the movement of the longitudinal guide mechanism. The vibration of the mobile mechanism interferes with the movement of the main part of the moving mechanism; the horizontal guide bracket is provided with a mounting hole b for each crossbar; the horizontal guide bracket is sleeved on the corresponding crossbar through the mounting hole b, and the horizontal guide bracket and the fixed block A spring b is sleeved on the periphery of each cross bar in between, and the spring b can be arranged to reduce the interference of the vibration of the lateral guide mechanism on the movement of the main part of the moving mechanism.

The wire rope moving track has two moving tracks, an upper moving track and a lower moving track, which are correspondingly embedded in the inner wall of the shaft, and the upper moving track is located above the lower moving track; the upper moving track is equipped with an upper moving mechanism group, The moving track is equipped with a lower moving mechanism group; both the upper moving mechanism group and the lower moving mechanism group include at least one moving mechanism; the shells of each moving mechanism in the upper moving mechanism group are embedded by the lateral guide rollers of the respective lateral guiding mechanisms. Installed in the upper moving track, and located above the rolling surface of the upper moving track; and the moving rollers of each moving mechanism in the upper moving mechanism group are connected with the rolling surface of the upper moving track; the shell of each moving mechanism in the lower moving mechanism group , Are embedded in the lower moving rail through the lateral guide rollers of the respective lateral guiding mechanisms, and hung below the rolling surface of the lower moving rail; and the moving rollers of each moving mechanism in the lower moving mechanism group are connected with the rolling surface of the lower moving rail .

When working, the upper and lower moving mechanism groups can move independently. When the speed is the same, the robot can inspect the entire wellbore wall; when moving at a differential speed, the robot can inspect the entire wellbore.

Further, the steel wire rope moving track is an annular track; the annular track is formed by splicing several arc tracks. Specifically, according to the position of the tank beam and the working equipment inside the wellbore, the wire rope track may be composed of multiple arc track segments, which are distributed in positions where there is no interference between the tank beam and the working equipment. Each arc track can be individually arranged with a group of moving devices according to actual needs, or multiple tracks can share a group of moving devices.

As shown in Fig. 7, the electric control device of the robot uses a voltage conversion module to convert the power supply into a suitable voltage to supply power to the motor, driver, and communication device. The driver can drive the motor to drive the roller to move according to the position feedback from the positioning module according to the remote control center received by the communication module.

The method of using the wire rope moving device of the present invention:

The first step is the installation phase. First, according to the location of the working equipment in the shaft, determine the location of the wire rope moving track. Remove the longitudinal guide mechanism and the transverse guide mechanism on the wire rope moving device, leaving only the main part of the moving mechanism. Place the main part of the moving mechanism on the surface of the wire rope moving track, and install the longitudinal guide mechanism and the horizontal guide mechanism for the main part of the mobile mechanism to ensure that the longitudinal guide mechanism and the horizontal guide mechanism are accurately installed at the predetermined position.

The second step is the debugging phase. Supply power to the main part of the moving mechanism, test whether the main part of the moving mechanism moves clockwise and counterclockwise along the wall of the wellbore if it jams, and observe whether the vertical guide mechanism and the horizontal guide mechanism can restrict the main body of the moving mechanism The part moves on a predetermined trajectory.

The third step is the formal operation stage. The remote control terminal sends start and walk commands, and the communication module receives and controls the robot to move at a set speed. The remote control terminal can view the position of the mobile device in real time through the communication module, and adjust the mobile device's position in real time according to the feedback from the positioning module. position.

Claims

A wire rope moving device of a wellbore inspection system is characterized in that it comprises a wire rope moving track arranged in the wellbore and a moving mechanism capable of carrying the wire rope to move along the wire rope moving track; wherein:

The moving mechanism includes a housing, a drive motor, and several moving rollers;

The housing is provided with a wire rope locking mechanism;

The movable roller includes one driving roller and more than one driven roller;

Each movable roller is positioned and supported by a roller shaft, and each roller shaft is installed in the housing through a bearing;

The base of the driving motor is fixedly installed on the housing, and the power output end of the driving motor is connected to the roller shaft supporting the driving roller through a reducer;

Driven by the power of the drive motor, the driving roller can drive each driven roller to move along the wire rope moving track.
The wire rope moving device according to claim 1, wherein the moving mechanism is equipped with a guiding mechanism;

The guiding mechanism includes a horizontal guiding mechanism and a longitudinal guiding mechanism;

The transverse guide mechanism includes a transverse guide bracket and a transverse guide roller; one end of the transverse guide bracket is connected with the housing, and the other end is connected with the transverse guide roller, the axial direction of the transverse guide roller is parallel to the rolling surface where the moving roller is located;

The longitudinal guide mechanism includes a longitudinal guide bracket and a longitudinal guide roller; one end of the longitudinal guide bracket is connected with the housing, and the other end is connected with the longitudinal guide roller, the axial direction of the longitudinal guide roller is perpendicular to the rolling surface where the moving roller is located;

Driven by the power of the drive motor, the active rollers cooperate with the positioning and guidance of the horizontal guide mechanism and the longitudinal guide mechanism to drive the driven rollers to always move along the wire rope moving track.
The wire rope moving device according to claim 2, wherein the wire rope moving track comprises a rolling surface, a horizontal guide surface and a longitudinal guide surface;

One side of the rolling surface is provided with a longitudinal guide surface perpendicular to the rolling surface, and the other side is provided with an L-shaped groove penetrating at the turning position. The L-shaped groove includes a vertical groove and a horizontal groove. The extending direction of the groove body is perpendicular to the rolling surface, and the notch of the vertical groove is flush with the rolling surface, the groove extending direction of the transverse groove is parallel to the rolling surface, and the transverse groove has a horizontal guiding surface parallel to the rolling surface;

All moving rollers are placed directly above the rolling surface;

The horizontal guide bracket is placed in the vertical groove, and the horizontal guide roller is placed in the horizontal groove, and one end of the horizontal guide bracket passes through the vertical groove to connect with the housing, and the other end of the horizontal guide bracket is connected to the hook blocking the horizontal guide surface. The horizontal guide roller is connected, the horizontal guide roller is connected with the horizontal guide upper thread; the longitudinal guide roller is connected with the longitudinal guide upper thread;

Driven by the power of the driving motor, the driving roller can drive the horizontal guide roller to roll along the horizontal guide surface, the longitudinal guide roller to roll along the longitudinal guide surface, and the driven rollers to roll along the rolling surface.
The wire rope moving device according to claim 1, wherein the housing is arranged in a ring sector shape; each roller shaft is arranged along the radial direction of the ring sector housing.
The wire rope moving device according to claim 4, wherein the two radial cross-section ends of the ring sector housing are provided with a fixed bracket; each fixed bracket is provided with a longitudinal guide mechanism and a transverse guide mechanism ; The longitudinal guide mechanism is arranged at the end adjacent to the inner circular surface of the fixed bracket and the ring sector shell; and the horizontal guide mechanism is arranged at the end adjacent to the outer circular surface of the fixed bracket and the ring sector shell;

The two longitudinal guide mechanisms at the two radial section ends of the ring sector housing are arranged symmetrically, and the two transverse guide mechanisms at the two radial section ends of the ring sector housing are arranged symmetrically;

The axis of the longitudinal guide roller is perpendicular to the ring sector of the ring sector housing; the axis of the transverse guide roller is parallel to the ring sector of the ring sector housing;

The positions of the longitudinal guide bracket and the transverse guide bracket on the fixed bracket can be adjusted along the radial direction of the ring sector shell.
The wire rope moving device according to claim 5, wherein the fixed bracket comprises more than one cross-bar, and each cross-bar is equally spaced along the height direction of the radial section end of the ring sector housing; the ring sector A fixed block is provided at the radial section end of the housing; each cross bar is supported and fixed by the fixed block and is arranged along the radial direction of the ring sector housing, and both ends of the cross bar are threadedly connected with lock nuts;

The longitudinal guide bracket is provided with a mounting hole a for each cross bar; the longitudinal guide bracket is sleeved on the corresponding cross bar through each mounting hole a, and the periphery of each cross bar between the longitudinal guide bracket and the fixed block is There is a spring a in the socket;

The horizontal guide bracket is provided with a mounting hole b for each cross bar; the horizontal guide bracket is sleeved on the corresponding cross bar through the mounting hole b, and the periphery of each cross bar between the horizontal guide bracket and the fixed block is sleeved Connected with a spring b.
The wire rope moving device according to claim 2, characterized in that, the wire rope moving track has two moving tracks, respectively an upper moving track and a lower moving track, which are correspondingly embedded in the inner wall of the wellbore, and the upper moving track is located on the lower moving track. Above

The upper moving track is equipped with an upper moving mechanism group, and the lower moving track is equipped with a lower moving mechanism group;

Both the upper moving mechanism group and the lower moving mechanism group include at least one moving mechanism;

The shells of each moving mechanism in the upper moving mechanism group are embedded in the upper moving track by the lateral guide rollers of the respective lateral guiding mechanism, and are located above the rolling surface of the upper moving track; and the movement of each moving mechanism in the upper moving mechanism group The rollers are all connected with the rolling surface of the upper moving track;

The shells of each moving mechanism in the lower moving mechanism group are embedded in the lower moving track through the lateral guide rollers of the respective lateral guiding mechanisms, and hung below the rolling surface of the lower moving track; and the moving rollers of each moving mechanism in the lower moving mechanism group Both are connected with the rolling surface line of the lower moving track.
The wire rope moving device according to claim 2, wherein the wire rope moving track is an endless track;

The circular track is formed by splicing several circular arc tracks.
The wire rope moving device according to claim 1, wherein the wire rope locking mechanism is a wire rope clamp.
A wellbore inspection system, characterized by comprising the wire rope moving device according to any one of claims 1-9.