阅读说明：本技术 一种井壁除泥装置 (Well wall mud removing device ) 是由 曲刚 王治娟 陈春 李涛 李荣刚 褚学荣 李晓峰 于 2018-07-24 设计创作，主要内容包括：本发明公开了一种井壁除泥装置是一种以环空流体的推动力为动力,能够在管件外侧的环空内沿管件自行往复行走,并且对管件外壁和井壁进行旋转刮擦清理的装置。主要包括本体、外环、行走机构和换向机构；外环与本体构成旋转配合,外环与行走机构构成齿轮传动,行走机构为二位摆动机构,行走机构同时与换向杆构成摩擦滚动配合,换向杆与本体构成轴向滑动配合；本体为圆环状,开设有轴向孔和径向孔,轴向孔和径向孔为通孔；外环设有刮泥板,刮泥板呈涡扇叶片状。本发明的井壁除泥装置的上行和下行都有驱动轮,上下往复运动,自动换向,反复对套管外壁和井壁清理。(The invention discloses a well wall mud removing device which takes the driving force of annular fluid as power, can automatically reciprocate in the annular outside a pipe fitting along the pipe fitting, and can rotationally scrape and clean the outer wall of the pipe fitting and a well wall. Mainly comprises a body, an outer ring, a traveling mechanism and a reversing mechanism; the outer ring and the body form a rotary fit, the outer ring and the walking mechanism form gear transmission, the walking mechanism is a two-position swinging mechanism, the walking mechanism and the reversing rod form a friction rolling fit at the same time, and the reversing rod and the body form an axial sliding fit; the body is annular and is provided with an axial hole and a radial hole, and the axial hole and the radial hole are through holes; the outer ring is provided with a mud scraper which is in a shape of a turbofan blade. The driving wheels are arranged on the upper and lower sides of the well wall mud removing device, the up and down reciprocating motion is realized, the automatic reversing is realized, and the outer wall of the sleeve and the well wall are cleaned repeatedly.)

1. A well wall mud removing device is characterized by mainly comprising a body (1), an outer ring (5), a reversing mechanism and a traveling mechanism; the body (1) is of a hollow cylinder structure, 2 or more than 2 axial holes (3) are axially and uniformly distributed in the inner wall of the cylinder, radial holes (26) are formed in the body (1) corresponding to the outer side of each axial hole (3), and the axial holes (3) and the radial holes (26) are of through hole structures; the outer ring (5) is sleeved outside the body, the inner wall of the outer ring (5) is provided with inner teeth and is in rotary fit with the body (1), and a mud scraper extends out of the outer ring (5) and is in a shape of a turbofan blade; the travelling mechanism is arranged in a radial hole (26) of the body (1), is a two-position swinging mechanism and comprises a transverse wheel (22), a vertical wheel (20), a swinging arm (8), a descending wheel (7) and an ascending wheel (23); wherein, the transverse wheel (22) is provided with two layers of external teeth, the transverse wheel (22) is connected in a radial hole (26) of the body (1) through a vertical rotating shaft, the vertical wheel (20) is provided with a combined structure of a conical tooth and a belt pulley, the vertical wheel (20) is connected in the radial hole (26) of the body (1) through a horizontal axial mandrel (13), the external teeth on the outer layer of the transverse wheel (22) and the internal teeth of the outer ring (5) form gear rotation transmission fit, the external teeth on the inner layer of the transverse wheel (22) and the conical tooth on the vertical wheel (20) form right-angle gear transmission fit, the lower wheel (7) and the upper wheel (23) are respectively connected at the upper end and the lower end of the swing arm (8) through an upper wheel shaft and a lower wheel shaft, the belt pulley of the vertical wheel (20) is respectively in linkage fit with the upper wheel shaft of the lower wheel (7) and the lower wheel shaft (24) of the upper wheel (23) through a transmission belt A (19) and a transmission belt B (21), and the swing arm, the descending wheel (7) and the ascending wheel (23) are symmetrical relative to the swinging axis of the swinging arm (8), the vertical wheel (20) and the descending wheel (7) form a same-direction driving belt linkage fit, and the vertical wheel (20) and the ascending wheel (23) form a reverse driving belt linkage fit; the reversing mechanism comprises a reversing rod (6) penetrating through an axial hole (3) of the body, and an upper platform (17) and a lower platform (15) which are fixed at the middle section of the reversing rod (6), the reversing rod (6) and the axial hole (3) of the body (1) form axial sliding fit, the upper platform (17) and the lower platform (15) are arranged in a radial hole (26) of the body (1) at intervals, are respectively positioned above and below the lower pulley (7), and are distributed on two sides of a swing middle shaft of the swing arm (8); the lower wheels (7) and the upper wheels (23) of the traveling mechanism and the upper platforms (17) and the lower platforms (15) of the reversing mechanism form interval friction rolling fit, and when the swing arm (8) swings for two positions, the lower wheels (7) and the upper wheels (23) alternately extend out of the inner circle of the body (1).

2. The well wall mud removing device according to claim 1, wherein: the upper platform is characterized by further comprising a limiting rod (25) with the top end hinged to the lower portion of the lower platform (15), the limiting rod (25) is elastic, the lower end of the limiting rod tilts towards the lower wheel shaft (24), and the limiting rod (25) extends downwards along the axial hole (3) and forms spacing and limiting fit with the lower wheel shaft (24) of the upper wheel (23).

3. The well wall mud removing device according to claim 2, wherein: be equipped with spring (28) between gag lever post (25) and lower platform (15), the bottom of gag lever post (25) is equipped with the sawtooth with lower platform (15) joint.

4. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: a torsion spring (18) is arranged between the swing arm (8) and the middle shaft (11).

5. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: the transmission belt B (21) is arranged in an 8 shape, and the transmission direction is opposite to that of the transmission belt A (19).

6. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: and a limiting block A (9) and a limiting block B (10) are further fixed on the inner wall of the radial hole (26), and the limiting blocks A (9) and B (10) are arranged in mirror symmetry relative to the middle shaft (11) and form limiting fit with the swing arm (8).

7. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: the mud scrapers on the outer ring (5) are a plurality of groups which are uniformly distributed along the circumference and are divided into outer mud scrapers (2) which radially extend outwards and inner mud scrapers (12) which radially extend inwards in groups.

8. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: the opposite surfaces of the upper platform (17) and the lower platform (15) are provided with dense-tooth friction layers, and the surfaces of the corresponding upper wheel (23) and the corresponding lower wheel (7) are also provided with dense-tooth friction layers.

9. The device for removing the mud from the well wall as claimed in claim 1, 2 and 3, wherein: a bearing (4) is arranged between the body (1) and the outer ring (5).

10. The well wall mud removing device according to claim 4, wherein: the transmission belt B (21) is arranged in an 8 shape, and the transmission direction is opposite to that of the transmission belt A (19); a limiting block A (9) and a limiting block B (10) are further fixed on the inner wall of the radial hole (26), the limiting blocks A (9) and B (10) are arranged in mirror symmetry relative to the middle shaft (11) and form limiting fit with the swing arm (8); the mud scrapers on the outer ring (5) are distributed uniformly along the circumference and divided into a plurality of groups into outer mud scrapers (2) extending outwards in the radial direction and inner mud scrapers (12) extending inwards in the radial direction; the opposite surfaces of the upper platform (17) and the lower platform (15) are provided with dense-tooth friction layers, and the surfaces of the corresponding upper wheel (23) and the corresponding lower wheel (7) are also provided with dense-tooth friction layers.

Technical Field

The invention relates to a pipe wall and well wall mud removing device in the field of petroleum drilling, in particular to a well wall mud removing device.

Background

In the well cementation process, mud cake media and impurities prevent cement paste from being incapable of fully contacting with the outer wall of the casing and the well wall, so that the cementing quality of the first interface and the second interface is poor. Poor well cementation quality can cause channeling of water, gas and liquid among strata, and disorder of stratum pressure, so that the productivity of an oil well is reduced, and the yield of an adjacent well and even the yield of the whole block are affected. The prior mode mainly uses pad fluid or circularly adjusts the performance of slurry, and has poor effect on cleaning mud cakes. At present, no mechanical equipment and device for scraping construction aiming at mud cakes in well cementation exist.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a well wall mud removing device. The device is in circulation mud, injection grout and replacement process to fluid that returns on the annular space between sleeve pipe and the wall of a well is the power, realizes automatic switching-over on the sleeve pipe, and up-and-down reciprocating motion scrapes the clearance repeatedly to the wall of a well and sleeve pipe outer wall, clears away the mud cake, makes grout and the wall of a well, the wall of a well fully contact, has solved the mud cake medium and to the negative effect of well cementation quality, is favorable to improving first, second interface cementation quality and cement ring self intensity.

In order to solve the technical problems, the invention is realized by adopting the following technical scheme:

a well wall mud removing device mainly comprises a body, an outer ring, a reversing mechanism and a traveling mechanism; the body is of a hollow cylinder structure, one or more axial holes are uniformly distributed in the inner wall of the cylinder in the axial direction, radial holes are formed in the body corresponding to the outer sides of the axial holes, and the axial holes and the radial holes are both of through hole structures; the outer ring is sleeved outside the body, the inner wall of the outer ring is provided with inner teeth and is in rotary fit with the body, and a mud scraper extends out of the outer ring and is in a shape of a turbofan blade; the travelling mechanism is arranged in a radial hole of the body, is a two-position swinging mechanism and comprises a transverse wheel, a vertical wheel, a swinging arm, a descending wheel and an ascending wheel; wherein, the transverse wheel is provided with two layers of external teeth, the transverse wheel is connected in a radial hole of the body through a vertical rotating shaft, the vertical wheel is provided with a combined structure of conical teeth and a belt pulley, the vertical wheel is connected in the radial hole of the body through a horizontal axial shaft, the external teeth on the outer layer of the transverse wheel and the internal teeth of the outer ring form gear rotation transmission fit, the external teeth on the inner layer of the transverse wheel and the conical teeth on the vertical wheel form right angle gear transmission fit, the downlink wheel and the uplink wheel are respectively connected on the swing arm through an upper wheel shaft and, at the lower two ends, belt pulleys of vertical wheels are respectively in linkage fit with an upper wheel shaft of a descending wheel and a lower wheel shaft of an ascending wheel through a transmission belt A and a transmission belt B, swing arms are rotatably connected in radial holes of the body through center shafts, the descending wheel and the ascending wheel are symmetrical relative to the swing axes of the swing arms, the vertical wheels and the descending wheel form a homodromous transmission belt in linkage fit, and the vertical wheels and the ascending wheel form a reverse transmission belt in linkage fit; the reversing mechanism comprises a reversing rod penetrating through an axial hole of the body, and an upper platform and a lower platform which are fixed at the middle section of the reversing rod, the reversing rod and the axial hole of the body form axial sliding fit, the upper platform and the lower platform are arranged in radial holes of the body at intervals, are respectively positioned above and below the lower wheel and are distributed on two sides of a swing middle shaft of the swing arm; the lower wheels and the upper wheels of the traveling mechanism and the upper platform and the lower platform of the reversing mechanism form interval friction rolling fit, and when the two-position swing arm swings, the lower wheels and the upper wheels alternately extend out of the inner circle of the body.

The above scheme further comprises:

the top end of the limiting rod is hinged to the lower portion of the lower platform, the limiting rod is elastic, the lower end of the limiting rod tilts towards the lower wheel shaft, and the limiting rod extends downwards along the axial hole and forms spacing and limiting matching with the lower wheel shaft of the upper wheel.

And a spring is arranged between the limiting rod and the lower platform, and sawteeth clamped with the lower platform are arranged at the bottom end of the limiting rod.

A torsional spring is arranged between the swing arm and the middle shaft.

The transmission belt B is installed in a shape of Chinese character 'ji', and the transmission direction is opposite to that of the transmission belt A.

And a limiting block A and a limiting block B are further fixed on the inner wall of the radial hole, and the limiting blocks A and B are arranged in mirror symmetry relative to the middle shaft and form limiting fit with the swing arm.

The mud scrapers on the outer ring are a plurality of groups which are uniformly distributed along the circumference and are divided into outer mud scrapers extending outwards in the radial direction and inner mud scrapers extending inwards in the radial direction in groups.

The opposite surfaces of the upper platform and the lower platform are provided with dense tooth-shaped friction layers, and the surfaces of the corresponding upper wheel and the corresponding lower wheel are also provided with dense tooth-shaped friction layers.

A bearing is arranged between the body and the outer ring.

Compared with the prior art, the invention has the beneficial effects that: (1) the driving wheels are arranged on the upper row and the lower row of the well wall mud removing device; (2) the circulating fluid is used as power to automatically run underground; (3) reciprocating up and down, automatically reversing, and repeatedly cleaning the outer wall of the sleeve and the well wall; (4) the well wall can also be the inner wall of an outer layer sleeve, and the invention can be used for cleaning between two layers of sleeves.

Drawings

FIG. 1 is a top view of a sidewall mud removing device.

Fig. 2 is a sectional view taken along a-a of fig. 1.

Fig. 3 is a sectional view taken along B-B of fig. 2.

Fig. 4 is a cross-sectional view taken along section C-C of fig. 3.

FIG. 5 is a front view of a part of the structure of a walking mechanism of the well wall mud removing device.

FIG. 6 is a right side view of the structure of a walking mechanism part of the well wall mud removing device.

FIG. 7 is a state diagram of the well wall mud removing device moving upwards.

Figure 8 is a diagram of the sidewall de-sliming device as it reaches the upper coupling.

FIG. 9 is a diagram showing the reversing of the sidewall de-sliming device at the upper coupling.

FIG. 10 is a diagram showing the reversing of the sidewall de-sliming device at the lower coupling.

Figure 11 is a front view of the reversing mechanism of the sidewall de-sliming device.

FIG. 12 is a right side view of the reversing mechanism of the sidewall mud removing device

Figure 13 is a perspective side view of the reversing mechanism of the sidewall de-sliming device.

The labels in the figure are: 1. the scraper comprises a body, 2, an outer scraper, 3, an axial hole, 4, a bearing, 5, an outer ring, 6, a reversing rod, 7, a descending wheel, 8, a swing arm, 9, a limiting block A, 10, a limiting block B, 11, a middle shaft, 12, an inner scraper, 13, a mandrel, 14, a sleeve, 15, a lower platform, 16, a boss, 17, an upper platform, 18, a torsion spring, 19, a driving belt A, 20, a vertical wheel, 21, a driving belt B, 22, a transverse wheel, 23, an ascending wheel, 24, a lower wheel shaft, 25, a limiting rod, 26, a radial hole, 27, a coupling, 28 and a spring.

Detailed Description

The invention is described in further detail below with reference to the figures and the detailed description.

The invention relates to a well wall mud removing device which takes the driving force of annular fluid as power, can automatically reciprocate in the annular outside a pipe fitting along the pipe fitting, and can rotationally scrape and clean the outer wall of the pipe fitting and a well wall. The driving wheels are arranged on the upper row and the lower row of the well wall mud removing device, the upper row and the lower row reciprocate up and down, the automatic reversing is realized, and the outer wall of the sleeve and the well wall are cleaned repeatedly.

Referring to the attached figure 1, the well wall mud removing device mainly comprises a body 1, an outer ring 5, a reversing mechanism and a traveling mechanism.

Referring to the attached drawing 2, the body 1 is a hollow cylinder structure, 2 or 4 axial holes 3 are uniformly distributed in the axial direction of the inner wall of the cylinder, radial holes 26 are formed in the body 1 corresponding to the outer sides of the axial holes 3, and the axial holes 3 and the radial holes 26 are all of through hole structures.

Referring to the attached drawings 1-4, the outer ring 5 is sleeved outside the body, inner teeth are arranged on the inner wall of the outer ring 5 and are in rotating fit with the body 1, and a mud scraper extends out of the outer ring 5 and is in a shape of a turbofan blade.

Referring to fig. 3-6, the running mechanism is installed in the radial hole 26 of the body 1, and the running mechanism is a two-position swing mechanism, and comprises a transverse wheel 22, a vertical wheel 20, a swing arm 8, a descending wheel 7 and an ascending wheel 23. Wherein, the transverse wheel 22 has two layers of external teeth, and the transverse wheel 22 is connected in a radial hole 26 of the body 1 through a vertical rotating shaft. The vertical wheel 20 has a combined structure of conical teeth and pulleys, and the vertical wheel 20 is connected in a radial hole 26 of the body 1 through a horizontal axial shaft 13. The outer layer outer teeth of the transverse wheel 22 and the outer ring 5 inner teeth form gear rotation transmission fit, and the inner layer outer teeth of the transverse wheel 22 and the conical teeth on the vertical wheel 20 form right-angle gear transmission fit. The descending wheel 7 and the ascending wheel 23 are respectively connected with the upper end and the lower end of the swing arm 8 through an upper wheel shaft and a lower wheel shaft, the belt wheel of the vertical wheel 20 is respectively in linkage fit with the upper wheel shaft of the descending wheel 7 and the lower wheel shaft 24 of the ascending wheel 23 through a transmission belt A19 and a transmission belt B21. The swing arm 8 is rotatably connected in a radial hole 26 of the body 1 through a middle shaft 11. The descending wheels 7 and the ascending wheels 23 are symmetrical relative to the swinging axis of the swinging arm 8, the vertical wheels 20 and the descending wheels 7 form a same-direction driving belt linkage fit, and the vertical wheels 20 and the ascending wheels 23 form a reverse driving belt linkage fit.

Referring to fig. 11-13, the reversing mechanism includes a reversing rod 6 penetrating through the axial hole 3 of the body, and an upper platform 17 and a lower platform 15 fixed at the middle section of the reversing rod 6, the reversing rod 6 and the axial hole 3 of the body 1 form an axial sliding fit, the upper platform 17 and the lower platform 15 are installed in the radial hole 26 of the body 1 at intervals, respectively located above and below the down wheel 7, and distributed on two sides of the swing middle shaft of the swing arm 8.

The lower wheel 7 and the upper wheel 23 of the walking mechanism and the upper platform 17 and the lower platform 15 of the reversing mechanism form interval friction rolling fit, and when the two-position swing arm 8 swings, the lower wheel 7 and the upper wheel 23 alternately extend out of the inner circle of the body 1.

Based on the above embodiment:

further, referring to fig. 7-10 and 12, the device further comprises a limiting rod 25 with a top end hinged below the lower platform 15, wherein the limiting rod 25 has elasticity, a lower end is tilted towards the lower wheel shaft 24, and the limiting rod 25 extends downwards along the axial hole 3 and forms spacing and limiting fit with the lower wheel shaft 24 of the upper wheel 23.

Further, a spring 28 is arranged between the limiting rod 25 and the lower platform 15, and sawteeth clamped with the lower platform 15 are arranged at the bottom end of the limiting rod 25.

Further, referring to fig. 6, a torsion spring 18 and a boss 16 are disposed between the swing arm 8 and the central shaft 11. The transmission belt B21 is arranged in an 8 shape, and the transmission direction is opposite to that of the transmission belt A19.

Referring to fig. 7, a limiting block a9 and a limiting block B10 are further fixed on the inner wall of the radial hole 26, and the limiting block a9 and the limiting block B10 are arranged in mirror symmetry with respect to the central axis 11 and form limiting fit with the swing arm 8.

Referring to fig. 2, the scrapers on the outer ring 5 are divided into 2-8 groups (preferably 4 groups in this embodiment) uniformly distributed along the circumference into an outer scraper 2 extending radially outward and an inner scraper 12 extending radially inward.

Furthermore, the opposite surfaces of the upper platform 17 and the lower platform 15 are provided with dense toothed friction layers, and the surfaces of the corresponding upper wheels 23 and the corresponding lower wheels 7 are also provided with dense toothed friction layers.

Exemplary embodiments

Referring to the attached drawings 1-13, the well wall mud removing device mainly comprises a body 1, an outer ring 5, a walking mechanism and a reversing mechanism (a reversing rod 6). The outer ring 5 is connected with the body 1 through the bearing 4 and forms rotary fit, the outer ring 5 forms gear transmission with the travelling mechanism through the transverse wheel 22, the travelling mechanism forms two-position swing fit with the body 1, the travelling mechanism forms friction rolling fit with the reversing rod 6 at the same time, and the reversing rod 6 forms axial sliding fit with the body 1.

The body 1 is annular and is provided with an axial hole 3 and a radial hole 26, and the axial hole 3 and the radial hole 26 are through holes. The outer ring 5 has internal teeth and the transverse wheel 22 has two layers of external teeth, the outer ring 5 and the transverse wheel 22 form a gear transmission. The outer ring 5 is provided with an outer mud scraper 2 extending outwards and an inner mud scraper 12 extending inwards in the radial direction, and the outer mud scraper 2 and the inner mud scraper 12 are in the shape of a turbofan blade and can drive the outer ring 5 to rotate when fluid passes through. The number of the mud scrapers on the outer ring 5 is four, and the number of the radial holes 26, the axial holes 3, the travelling mechanism and the reversing rod 6 is four.

The running mechanism is arranged in the radial hole 26, and referring to the attached figures 5 and 6, the running mechanism comprises a transverse wheel 22, a vertical wheel 20, a swing arm 8, a descending wheel 7, an ascending wheel 23, a middle shaft 11, a spindle 13, a transmission belt A19 and a transmission belt B21. The transverse wheel 22 and the conical teeth on the vertical wheel 20 form right-angle gear transmission, the transverse wheel 22 is fixed on the body 1 through the spindle 13, and the transverse wheel 22 and the spindle 13 form rotary fit. The vertical wheel 20 is provided with a transmission belt A19 and a transmission belt B21, the vertical wheel 20 drives the lower wheel 7 to rotate through the transmission belt A19, and the vertical wheel 20 drives the upper wheel 23 to rotate through the transmission belt B21. The belt B21 is installed in 8-shape, the transmission direction is opposite to the belt A19, and the rotating shaft of the upper wheel 23 is the lower wheel shaft 24. The lower wheels 7 are arranged above the upper wheels 23, and the lower wheels 7 and the upper wheels 23 are respectively in rotating fit with the swing arms 8. The centre shaft 11 is fixed on the body 1, and the swing arm 8 middle part is connected with centre shaft 11, and the boss 16 is equipped with to centre shaft 11 below, and torsional spring 18 one end is fixed on boss 16, and the other end is fixed above the swing arm 8. Referring to fig. 2, a limiting block a9 and a limiting block B10 are further fixed on the inner wall of the radial hole 26, and the limiting block a9 and the limiting block B10 are mirror-image-opposite to each other relative to the central axis 11 and limit the swing arm 8 to swing within a certain angle. The extension amount of the torsion spring 18 of the swing arm 8 at the position of the limiting block is shortest, and the swing of the swing arm 8 belongs to a two-position limiting state. And at the position of the stop block A9 and the stop block B10, the lower wheels 7 and the upper wheels 23 alternately extend out of the inner circle of the body 1 and are pressed on the outer wall of the sleeve 14 under the action of the torsion spring 18.

Referring to fig. 7 to 13, the reversing lever 6 is installed in the radial hole 26, the reversing lever 6 is rod-shaped, and the upper and lower ends of the reversing lever 6 respectively pass through the axial hole 3 and extend out of the upper and lower surfaces of the body 1. The middle part of the reversing rod 6 is provided with an upper platform 17 and a lower platform 15, the upper platform 17 and the lower platform 15 are spaced at a certain distance from top to bottom, are respectively positioned above and below the down wheels 7 and are distributed on two sides of the middle shaft 11.

A limit rod 25 with a pendulum structure is arranged below the lower platform 15, and the top end of the limit rod 25 is connected below the lower platform 15 and extends downwards from the axial hole 3. A spring 28 is arranged between the limiting rod 25 and the lower platform 15, the lower end of the limiting rod 25 slightly tilts towards the lower wheel shaft 24 under the action of the spring 28, and the bottom end of the limiting rod 25 is in a sawtooth shape. The opposite surfaces of the upper platform 17 and the lower platform 15 are provided with an adhesion layer with large friction resistance.

Referring to fig. 7, the swing arm 8 is at the position of the stopper B10, and the upper traveling wheel 23 presses on the outer wall of the sleeve 14. When the annular fluid flows through the mud scraper, the outer ring 5 is driven to rotate, the vertical wheel 20 is driven to rotate by the transverse wheel 22, and the lower wheel shaft 24 and the upper wheel 23 are driven to rotate anticlockwise by the driving belt B21, so that the body 1 moves upwards along the sleeve 14.

Referring to fig. 8, the top end of the reversing lever 6 reaches the collar 27, the body 1 continues to move upwards, and the descending wheel 7 touches the upper platform 17 above. Because the winding methods of the transmission belt A19 and the transmission belt B are opposite, the rotation directions of the descending wheel 7 and the ascending wheel 23 are opposite, the descending wheel 7 rolls clockwise on the upper platform 17, moves towards the sleeve 14 and drives the swing arm 8 to swing towards the limit block A9.

Referring to fig. 9, when the swing arm 8 crosses the central axis, the lower wheels 7 are separated from the upper platform 17 and pressed on the sleeve 14, the upper wheels 23 are separated from the sleeve 14, and the body 1 moves downwards under the drive of the lower wheels 7.

Referring to fig. 10, when the bottom end of the reversing rod 6 reaches a lower coupling, the body 1 continues to move downwards, the limiting rod 25 moves upwards along with the reversing rod 6, and the descending wheel 7 touches the lower platform 15 below, the bottom end of the limiting rod 25 is clamped at the bottom of the radial hole 26, so that the reversing rod 6 is limited. The descending wheel 7 rolls along the lower platform 15 and is separated from the sleeve 14, so that the swing arm 8 is reversed to the position of the limit block B10, the ascending wheel 23 is pressed on the sleeve 14, meanwhile, the lower wheel shaft 24 presses the limit rod 25 towards the sleeve 14, the bottom of the limit rod 25 is unlocked, and the limit of the reversing rod 6 is released.

The limiting rod 25 is used for keeping a certain pressure and friction force when the lower wheels 7 roll on the lower platform 15. In the position shown in the attached drawing 10, when the descending wheel 7 begins to roll outwards along the lower platform 15, because the descending wheel 7 just breaks away from the sleeve 14, the swing arm 8 does not swing over the central axis, the body 1 can move upwards under the push of the fluid returning from the annular space, so that the descending wheel 7 breaks away from the lower platform upwards at the moment, the pressure on the lower platform 15 is lost, the friction force is lost, the descending wheel 7 cannot walk over the lower platform 15, the swing arm 8 cannot complete the reversing, and the reversing and the ascending power are converted into the ascending wheel 23.