CN100554641C - Oil well electric spark de-blocking joint-forming robot - Google Patents
Oil well electric spark de-blocking joint-forming robot Download PDFInfo
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- CN100554641C CN100554641C CNB2007101133373A CN200710113337A CN100554641C CN 100554641 C CN100554641 C CN 100554641C CN B2007101133373 A CNB2007101133373 A CN B2007101133373A CN 200710113337 A CN200710113337 A CN 200710113337A CN 100554641 C CN100554641 C CN 100554641C
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- 238000010892 electric spark Methods 0.000 title claims abstract description 25
- 239000003129 oil well Substances 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000006978 adaptation Effects 0.000 claims abstract description 38
- 230000000694 effects Effects 0.000 claims abstract description 12
- 230000008961 swelling Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000003319 supportive effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 18
- 230000008569 process Effects 0.000 abstract description 12
- 239000000446 fuel Substances 0.000 abstract description 2
- 230000005352 galvanomagnetic phenomena Effects 0.000 abstract description 2
- 230000001052 transient effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 239000003921 oil Substances 0.000 description 8
- 238000011084 recovery Methods 0.000 description 4
- 210000001367 artery Anatomy 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 210000002706 plastid Anatomy 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
Oil well electric spark de-blocking joint-forming robot belongs to the Robotics field.Mainly comprise ground hawser automatic feed system, guide wheel, hawser, power sensor, go up self adaptation supporting mechanism, perforation EDDY CURRENT and electrode feeder, conical bearing joint, following self adaptation supporting mechanism and counterweight etc.The method that this robot adopts ground to combine with down-hole control, realize seeking automatically the perforation borehole, the positive and negative tool-electrode that the automatic feed spark discharge is used in the perforation borehole, the TRANSIENT HIGH TEMPERATURE, the high pressure effect that produce when utilizing between positive and negative tool-electrode in perforation borehole discharge, and the fuel factor of following in the discharge process, galvanomagnetic-effect, luminous effect, acoustic effect etc. are carried out de-blocking joint-forming.The present invention can search out perforation quickly and easily and in perforation the automatic feed tool-electrode, its de-blocking joint-forming is effective, and pollution-free to oil reservoir.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of oil well electric spark de-blocking joint-forming robot.
Background technology
In the oil exploitation process, by stratum natural pressure crude oil extraction, ultimate recovery generally is no more than 10% of gross reserves, adopts the conventional waterflooding exploitation, and recovery ratio also is no more than 30%～40%, and is hypotonic and heavy crude reservoir is then lower.How dredging the oil impregnate passage effectively, make new oil impregnate crack, is the problem that present each oil exploitation state is in the world competitively studied to improve the recovery ratio of stopping up well and hypotonic oil well.
Oil impregnate passage de-blocking joint-forming method commonly used both at home and abroad at present has three kinds of comparatively ripe processes such as pressure break, acidifying, crowded liquid.All there is following problem in these three kinds of processes: they all need use chemical solution that the pollutant of near wellbore zone is squeezed into earth formation deep, very easily cause secondary pollution; Relatively difficulty is handled in layering, tend to processed the opening of layer of causing voidage high, and the layer of voidage difference can not receive effect, and producing degree of reservoir is affected, even the aquifer is handled open, and causes waterflooded reservoir; Bad to cementing quality, casing deformation, damaged well are handled very difficult, and expense is higher.In recent years, people have also inquired into block releasing techniques such as high-pressure water jet, ultrasonic wave, high enegry gas fracturing, electric pulse.At present, do not see the bibliographical information of relevant oil well electric spark de-blocking joint-forming robot both at home and abroad as yet.
Summary of the invention
The object of the present invention is to provide a kind of oil well electric spark de-blocking joint-forming robot.
Principle of the present invention is: the oil well electric spark de-blocking joint-forming robot of being invented mainly is made up of ground hawser automatic feed system, guide wheel, hawser, power sensor, last self adaptation supporting mechanism, perforation EDDY CURRENT and electrode feeder, following self adaptation supporting mechanism and counterweight etc.Its operation process is: use ground hawser automatic feed system to delivered downhole robot electric spark de-blocking joint-forming apparatus for work earlier, under send in the process, the upper and lower self adaptation supporting mechanism effect of spring thereon outwards stretches down, play supplemental support and guide effect, with prevent robot electric spark de-blocking joint-forming apparatus for work under send in the process and damage because of the bump sleeve pipe; Behind the assigned address above robot electric spark de-blocking joint-forming apparatus for work quilt is delivered to the oil reservoir perforated interval down, the last self adaptation supporting mechanism of robot electric spark de-blocking joint-forming apparatus for work expands outwardly under the driving of electromagnetic actuator device, make support wheel swelling on it on the inwall of sleeve pipe, after this hawser begins the low speed intermittence and sends to, whenever after delivering to an appointed positions, the hawser automatic feed system stops to send to, doing under the driving of stepping motor thereon of perforation EDDY CURRENT and electrode feeder turns clockwise seeks the motion of perforation, if rotation fails to search out perforation for 360 °, then stepper motor stops operating, the hawser automatic feed system send the distance of an appointment down, stepper motor drives perforation EDDY CURRENT and electrode feeder again and does and be rotated counterclockwise the motion of seeking perforation then, if rotation fails to search out perforation for 360 °, then stepper motor stops operating, the hawser automatic feed system send the distance of an appointment down, stepper motor drives perforation EDDY CURRENT and electrode feeder again and does to turn clockwise and seek the motion of perforation, go on and so forth, when searching out perforation, the electrical current of electromagnet coil on the self adaptation supporting mechanism in the increasing, increase tension force, the self adaptation supporting mechanism is maintained static, ground hawser automatic feed system also stops to send to, and stepper motor is the position that mouth goes to perforation of sending of tool-electrode then; Send in the perforation borehole by the tool-electrode that tool-electrode feed mechanism handle links to each other with pulse power both positive and negative polarity, under the effect of the pulse power, in the perforation borehole, produce spark discharge between positive and negative tool-electrode, be used for melting, degrading the perforation borehole and the obstruction of oil impregnate passage on every side thereof by the TRANSIENT HIGH TEMPERATURE (temperature of channel center is up to more than 10,000 degree) in when discharge, high pressure (in the passage elevated temperature heat expand the initial pressure that forms to reach tens of MPas), produce some new microcracks simultaneously.The bubble that the discharge channel of HTHP and instantaneous subsequently gasification form is expanded rapidly, in the perforation borehole, produce strong shock wave, in discharge process, also be accompanied by the effect that very wide electromagenetic wave radiation of fuel factor, galvanomagnetic-effect, luminous effect, acoustic effect and frequency range and explosion wave etc. have further been strengthened de-plugging and made seam simultaneously.After handling what a perforation, repeat above-mentioned action again and handle next perforation, go on and so forth, just can handle whole oil well well.
The present invention has following advantage:
(1) the positive and negative tool-electrode that adopts this robot that spark discharge is used is sent into and is carried out spark discharge in the perforation borehole, its discharge voltage reduces by 4～6 times than electric arteries and veins block releasing technique in the common pit shaft, can avoid the used easily aging breakdown problem of high pressure charge and discharge capacitance of electric arteries and veins block releasing technique in the pit shaft.
(2) control mode of taking ground to combine with the down-hole makes the robot construction design greatly simplify, improve the functional reliability of robot.
(3) adopt this robot to carry out electric spark de-blocking joint-forming the permeability of LOW PERMEABILITY RESERVOIR is improved more than 20%, the de-plugging effect that the organic gel plastid stops up during to tertiary oil recovery improves more than 30% than other method for removing blockage.
(4) well is gone in no work agent in the operation process, can avoid the secondary pollution that reservoir is caused.
Description of drawings
Fig. 1 is an oil well electric spark de-blocking joint-forming robot general structure schematic diagram provided by the invention.
Fig. 2 is the last self adaptation supporting mechanism axial arrangement schematic diagram of robot of the present invention.
Fig. 3 is the last self adaptation supporting mechanism radial structure schematic diagram of robot of the present invention.
Fig. 4 is the following self adaptation supporting mechanism axial arrangement schematic diagram of robot of the present invention.
Fig. 5 is the following self adaptation supporting mechanism radial structure schematic diagram of robot of the present invention.
The specific embodiment
Referring to Fig. 1.In the oil well electric spark de-blocking joint-forming robot general structure schematic diagram of the present invention, the 1st, ground hawser automatic feed system is mainly used in the electric spark de-blocking joint-forming apparatus for work to down-hole automatic feed robot; The 2nd, guide wheel is used for sending under the hawser guiding of process; The 3rd, hawser is used to drag robot and does and go into the well or lifter motion; The 4th, the power sensor, be used for sending under the detection machine people or the motion state of lifting process, detected force signal is converted into voltage signal gives automatic control system, automatic control system judges that according to its size that detects power the following of robot send acceleration or the stifled phenomenon of card do not occur, if the detected power of power sensor is zero, then the electromagnetism expansion force of the last self adaptation supporting mechanism of robot is too big, and robot is stuck, and needs to reduce the electromagnetism expansion force this moment; The 5th, last self adaptation supporting mechanism, be used to support perforation EDDY CURRENT and electrode feeder, and needed fixing and locking power in generation perforation EDDY CURRENT and rotation of electrode feeder and the electric spark de-blocking joint-forming process, in addition can be according to the geomery of cover pipe orifice and the requirement of robot running status, it is very little to adjust its expansion force and outer expansion rule automatically; The 6th, perforation EDDY CURRENT and electrode feeder are mainly used in the position of detecting the perforation borehole and the positive and negative tool-electrode that spark discharge is used are sent in the perforation borehole, to carry out electric spark de-blocking joint-forming in the perforation borehole; The 7th, the conical bearing joint is used to connect perforation EDDY CURRENT and electrode feeder and following self adaptation supporting mechanism, to prevent down that the self adaptation supporting mechanism with perforation EDDY CURRENT and the rotation of electrode feeder, reduces the spin friction resistance; The 8th, following self adaptation supporting mechanism mainly plays support, guiding and protective effect, can adjust its appearance and size automatically according to the size shape of inside pipe casing, and prevents the collision of perforation EDDY CURRENT and electrode feeder and casing wall; The 9th, counterweight is mainly used in the following power of sending of adjusting robot.
Referring to Fig. 2.In the last self adaptation supporting mechanism axial arrangement schematic diagram of robot of the present invention, the 10th, following hinge dish is used for connecting and supports down inclined support bar and help pull a cart, and armature is equipped with in 11 the top of helping pull a cart, and is used to spur down the hinge dish move upward; The 12nd, extension spring is used to provide the outwards power of expansion of self adaptation supporting mechanism, makes this supporting mechanism not be subjected to electromagnetic force to do the time spent, still can contact with internal surface of sleeve pipe; The 13rd, following inclined support bar is mainly used in the connection support wheel, drives support wheel and does outside expansion or inside contractile motion; The 14th, support wheel mainly plays the rolling supporting role; The 15th, the support wheel connecting rod is mainly used in two support wheels of connection, constitutes the linkage of sealing; The 16th, last inclined support bar is mainly used in the connection support wheel, drives support wheel and does outside expansion or inside contractile motion; The 17th, the upper hinge dish is used to support inclined support bar, fixed electromagnet and pull bar; The 18th, electromagnet, the current switching by controlling electromagnetic coil on it and the size of electric current are controlled electromagnetic attraction, and then reach control and go up the dilatancy size of self adaptation supporting mechanism and the purpose of expansion force; The 19th, supportive guiding sleeve, the support guide that is used to help pull a cart; The 20th, pull bar is used to connect self adaptation supporting mechanism 5 and perforation EDDY CURRENT and electrode feeder 6.
Referring to Fig. 3.In the last self adaptation supporting mechanism radial structure schematic diagram of robot of the present invention, the 14th, support wheel; The 16th, last inclined support bar; The 17th, the upper hinge dish.
Referring to Fig. 4.In the following self adaptation supporting mechanism axial arrangement schematic diagram of robot of the present invention, the 13rd, following inclined support bar is mainly used in the connection support wheel, drives support wheel and does outside expansion or inside contractile motion; The 14th, support wheel mainly plays the rolling supporting role; The 15th, the support wheel connecting rod is mainly used in two support wheels of connection, constitutes the linkage of sealing; The 16th, last inclined support bar is mainly used in the connection support wheel, drives support wheel and does outside expansion or inside contractile motion; 21 hinge dishes are used to connect and support down the pull bar of inclined support bar, band thrust button; The 22nd, the hinge dish in tape guide hole, the guiding that is used to support inclined support bar and is with the thrust button pull bar; The 23rd, the pull bar of band thrust button is used to spur down the self adaptation supporting mechanism, and limits the minimum of contraction radius of self adaptation supporting mechanism down, supports and protective effect because of shrinking too small losing to prevent supporting mechanism; The 24th, the swelling extension spring is used to provide down the outwards power of expansion of self adaptation supporting mechanism, makes on the inwall of support wheel near sleeve pipe of this supporting mechanism.
Referring to Fig. 5.In the following self adaptation supporting mechanism radial structure schematic diagram of robot of the present invention, the 14th, support wheel; The 16th, last inclined support bar; The 22nd, the hinge dish in tape guide hole.
Claims (3)
1. oil well electric spark de-blocking joint-forming robot, mainly comprise ground hawser automatic feed system (1), guide wheel (2), hawser (3), power sensor (4), last self adaptation supporting mechanism (5), perforation EDDY CURRENT and electrode feeder (6), conical bearing joint (7), following self adaptation supporting mechanism (8) and counterweight (9), this oil well electric spark de-blocking joint-forming robot is characterised in that: ground hawser automatic feed system (1) links to each other with hawser (3), by hawser (3) to down-hole automatic feed robot electric spark de-blocking joint-forming apparatus for work, guide wheel (2) is controlled the direction of going into the well of hawser by the groove on it, hawser (3) upper end links to each other with ground hawser automatic feed system (1), the lower end links to each other with robot electric spark apparatus for work, be used to mention or under send robot electric spark apparatus for work, the upper end of power sensor (4) links to each other with hawser, the lower end links to each other with last self adaptation supporting mechanism (5), detected pulling force signal is converted into voltage signal, give control system, the lower end of last self adaptation supporting mechanism (5) links to each other with perforation EDDY CURRENT and electrode feeder (6), support perforation EDDY CURRENT and electrode feeder (6), perforation EDDY CURRENT and electrode feeder (6) do that perforation is sought in rotation and the motion of means of delivery electrode in perforation, the lower end of perforation EDDY CURRENT and electrode feeder (6) links to each other with conical bearing joint (7), conical bearing joint (7) supports perforation EDDY CURRENT and electrode feeder (6) with the following self adaptation supporting mechanism (8) that its lower end links to each other, the lower end of following self adaptation supporting mechanism (8) links to each other with counterweight (9), can adjust the following power of sending of robot electric spark apparatus for work by the counterweight (9) of apolegamy Different Weight.
2. oil well electric spark de-blocking joint-forming robot as claimed in claim 1, it is characterized in that self adaptation supporting mechanism (5) is by following hinge dish (10), help pull a cart (11), extension spring (12), following inclined support bar (13), support wheel (14), support wheel connecting rod (15), last inclined support bar (16), upper hinge dish (17), electromagnet (18), supportive guiding sleeve (19) and pull bar (20) constitute, alternate 120 ° articulated 3 following inclined support bars (13) on the circumference of following hinge dish (10), help pull a cart (11) of band armature are connected with following hinge dish (10) by screw thread, the upper and lower side of extension spring (12) links to each other with following hinge dish (10) with supportive guiding sleeve (19) respectively, the tightening force of extension spring (12) can make self adaptation supporting mechanism (5) outwards expand, following inclined support bar (13) links to each other with support wheel (14) with following hinge dish (10) respectively, last inclined support bar (16) links to each other with support wheel (14) with upper hinge dish (17) respectively, support wheel (14) links to each other with support wheel connecting rod (15) with following inclined support bar (13) respectively, contacted the rolling supporting role with internal surface of sleeve pipe, the two ends of support wheel connecting rod (15) respectively connect 1 support wheel (14), to constitute the linkage of sealing, go up inclined support bar (16) for alternate 120 ° articulated 3 on the circumference of upper hinge dish (17), the lower end of upper hinge dish (17) connects electromagnet (18), produce magnetic field during electromagnet (18) energising, the armature of (11) upper end upwards attracts to help pull a cart, self adaptation supporting mechanism (5) is outwards expanded, increase the pressure between support wheel (14) and internal surface of sleeve pipe, supportive guiding sleeve (19) links to each other with upper hinge dish (17), play the support guide effect, the upper end of pull bar (20) is fixed on the upper hinge dish (17), and the lower end links to each other with perforation EDDY CURRENT and electrode feeder (6).
3. oil well electric spark de-blocking joint-forming robot as claimed in claim 1, it is characterized in that self adaptation supporting mechanism (8) is by following inclined support bar (13) down, support wheel (14), support wheel connecting rod (15), last inclined support bar (16), hinge dish (21), the hinge dish (22) in tape guide hole, the pull bar (23) and the swelling extension spring (24) of band thrust button constitute, alternate 120 ° articulated 3 following inclined support bars (13) on the circumference of hinge dish (21), the axial pull bar (23) of hinge dish (21) by the band thrust button that is threaded, go up inclined support bar (16) for alternate 120 ° articulated 3 on the circumference of the hinge dish (22) in tape guide hole, the center of the hinge dish (22) in tape guide hole has pilot hole, the upper and lower side of swelling extension spring (24) links to each other with the hinge dish (22) in hinge dish (21) and tape guide hole respectively, the tightening force of swelling extension spring (24) outwards expands self adaptation supporting mechanism (8), following inclined support bar (13) links to each other with support wheel (14) with hinge dish (21) respectively, last inclined support bar (16) links to each other with support wheel (14) with the hinge dish (22) in tape guide hole respectively, support wheel (14) links to each other with support wheel connecting rod (15) with following inclined support bar (13) respectively, contacted the rolling supporting role with internal surface of sleeve pipe, the two ends of support wheel connecting rod (14) respectively connect 1 support wheel (14), to constitute the linkage of sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101133373A CN100554641C (en) | 2007-10-10 | 2007-10-10 | Oil well electric spark de-blocking joint-forming robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101133373A CN100554641C (en) | 2007-10-10 | 2007-10-10 | Oil well electric spark de-blocking joint-forming robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101144378A CN101144378A (en) | 2008-03-19 |
| CN100554641C true CN100554641C (en) | 2009-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101133373A Expired - Fee Related CN100554641C (en) | 2007-10-10 | 2007-10-10 | Oil well electric spark de-blocking joint-forming robot |
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| CN (1) | CN100554641C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594964A (en) * | 2019-01-25 | 2019-04-09 | 西安石油大油气科技有限公司 | A kind of volume increase of oil gas field with "nine squares" aerodynamic force deep penetration composite deblocking process and device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965184B (en) * | 2017-05-05 | 2023-05-09 | 广西师范大学 | Control system of cable-stayed bridge cable crawling robot |
| CN108921218B (en) * | 2018-06-29 | 2022-06-24 | 炬大科技有限公司 | Target object detection method and device |
| CN111735816A (en) * | 2020-06-27 | 2020-10-02 | 南京宥安传感科技有限公司 | Deep well crack detection device |
| CN112943172B (en) * | 2021-03-31 | 2022-07-08 | 内蒙古科技大学 | High-voltage electric pulse hydraulic fracturing method for coal rock mass and guide crack opening device |
-
2007
- 2007-10-10 CN CNB2007101133373A patent/CN100554641C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594964A (en) * | 2019-01-25 | 2019-04-09 | 西安石油大油气科技有限公司 | A kind of volume increase of oil gas field with "nine squares" aerodynamic force deep penetration composite deblocking process and device |
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| Publication number | Publication date |
|---|---|
| CN101144378A (en) | 2008-03-19 |
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