CN102808589B - Motor-driven underground tractor for coiled tubing - Google Patents

Motor-driven underground tractor for coiled tubing Download PDF

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CN102808589B
CN102808589B CN 201210290226 CN201210290226A CN102808589B CN 102808589 B CN102808589 B CN 102808589B CN 201210290226 CN201210290226 CN 201210290226 CN 201210290226 A CN201210290226 A CN 201210290226A CN 102808589 B CN102808589 B CN 102808589B
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traction
slip
upper
slide
housing
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CN102808589A (en )
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高德利
侯学军
沈忠厚
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中国石油大学(北京)
重庆科技学院
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本发明属于油气田开发领域,涉及一种用于连续油管钻井、测井、修井工程,有助于连续油管在水平井段下入更长距离的牵引器。 The present invention belongs to the field of oil and gas field development, it relates to coiled tubing drilling, workover for engineering help coiled tubing at a longer distance into the horizontal section of the tractor. 电机驱动连续油管井下牵引器包括上牵引器系统、六方中心滑管、下牵引器系统;上牵引器系统包括上支撑单元、上电驱动与控制单元、上牵引单元;上牵引器系统和下牵引器系统结构相同,分别套在六方中心滑管的上部和下部,安装方向相同或相反。 Motor drive coiled tubing downhole tractor comprising a tractor system, a hexagonal central slide tube, traction system; traction system comprises a support unit, the electric drive and control unit, a traction unit; traction on the system and traction system of the same configuration, respectively, set at upper and lower central slide hexagonal tube, the same or opposite the mounting direction. 本发明直接通过伺服步进电机来进行驱动控制,减少了利用循环液驱动时对液能的依赖性和利用循环液液压阀控制管路的复杂性,节省大部分液压管路占据的空间;牵引器能双向牵引、稳定性好、牵引灵活,牵引速度快;牵引器可适用于小井眼井下牵引作业,牵引过程中能保证正常的井下液体循环。 The present invention is directed to a stepping motor by a servo drive control, it reduces the complexity of fluid and energy dependence of the circulating fluid using a hydraulic valve control line drive utilizing the circulating fluid, most of the hydraulic lines to save space occupied; traction is capable of bi-directional traction, stability, traction and flexible, fast take-up speed; slimhole tractor may be adapted to work as a downhole tractor traction process can guarantee the normal downhole fluid circulation.

Description

—种电机驱动连续油管井下牵引器 - kind of motor-driven downhole coiled tubing tractor

技术领域 FIELD

[0001] 本发明属于油气田开发领域,具体地,涉及一种用于连续油管钻井、测井、修井工程,有助于连续油管在水平井段下入更长距离的牵引器。 [0001] The present invention belongs to the field of oil and gas field development, in particular, to a coiled tubing drilling, workover for engineering help coiled tubing at a longer distance into the horizontal section of the tractor.

背景技术 Background technique

[0002]由于连续油管用途非常广泛:可用来作清洗管线冲洗砂堵、清蜡、选择性酸化、气举求产、挤水泥封堵、压井、负压射孔、试井、驱替钻井液、大斜度井测井、水平井测井、完井、打捞、起下坐封膨胀式分割器、钻塞、磨削落鱼、永久性安装作为生产管、井底摄像、小经验钻井、二次钻井和加深钻井、套管开窗侧钻、油管补贴等,可以进行水平井钻井、下套管井钻井、裸眼井钻井、加深钻井、小井眼钻井、微小井眼钻井、老井开窗侧钻、欠平衡钻井以及修井、完井等作业;连续油管钻井具有低成本、低能耗、安全环保、应用范围广泛等特点,能够提高老油田、“低压、低渗、低产”三低油气藏等难动用油气藏的开发效益,尤其是在我国的非常规气藏、致密气、页岩气及煤层气等的勘探开发方面,有着广泛的应用前景。 [0002] Because the coiled tubing very versatile: can be used for cleaning the pipeline flush sand plug, wax, selective acidification, producing gas lift requirements, squeeze cement block, killing, underbalanced perforating, well testing, displacing drilling liquid, logging highly deviated wells, horizontal well logging, completion, salvage, inflatable packer from the divider, drilling plug, grinding off the fish, permanently installed as a production tubing, downhole imaging, drilling small experience secondary drilling and deeper drilling, sidetracking casing, tubing and other subsidies, can be horizontal drilling, casing drilling, open hole drilling, deeper drilling, slim hole drilling, MHT, old wells window sidetracking, underbalanced drilling and workover, and other completion operations; coiled tubing drilling has low cost, low power consumption, safety and environmental protection, a wide range of applications, etc., can be improved old oil field, "low pressure, low permeability, low-yield" three low oil Tibetan and other hard - to develop effective oil and gas reservoirs, especially in our unconventional gas, tight gas, shale gas and coal bed methane exploration and development, has a wide range of applications. 但连续油管井下作业技术存在着急需解决的问题:其一、钻井时连续油管在井眼中不旋转,下放遇阻严重,钻压施加困难。 However, coiled tubing downhole operation technology there are urgent problems: First, do not rotate when the coiled tubing drilling in the wellbore, decentralization Difficult serious, difficult drilling pressure is applied. 其二、连续油管井下遇阻,延伸井眼长度受限,尤其是在钻大斜度井、定向井、水平井、深井时,连续油管井下滑动遇阻问题更为严重。 Second, Difficult downhole coiled tubing, extending the borehole length limited, particularly in drilling highly deviated wells, directional wells, horizontal wells, when the deep well, coiled tubing downhole sliding resisted more serious problems. 为解决这些问题,石油钻采行业设计了多种井下牵引器, To solve these problems, the oil drilling industry designed a variety of downhole tractor,

[0003] 井下牵引器即井下爬行器,也叫井下爬行机构、井下拖拉机、井下牵引机器人、井下水力加压器、井下钻头推进器等,是一种能在井底提供牵引力的一种井下工具。 [0003] A downhole tractor that is Downhole Tractor, also called creeping underground organization, underground tractors, downhole tractor robot, underground water pressure, a downhole drill propeller, is capable of providing traction at the bottom of a downhole tool . 井下牵引器按其运动原理可分为滚轮爬行式、履带爬行式(链轨式)和抓靠臂伸缩滑动式(步进式)三种,其中轮式出现最早,伸缩式次之,履带式最晚。 A downhole tractor can be divided according to their principle of motion roller crawling, crawling track (caterpillar type) and grip (stepper) three telescopic sliding against the arm, wherein the first wheel occurs, followed by telescopic crawler latest. 牵引爬行器按其能量来源可分为连续管式(Coiled Tubing Tractor)、电缆式(Wireline Tractor)和连续管电缆混合式三种。 Crawler tractor can be divided according to their energy source a continuous tube (Coiled Tubing Tractor), cable formula (Wireline Tractor) and mixed three continuous tubular cable. 其中连续管式牵引爬行器在其尾部连接有连续管,地面通过连续管泵入高压液体,高压液体驱动牵引爬行器内部涡轮机构,为整个牵引爬行装置提供能量。 Wherein a crawler tractor continuous tubular continuous tube connected at its tail, ground into a continuous tube by high-pressure liquid pumps, high pressure liquid inside the drive crawler tractor turbine to provide energy for the entire crawler traction device. 电缆式牵引爬行机构则是通过连接在其尾部电缆从地面获得能量。 Cable traction creep mechanism is connected by its cable tails energy from the ground. 连续管电缆混合式牵引爬行机构则既可通过地面泵入高压液体提供能量驱动,又可以通过电缆输送电能驱动。 Hybrid traction cable coiled tubing creep mechanism can provide the energy into the ground by high pressure liquid pump drive, and can be driven by supplying electric power cable.

[0004] 20世纪90年代后期,国外许多公司相继开发了能够在井下独立作业的水平井牵引装置(也就是电缆牵引器)。 [0004] 20 In the late 1990s, many foreign companies have developed a horizontal well can work independently in the underground traction device (ie, cable pullers). 经过多年的发展,到目前为止,有代表性的牵引器产品主要包括:丹麦Welltec公司Well Tractor轮式牵引器,英国Sondex有限公司的Sondex轮式牵引器,挪威Maritime Well Service (MWS)公司的PowerTrac Advance轮式牵引器、PowerTrac INVADER履带式牵引器,英国ExproGroup公司的SmarTract伸缩式牵引器、法国Schlumberger 公司的MaxTRAC 伸缩式牵引器、美国Western Well Tool 公司的MicroholeDrilling Tractor 伸缩式牵引器。 After years of development, so far, representative traction products mainly include: Danish company Welltec Well Tractor wheeled tractor, Ltd. of the United Kingdom Sondex Sondex wheeled tractor, the Norwegian Maritime Well Service (MWS) company PowerTrac Advance wheeled tractor, PowerTrac INVADER crawler tractor, UK ExproGroup company SmarTract telescopic tractor, the French company Schlumberger MaxTRAC telescopic traction, US Western Well Tool's MicroholeDrilling tractor telescopic tractor. 其中美国Western Well Tool 公司的MicroholeDrilling Tractor伸缩式牵引器是连续油管式的靠地面高压钻井液驱动的、可用于小井眼的牵引器,工作时可保持有效地钻井液循环;其余的牵引器大都是轮式或履带式,外围尺寸较大,只适用于大直径井眼,用电缆或钢丝绳连接,电驱动,牵引力较小,工作时不能进行有效的钻井液循环,一般限于测井行业的应用。 Wherein the American company Western Well Tool tractor MicroholeDrilling Tractor telescopic tubing is a continuous-type high-pressure drilling fluid is driven against the ground, it can be used for slimhole tractor, drilling fluid circulation may be maintained effectively work; remaining mostly tractor wheeled or tracked, large external dimensions, only for large diameter borehole, cable or rope connected to the electric drive, the traction force is small, can not work effectively when drilling fluid circulation, it is generally limited to the use of the logging industry.

[0005] 但无论是那种牵引器,对国内而言,国外都采取了严格的技术保密措施,致使国内对井下牵引器的研宄还处于刚刚起步的阶段:自2002年8月,塔里木油田通过技术合作的方式,采用井下牵引器技术进行了水平井产业剖面测井的探索,取得了一定的效果。 [0005] But whether it is the kind of traction, for domestic and overseas have adopted stringent technical security measures, resulting in domestic study based on downhole tractor is still in its infancy stage: Since August 2002, the Tarim Oilfield by way of technical cooperation, the use of downhole tractor technology for the exploration industry profile logging horizontal wells, and achieved certain results. 此后,国内的少数科研院所也相继开展了井下牵引器的研宄,主要有中国石油大学、哈尔滨工业大学、西南石油学院、大庆石油学院、西安石油大学等,也申请了一些牵引器的专利,但这些牵引器或多或少的存在一些缺点,并且大都局限于利用循环液压进行驱动控制,没有直接用伺服步进电机进行牵引器驱动与控制的,不能较好的满足井下作业的要求。 Since then, a small number of domestic research institutes have also carried out a study based on downhole tractor, mainly China Petroleum University, Harbin Institute of Technology, Southwest Petroleum Institute, Daqing Petroleum Institute, Xi'an Petroleum University, also applied for a patent of some tractor , but the presence of such more or less traction some drawbacks and mostly limited by the circulation drive hydraulic pressure control is not performed and drive control of the tractor, can not meet the requirements better downhole operation a servo stepping motor directly.

[0006] 中国石油大学高进伟、刘猛等人在文献(高进伟,刘猛,闫相祯.水平井井下轮式自适应管道爬行器:中国)中提出了一种轮式拖动器的结构方案,并申请了实用新型专利(200520008070.8.2006-08-16,套管水平井测井牵引器变径牵引装置);哈尔滨工业大学也研制了一款电缆轮式拖动器(唐德威,王新杰,邓宗全.水平油井检测仪器拖动器.哈尔滨工业大学学报.2007,39 (9):1395-1397),并进行了地面试验;西安石油大学朱林、吴松平自行设计了一种轮式牵引器(朱林,吴松平.水平井测井仪器牵引爬行器的设计.新技术新工艺,2007,(12):32-34);辽河石油勘探局提出了具有自主知识产权的轮式牵引器(200720190260.5,套管水平井测井牵引器变径牵引装置),并且2008年长城钻探测井公司在辽河油田的四口水平井对其研制的牵引器进行了的井下试验,还有些其他科研院所也进行了轮 [0006] The Chinese University of high oil into Wei Liu Meng et al. In (high feed Wei Liu Meng, Yan Chen horizontal Downhole Wheel adaptive pipeline crawler: China) proposes a configuration scheme wheel draggers and patent application for utility model (200520008070.8.2006-08-16 sleeve distractor horizontal well logging adjustable traction device); Harbin Institute of Technology also developed a control cable drag wheel (Tang Dewei MID - DENG Zong full horizontal. oil well testing equipment draggers Harbin Institute of Technology Journal .2007,39 (9): 1395-1397), and conducted ground tests; Xi'an petroleum University, Zhu Lin, Wusong Ping to design a wheel tractor (Zhu Lin, Wu . Matsudaira horizontal well logging instrument crawler tractor design new technologies and processes, 2007, (12): 32-34); Liaohe petroleum exploration Bureau proposes wheeled tractor with independent intellectual property rights (200,720,190,260.5, casing water. Hirai logging tractor adjustable traction device), and in 2008 the Great Wall drilling company of Liaohe Oilfield logging four horizontal wells have been developed by its tractor underground tests, and some other research institutes have also been round 牵引器相关方面的研宄,但这些牵引器都有一些共同点:都是轮式牵引器,都是电缆连接无循环,都是测井、修井等牵引力不大的井下作业用牵引器,因此存在很多缺陷,主要缺陷如下:(一)轮式牵引器整体结构不紧凑,外径尺寸大,只适用于大直径井眼,不能适用于小井眼井下牵引作业,适应管径能力有限;(二)依靠电缆或钢丝绳连接的电驱动,不能有效连接连续油管靠地面液压进行驱动和实现有效的钻井液循环;(三)牵引力较小,只适用于牵引测井电缆或钢丝绳等;(四)大部分不能实现双向驱动。 Traction study based on the relevant aspects of the device, but these retractors have something in common: both are wheeled tractor, no cable connections are circulating, all logging, workover and other underground work has little traction with traction, Thus there are many defects, a major drawback as follows :() wheeled tractor less compact overall structure, a large outer diameter is only applicable to the large diameter borehole, is not applicable to a downhole tractor slimhole operation, the diameter is limited capacity to adapt; ( b) an electrical cable or rope connected to rely on driving, coiled tubing can not be linked to achieve efficient driving and circulating the drilling fluid by a hydraulic surface; (iii) small traction, traction is only applicable to a wireline or wire rope; (iv) most can not achieve the two-way drive.

[0007] 大庆石油学院邵守君、常玉连提出了一种涨闸活塞式行走的伸缩式拖动器(邵守君.基于虚拟样机的石油井故障探测机器人研宄.大庆石油学院硕士论文.2007:5〜7)主要由电气组件、液压组件、上支撑行走组件、下支撑行走组件及探测组件组成,通过电磁换向阀对四个液压缸控制,使上、下支撑行走组件实现按要求的交替撑紧或收回,伸出与缩进,从而实现自主行进,但该牵引器存在很大的缺陷:(一)牵引力较小,理论最大值仅5000N,只适用于牵引测井电缆或钢丝绳等,无法实现牵引连续油管进行井下作业; [0007] Daqing Petroleum Institute Shaoshou Jun, Sanyu even made telescopic draggers (Shaoshou Jun petroleum wells fault detection robot study based on virtual prototype based on a piston walking up gates master's thesis Daqing Petroleum Institute .2007: 5 ~ 7) mainly consists of electrical components, hydraulic assembly, the support assembly walking, walking the lower support and the probe assembly components, the solenoid valve controls four hydraulic cylinders, the upper and lower support assembly to achieve the required traveling alternating struts tight or withdrawal out of the indentation, in order to achieve independent travel, but there is a big drawback to this small tractor :( a) traction, the theoretical maximum only 5000N, applies only traction logging cable or wire rope, etc., can not be the traction of downhole coiled tubing operations;

(二)用连接电缆给电气组件供电来驱动电机使液压机构进行工作,牵引器中没有提供钻井液循环通道,无法实现作业过程中井下液体与地面的有效循环;(三)支撑系统和导向轮部分采用连杆机构,使得结构不紧凑,牵引器外径较大,能适用的井眼直径范围有限(Φ90-Φ 130mm)。 (B) connection to an electrical supply cable to the drive motor assembly work of the hydraulic mechanism, the tractor does not provide drilling fluid circulation passage, can not achieve effective circulating downhole fluid during operation with the ground; (iii) and the guide wheel support system using part of the link mechanism, so that the structure is not compact tractor larger outer diameter, can be applied to a limited range of the diameter of the borehole (Φ90-Φ 130mm).

[0008] 西南石油大学祝效华、胡志强、石昌帅等申请的(201110081197.2,连续油管爬行器及其爬行方法)连续油管爬行器及其爬行方法是由前爬行装置、控制器和后爬行装置组成,虽然是采用连续油管连接,利用地面液压装置进行驱动,但是该专利明显存在不足之处:(一)牵引部分采用上下两个牵引液缸进行牵引驱动和控制,使得牵引部分过长,支撑机构采用单液缸驱动和弹簧复位装置,使得牵引器液压管路复杂,最小适用井眼直径较大,不适合在小井眼中牵引前进;(二)由于连续油管井下作业使连续油管内循环压耗较大,采用纯液压驱动和控制,对牵引器内外压差最小值有一定要求,只有地面泵压达到一定值以后才能驱动牵引器正常工作,使得该牵引器对地面压力依赖性比较大,牵引控制不灵活; [0008] Zhu Xiaohua, Hu, Shi Chang Shuai et APPLICATIONS Southwest Petroleum University (201110081197.2, coiled tubing crawler and crawler method) coiled tubing crawler and crawler is a front crawler apparatus, the controller, and the crawler unit composition, although continuous tubing connector, ground driven using hydraulic means, but this patent evident deficiencies :( a) pulling up and down portions of two cylinders traction control and traction drive such that the lead portion is too long, the supporting mechanism with a single solution and spring return cylinder driving means, such that the tractor hydraulic circuit complexity, the minimum applicable diameter larger borehole, the traction is not suitable for advancing the eyes of wells; (b) due to the continuous circulating operation downhole tubing inner coiled tubing pressure loss is large, using purely hydraulic drive and control, pressure inside and outside of the tractor have certain minimum requirements, only the ground to drive the pump pressure reaches a predetermined value after the tractor is working properly, so that the ground pressure of the tractor on the dependence is relatively large, the traction control is not flexible;

(三)只是提出用液压进行驱动控制概念,但并未给出具体的液压驱动与控制的管路实施方案;(四)支撑机构采用撑杆结构,使得牵引器最小适用井眼直径较大,不适合在小井眼中牵引作业; (Iii) be made only with the concept of a hydraulic drive control, but did not give a specific embodiment of a hydraulic drive and control line; and (iv) using the strut structure supporting mechanism, such that the minimum applied tractor larger diameter borehole, wells not suitable to tow the eyes;

发明内容 SUMMARY

[0009] 为克服现有技术的缺陷,本发明的目的在于提供一种电机驱动连续油管井下牵引器,其利用四个伺服电机有效的驱动与控制牵引器在井下牵引连续油管柱顺利下入和取出,解决了因井下连续油管摩阻较大,下入和取出连续油管困难等技术难题,使连续油管在井下能延伸更长。 [0009] To overcome the disadvantages of the prior art, an object of the present invention is to provide a motor-driven downhole coiled tubing tractor, which effectively utilizes four servo motor drive and control the tractor pulling the coiled tubing string into the well and downhole taken to solve large friction due to downhole coiled tubing, the coiled tubing into and withdrawn difficult technical problems such as the coiled tubing downhole to extend longer.

[0010] 为了达到上述目的,本发明采用如下的技术方案: [0010] To achieve the above object, the present invention adopts the following technical solution:

[0011] 一种电机驱动连续油管井下牵引器包括上牵引器系统,包括上牵引器系统、六方中心滑管、下牵引器系统;上牵引器系统和下牵引器系统分别套在六方中心滑管的上部和下部。 [0011] A motor drive comprising a coiled tubing downhole tractor traction control system, comprising a traction system, central hexagonal pipe slide, traction system; traction on the traction system and a lower hexagonal system are set in the center of the slide tube the upper and lower portions.

[0012] 优选地,六方中心滑管中间有中空圆形的循环水眼、外部呈正六边形,在六方中心滑管上部与上牵引单元对应位置和下部与下牵引单元对应位置分别设有上突出法兰、下突出法兰;上六方中心滑管螺杆和下六方中心滑管螺杆分别通过螺栓装配在上突出法兰、下突出法兰上。 [0012] Preferably, the central hexagonal intermediate slide tube with a hollow circular circulating water hole, the external form of a regular hexagon, the hexagonal central slide tube on the upper portion of the traction unit and corresponding to the lower position and a lower position corresponding to the drawing unit are provided on projecting flange, the flange projecting; a hexagonal central screw and the slide tube at the center of a hexagonal screw using bolts slide pipe fitted on the projecting flange on the lower projecting flange.

[0013] 优选地,上牵引器系统、下牵引器系统结构相同,在六方中心滑管上的安装方向相同或相反。 [0013] Preferably, the traction system, the traction system of the same configuration, the same or opposite directions is mounted on the slide tube in the center of the hexagonal.

[0014] 优选地,上牵引器系统从上到下依次包括上支撑单元、上电驱动与控制单元和上牵引单元。 [0014] Preferably, the traction system comprises, in order from top to bottom on the support unit, the electric drive unit and the control unit on the tractor.

[0015] 优选地,上支撑单元包括上卡瓦支座、上卡瓦壳体、上卡瓦、上卡瓦锁紧滑块、上卡瓦伸缩杆、上螺杆推进滑块;上卡瓦支座为轴向具有正六边形孔的圆柱体,上卡瓦支座套在六方中心滑管上并可以相对六方中心滑管作轴向滑动;在上卡瓦支座的正六边形孔的下端具有内螺纹,在上卡瓦支座底端的外部沿周向均布有三个上卡瓦支座滑孔插销总成;上卡瓦壳体为具有正六边形孔的圆柱体,上卡瓦壳体套在六方中心滑管上并可以相对六方中心滑管作轴向滑动;在上卡瓦壳体的上端具有外螺纹,上卡瓦壳体与上卡瓦支座通过螺纹连接成整体,并套在六方中心滑管上,可以相对六方中心滑管作轴向滑动;在上卡瓦壳体的中部沿圆周方向均布有三个上卡瓦壳体滑孔插销总成,上卡瓦壳体滑孔插销总成与上卡瓦支座滑孔插销总成上下对应;上卡瓦具有三个 [0015] Preferably, the support unit includes upper slip carrier, the slip housing, upper slip, the locking slide slips, the slips telescopic rod, the slider advancing screw; upper slip support axial cylindrical seat having a regular hexagonal hole on the upper slip sleeve hexagonal central support tube and can slide relative to the center of a hexagonal tube slide axially slidable; regular hexagonal hole in the lower end of the slip bearing has an internal thread, are evenly distributed to the three pin slide hole cartridge holder slips along the external circumference of the bottom end of the upper slip carrier; upper slip housing having a cylinder bore of a regular hexagon, the upper slip sleeve housing hexagonal slide tube on a hexagonal central hub and may be relatively axially slidable slide tube; has an external thread at the upper end of the slip housing, upper slip support housing and upper slips are integrally connected by a screw, and the sleeve the hexagonal central slide tube, the tube can slide relative to the center of the hexagonal slide axially; in the middle in the circumferential direction on the slip housing are evenly distributed on three slips slide hole housing the latch assembly, the slip housing slide hole the latch bolt assembly and the upper slip assembly of the vertical support corresponding to the slide hole; upper slip having three ,三个上卡瓦沿上卡瓦壳体周向均匀分布,上卡瓦上端通过上卡瓦支座滑孔插销总成与上卡瓦支座连接,上卡瓦下端通过上卡瓦壳体滑孔插销总成与上卡瓦壳体相连接;上卡瓦支座滑孔和上卡瓦壳体滑孔均为长形孔,从而使得上卡瓦在张开和收缩时滑孔插销在长形孔中具有一定的轴向位移空间;上卡瓦壳体在外圆周方向均匀设有三个沿轴向的滑槽,滑槽的下端设有上卡瓦伸缩杆孔,上卡瓦伸缩杆孔的下端设置有上螺杆推进滑块空腔,上螺杆推进滑块空腔下端设有上螺杆定位孔,上螺杆定位孔下端设置上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环、上控制模块的安装空腔;三个上卡瓦锁紧滑块分别装在三个滑槽中,上卡瓦锁紧滑块的下端与上卡瓦伸缩杆相连接;上卡瓦伸缩杆装在上卡瓦伸缩杆孔中,上卡瓦伸缩杆下端与上螺杆推进滑块相连 , Three slips along the upper slip housing circumferentially uniformly distributed, the upper end of the slide hole kava kava bearing pin connected to the upper slip assembly by abutment on the lower end of the upper slip through the slip housing pin slide hole connected to the upper slip assembly relative to the housing; the upper slip carrier housing slide hole and the upper slip slide hole are elongate holes, so that the pin slide hole in the upper slip expand and contract when elongated hole having a certain axial displacement space; slips on the outer circumferential direction of the housing is provided with a uniform three slide in the axial direction, the lower end of the chute is provided on the telescopic rod bore slips, the slips on the telescopic rod holes the lower end is provided with a screw advancing slide cavity, the cavity ring fixing screw propulsion motor is provided on the lower end of the slider positioning screw holes, positioning holes on the lower end of the screw spindle drive is provided on the rotor, the motor slip drive modules, on installation cavity on the control module; three on the locking slide slips were installed in three chutes, the upper slip locking slide is connected to the lower end of the telescopic rod slips; upper slip means extendable rod on the telescopic rod bore slips, the slips on the lower end of the extendable rod connected to the screw advancing slider .

[0016] 优选地,上电驱动与控制单元从上到下依次包括上螺杆、上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环、上控制模块;三个上螺杆纵向定位在上卡瓦壳体的三个上螺杆定位孔中,上螺杆的上端与上螺杆推进滑块通过螺纹传动连接,上螺杆的下端与上螺杆驱动转子通过齿轮连接,上卡瓦驱动电机模块固定连接并驱动上螺杆驱动转子;上卡瓦驱动电机模块通过上电机固定环固定在上卡瓦壳体内,上螺杆、上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环和上控制模块均装在上卡瓦壳体的空腔内;上卡瓦壳体的下端设有内螺纹。 [0016] Preferably, the electric drive and control unit comprises, in order from top to bottom on the screw, screw drive rotor, the drive motor module slips, ring fixed on the motor, the control module; three longitudinally positioned on the screw three slip positioning hole housing the screw, the upper end of the screw and the screw drive propulsion slider by a threaded connection, the lower end of the screw and the screw rotor is connected through a gear drive, the motor module is fixedly connected to the drive slip and driving the drive screw rotor; upper slip on the motor module driving motor fixing ring is fixed on the slip housing, screw, screw drive rotor, the motor slip drive module, and the motor control module are installed on the fixed ring upper slip within the cavity of the housing; the lower end of the slip housing is provided with an internal thread.

[0017] 优选地,上牵引单元包括上牵引驱动电机、上牵引壳体、上牵引转子、上牵引壳体支座;上牵引壳体为上端带有六方孔的中空圆柱体,上牵引壳体可以相对六方中心滑管作轴向滑动,上牵引壳体的上端具有外螺纹、下端具有径向定位插销螺孔,上牵引壳体的上端与上卡瓦壳体的下端通过螺纹连接;上牵引壳体空腔中的上端固定上牵引驱动电机,上牵引驱动电机下端连接并驱动上牵引转子,上牵引转子内腔加工有上牵引转子螺母,上牵引转子螺母与上六方中心滑管螺杆传动连接;上牵引壳体支座为带有六方孔的中空圆柱体,上牵引壳体支座上端带有径向定位插销螺孔,上牵引壳体支座可以相对六方中心滑管作轴向滑动;上牵引壳体下端与上牵引壳体支座通过径向定位插销连接;上控制模块可通过扭矩的大小、和转数的多少对上牵引驱动电机和上 [0017] Preferably, the traction on the traction means comprises a drive motor, the traction housing, the rotor traction, traction housing support; traction housing a hollow cylinder with a hexagonal socket on the upper end of the upper housing traction relative to the center of a hexagonal tube can slide axially slidable, the upper housing traction externally threaded lower end having a radial positioning pin holes, pulling the upper end of the housing by a threaded connection to the lower end of the slip housing; traction a fixed upper housing cavity traction drive motor, the traction drive motor connected to the lower end of the traction drive and a rotor with a lumen processing on the traction on the traction of the rotor nut, the nut on the pull rotor central hexagonal screw driven slide tube connector ; traction abutment on the housing is a hollow cylinder with a hexagonal bore, an upper housing traction abutment with a radial positioning pin holes, pulling the support housing may be relatively central hexagonal pipe axially slidable spool; traction housing lower housing and the upper support are connected by traction radial alignment pins; and a control module on a traction drive motor and the number of adopted, and the number of revolutions of the magnitude of torque 卡瓦驱动电机模块进行控制。 Drive motor control module slips. 上控制模块可根据上卡瓦驱动电机模块的正反旋转方向、转速的大小、转数的多少、扭矩的大小分别对牵引器支撑系统的卡瓦是张开还是闭合、卡瓦张开和闭合的速度、卡瓦张开和闭合的程度、卡瓦支撑力的大小进行控制;上控制模块可根据上牵弓I驱动电机的正反旋转方向、转速的大小、转数的多少、扭矩的大小分别对牵引器上牵引单元和下牵引单元向的上牵引和向下的牵引方向、牵引速度的大小、牵引位移的大小、牵引力的大小进行控制。 The control module may reverse the rotational direction of the motor slip drive module, the size of the rotational speed, the number of number of revolutions, the magnitude of the torque, respectively the tractor slip support system is open or closed, open and close the slips for speed, the degree of opening and closing of the slips, the slips magnitude of the supporting force control; a control module on a reverse drive I pull bow according to the direction of motor rotation, the size of the number of the speed, number of revolutions, the magnitude of the torque respectively, the size of the traction means on the tractor unit and to the traction direction of the traction and downward traction, traction speed, the traction size of the displacement, the size of the traction control.

[0018] 优选地,上卡瓦和上卡瓦锁紧滑块加工有相互配合的倾斜面,斜面的角度能保证在上卡瓦锁紧滑块向上移动时滑动膨胀开上卡瓦;上卡瓦具有一定的弹性,能在上卡瓦锁紧滑块的作用下膨胀开,在外力消除情况下闭合。 [0018] Preferably, the locking slide kava kava and upper inclined surface cooperating with a machining of the bevel angle is moved upward to ensure that the opening of the expansion slips locking slide slidable on the slip; card W has a certain elasticity, expansion can open under the effect of slip on the locking slide, the closure in the case where external force is removed.

[0019] 本发明与现有技术相比,本发明具有如下优点: [0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1、每个直接通过伺服步进电机来进行驱动,减少了利用循环液驱动时对液能的依赖性,无论有无循环液能,只要能通电,都能够在井下进行牵引爬行:国内研宄的牵引器主要侧重液压驱动的轮式和伸缩式,对液压依赖性较高,驱动系统比较复杂; [0020] 1, each directly driven by a servo stepping motor, reducing the dependency of the driving circulating fluid utilizing fluid energy, with or without the circulating fluid can, as long as power, can be pulled downhole crawl: domestic study based mainly focused tractor wheel hydraulic drive and telescopic, hydraulic high dependence of the driving system is more complex;

[0021] 2、直接通过伺服步进电机来进行控制,包括抓紧卡瓦张开程度、抓紧力的大小,牵引爬行的距离、牵引力的大小:每个伺服步进电机直接控制一个动作,控制简单,减少了利用循环液液压阀控制管路的复杂性,并能节省大部分液压管路占据的空间; [0021] 2, is performed directly by a servo stepping motor control, including slip grip opening degree, the size of the gripping force of traction from crawling, traction size: each servo stepping motor directly controls the operation of a simple control , reduces the complexity of the circulating fluid using a hydraulic valve control line, and can save the space occupied by most of the hydraulic lines;

[0022] 3、每个上牵引器总成中有三个抓紧卡瓦成轴向均布,使牵引器不容易翻转,稳定性好; [0022] 3, each traction assembly there are three gripping slips axially uniform, the traction is not easily turned over, and good stability;

[0023] 4、牵引灵活,牵引速度快:直接用伺服步进电机驱动控制,而且中间传动结构较少,使得牵引器上下牵引的灵活性和速度快慢很大程度取决于伺服步进电机控制的灵活性和速度,而伺服步进电机控制相对比较方便灵活,速度控制范围大,因此用伺服步进电机控制的牵引器牵引灵活,牵引速度快; [0023] 4, the traction flexible, fast pulling speed: direct drive servo stepper motor control, and low intermediate transmission structure, so that the flexibility and speed of the tractor pulling down speed largely depends on the stepper motor servo control flexibility and speed, and the servo control of the stepping motor is relatively convenient and flexible, a large speed control range, thus servo-controlled stepping motor tractor pulling a flexible, fast drawing speed;

[0024] 5、牵引器可适用于小井眼井下牵引作业:国内很多牵引器的支撑系统采用连杆支撑结构或管轮式结构,使得最小适用井眼直径较大,不适用于小直径井眼牵引作业,本发明牵引器采用的支撑单元是斜面滑动外推卡瓦膨胀式结构,支撑部分较紧凑,可适用于较小直径的井下牵引作业; [0024] 5, tractor applied to a downhole tractor slimhole job: many domestic tractor support linkage system using a wheel support structure or tube structure, such that the larger the minimum applicable diameter of the borehole is not suitable for small diameter borehole traction job support unit retractor of the present invention uses a slide ramp extrapolated expandable slips structure, the support portion more compact, applicable to smaller diameter downhole tractor operations;

[0025] 6、牵引过程中能保证正常的井下液体循环:国内大部分牵引器是测井牵引器,工作中不能保证正常钻井液或洗井液循环,本发明牵引器预留内循环通道,在井下作业过程中能有效保证流体循环。 [0025] 6. The traction process can ensure the normal downhole fluid circulation: Most domestic tractor is logging tractor, work can not guarantee the normal circulation of drilling fluid or flushing fluid, the present invention is reserved retractor circulation path, during operation in a downhole fluid circulation can be effectively guaranteed.

附图说明 BRIEF DESCRIPTION

[0026] 图1为电机驱动连续油管牵引器主视示意图; [0026] FIG coiled tubing tractor drive motor is a schematic front view;

[0027] 图2为电机驱动连续油管牵引器俯视示意图; [0027] FIG. 2 is a motor driving a schematic top view of a coiled tubing tractor;

[0028] 图3a为电机驱动连续油管牵引器上卡瓦张开时上半部分沿图2中A_A剖面示意图; [0028] 3a on FIG motor drive coiled tubing tractor flared upper slip when in half along a schematic cross-sectional view A_A 2;

[0029] 图3b为电机驱动连续油管牵引器上卡瓦闭合时上半部分沿图2中AA剖面示意图; [0029] Figure 3b is the motor driving the traction on coiled tubing slip closed halves along line AA in FIG. 2 a schematic cross-sectional view;

[0030] 图4为电机驱动连续油管牵引器沿图3中BB截面示意图; [0030] FIG. 4 is a coiled tubing tractor motor driving a schematic cross-section BB in Figure 3;

[0031] 图5为电机驱动连续油管牵引器沿图3中CC截面示意图; [0031] FIG. 5 coiled tubing tractor drive motor 3 is a schematic sectional view taken along the CC;

[0032] 图6为电机驱动连续油管牵引器沿图3中DD截面示意图; [0032] FIG. 6 is a coiled tubing tractor motor drive direction DD in FIG. 3 a schematic sectional view;

[0033] 图7为电机驱动连续油管牵引器沿图3中EE截面示意图; [0033] FIG. 7 is a coiled tubing tractor drive motor 3 a schematic sectional view taken along the EE;

[0034] 图8为电机驱动连续油管牵引器沿图3中FF截面示意图; [0034] FIG. 8 is a coiled tubing tractor drive motor 3 in a schematic sectional view taken along FF;

[0035] 图9为电机驱动连续油管牵引器沿图3中GG截面示意图; [0035] FIG. 9 is a coiled tubing tractor drive motor 3 is a schematic sectional view taken along GG;

[0036] 图1Oa为电机驱动连续油管牵引器上卡瓦和下卡瓦主视示意图; [0036] FIG 1Oa drive motor on coiled tubing slip and traction slip lower a schematic front view;

[0037] 图1Ob为电机驱动连续油管牵引器上卡瓦和下卡瓦俯视示意图; [0037] FIG. 1Ob motor drive coiled tubing tractor kava kava and the schematic plan view;

[0038] 图1la为电机驱动连续油管牵引器下卡瓦张开时下半部分沿图2中AA剖面示意图; [0038] FIG 1la schematic bottom half along sectional line AA in FIG. 2 when the motor drive coiled tubing tractor lower slip opened;

[0039] 图1lb为电机驱动连续油管牵引器下卡瓦闭合时下半部分沿图2中AA剖面示意图; [0039] FIG 1lb when coiled tubing tractor motor drive slip closed at the lower half of a schematic cross-sectional view along line AA in FIG 2;

[0040] 图12a为电机驱动连续油管牵引器上牵引器系统和下牵引器系统安装方向向下主视不意图; [0040] FIG 12a to drive the traction system on the tractor and coiled tubing system mounting direction is a front view downward traction motor is not intended to be;

[0041] 图12b为电机驱动连续油管牵引器上牵引器系统和下牵引器系统安装方向相对主视不意图; [0041] Figure 12b is a motor drive system and a mounting direction of the tractor traction system on the tractor relative to the coiled tubing is not intended front view;

[0042] 图12c为电机驱动连续油管牵引器上牵引器系统和下牵引器系统安装方向向上主视不意图。 [0042] FIG 12c is a direction of a motor drive system mounted on a tractor tractor and coiled tubing system of the tractor front view upwardly is not intended.

[0043] 图中:1、上牵引器系统,2、六方中心滑管,3、下牵引器系统;11、上支撑单元,12、上电驱动与控制单元,13、上牵引单元;21、上六方中心滑管螺杆,22、上突出法兰,23、下六方中心滑管螺杆,24、下突出法兰;31、下支撑单元,32、下电驱动与控制单元,33、下牵引单元;111、上卡瓦支座,112、上卡瓦支座滑孔插销总成,113、内螺纹,114、上卡瓦壳体,115、上卡瓦,116、上卡瓦锁紧滑块,117、上卡瓦伸缩杆,118、上卡瓦壳体滑孔插销总成,119、上螺杆推进滑块;121、上螺杆,122、上螺杆驱动转子,123、上卡瓦驱动电机模块,124、上电机固定环,125、上控制模块;131、上牵引驱动电机;132、上牵引壳体,133、上牵引转子,134、上牵引转子螺母,135、上牵引壳体支座;311、下卡瓦支座,312、下卡瓦支座滑孔插销总成,313、内螺纹,314、下卡瓦壳体 [0043] FIG: 1, the traction system, 2, hexagonal central slide tube, 3, traction system; 11, the support unit 12, the electric drive and control unit 13, the tractor unit; 21, the slide tube central hexagonal screw 22, the projecting flange 23, the center of the hexagonal screw slide tube 24, the projecting flange; 31, lower support means 32, the electric drive and control unit 33, traction unit ; 111, upper slip support 112, upper slip carrier slide hole bolt assembly 113, internal threads 114, the upper slip housing 115, upper slips 116, slips on the locking slide , 117, upper slip telescopic rod 118, the upper slip assembly pin slide hole of the housing 119, the slider advancing screw; 121, screw 122, the screw drive rotor 123, the drive motor module slips , 124, the motor fixing ring 125, the control module; 131, the traction drive motor; 132, upper housing traction, 133, pulling on the rotor 134, the rotor traction nut 135, upper housing traction support; 311, lower slip support 312, lower slip support pin slide hole assembly 313, internal threads 314, lower slip housing ,315、下卡瓦,316、下卡瓦锁紧滑块,317、下卡瓦伸缩杆,318、下卡瓦壳体滑孔插销总成,319、下螺杆推进滑块;321、下螺杆,322、下螺杆驱动转子,323、下卡瓦驱动电机模块,324、下电机固定环,325、下控制模块;331、下牵引驱动电机,332、下牵引壳体,333、下牵引转子,334、下牵引转子螺母,335、下牵引壳体支座。 , 315, lower slips 316, slips under the locking slide 317, lower slip telescopic rod 318, lower slip housing pin slide hole assembly 319, a screw advancing slider; 321, a screw , 322, a screw driven rotor 323, the motor slip drive module 324, the motor fixing ring 325, under the control module; 331, traction drive motor 332, traction housing 333, rotor traction, 334, traction rotor nut 335, housing support traction.

具体实施方式 detailed description

[0044] 如图1-2所示,电机驱动连续油管井下牵引器,包括上牵引器系统1、六方中心滑管2、下牵引器系统3 ;上牵引器系统I和下牵引器系统3分别套在六方中心滑管2的上部和下部。 [0044] As shown, the motor drive 1-2 coiled tubing downhole tractor, a traction system includes a hexagonal central slide tube 2, 3 of traction system; traction system and a traction system I 3, respectively, set in the center of the hexagonal upper and lower slide tube 2.

[0045] 如图1-3所示,六方中心滑管2中间有中空圆形的循环水眼、外部呈正六边形,在六方中心滑管上部与上牵引单元13对应位置和下部与下牵引单元33对应位置分别设有上突出法兰22、下突出法兰24 ;上六方中心滑管螺杆21和下六方中心滑管螺杆23分别通过螺栓装配在上突出法兰22、下突出法兰上24;六方中心滑管2上端连接井下连续油管,下端连接井底钻具组合。 [0045] 1-3, a hexagonal center with a hollow slide tube intermediate circular circulating water hole, a regular hexagonal outer shape, in an upper central hexagonal pipe and slide on the traction unit 13 with the corresponding position and a lower traction unit 33 are provided at positions corresponding to the protruding flange 22, the projecting flange 24; a hexagonal central screw 21 and the slide tube at the center of the hexagonal slide tube 23 by a screw bolt fitted on the projecting flange 22, respectively, on the lower projecting flange 24; central hexagonal pipe 2 connected to an upper end of the slide downhole coiled tubing, connected to the lower end of the BHA.

[0046] 如图1所示,上牵引器系统I从上到下依次包括上支撑单元11、上电驱动与控制单元12和上牵引单元13。 [0046] As shown, the traction system comprises, in order from top to bottom I 1 on the supporting unit 11, and the drive power control unit 12 and the traction unit 13.

[0047] 如图1、图3、图4所示,上支撑单元11包括上卡瓦支座111、上卡瓦壳体114、上卡瓦115、上卡瓦锁紧滑块116、上卡瓦伸缩杆117、上螺杆推进滑块119 ;如图2、图3所示,上卡瓦支座111为轴向具有正六边形孔的圆柱体,上卡瓦支座111套在六方中心滑管2上并可以相对六方中心滑管2作轴向滑动;在上卡瓦支座111的正六边形孔的下端具有内螺纹113,在上卡瓦支座111底端的外部沿周向均布有三个上卡瓦支座滑孔插销总成112 ;如图3、图4所示,上卡瓦壳体114为具有正六边形孔的圆柱体,上卡瓦壳体114套在六方中心滑管2上并可以相对六方中心滑管2作轴向滑动;在上卡瓦壳体114的上端具有外螺纹,上卡瓦壳体114与上卡瓦支座111通过螺纹连接成整体,并套在六方中心滑管2上,可以相对六方中心滑管2作轴向滑动。 [0047] As shown in FIG 1, FIG 3, FIG. 4, the upper supporting unit 11 includes upper slip support 111, upper housing 114 slips, the slips 115, slips on the locking slide 116, the card W telescopic rod 117, the slider advancing screw 119; FIG. 2, FIG. 3, upper slip support 111 is a cylindrical body having a regular hexagonal axial hole, upper slip support 111 in a hexagonal center cover slip tube 2 and the center of a hexagonal relatively slide tube 2 to slide axially; outer circumferentially on a lower slip support 111 having a regular hexagon internally threaded bore 113 in the bottom end of the upper slip support 111 are evenly distributed to the three upper slip carrier latch assembly 112 slide hole; cylinders 3, FIG. 4, the upper housing 114 is a slip having a regular hexagonal hole, the upper slip sleeve housing 114 at the center of the hexagonal slide tube 2 and a hexagonal center relative to the slide tube can slide axially 2; having an external thread on the upper end of the slip housing 114, the housing 114 and the upper slip upper slip support 111 are integrally connected by screwing, and set in a hexagonal 2 slide on the central tube, the tube can slide relative to the center of a hexagonal 2 slide axially. 如图2、图3、图4所示,在上卡瓦壳体114的中部沿圆周方向均布有三个上卡瓦壳体滑孔插销总成118,上卡瓦壳体滑孔插销总成118与上卡瓦支座滑孔插销总成112上下对应;上卡瓦115具有三个,三个上卡瓦115沿上卡瓦壳体周向均匀分布,上卡瓦115上端通过上卡瓦支座滑孔插销总成112与上卡瓦支座111连接,上卡瓦115下端通过上卡瓦壳体滑孔插销总成118与上卡瓦壳体114相连接;上卡瓦支座滑孔和上卡瓦壳体滑孔均为长形孔,从而使得上卡瓦115在张开和收缩时滑孔插销在长形孔中具有一定的轴向位移空间。 2, FIG. 3, FIG. 4, in the middle of the circumferential direction of the slip housing 114 are evenly distributed on three slips 118 slide hole housing the latch assembly, the latch assembly housing slips slide hole upper slip support 118 and latch assembly 112 slide hole corresponding to the vertical; upper slip 115 has three, three upper slips 115 uniformly distributed along the circumferential direction of the slip housing, upper slip 115 on upper slips the slide bearing assembly 112 is connected to the pin hole upper slip support 111, upper slip 118 is connected to the housing 114 through the upper slip assembly 115 on the lower end of the slip housing pin slide hole; upper slip carrier slide and the upper slip holes are elongated slide hole of the housing bore, so that the upper slips 115 slide hole plug expand and contract at a certain axial displacement in the elongated hole in space. 如图3、图6、图7所示,上卡瓦壳体114在外圆周方向均匀设有三个沿轴向的滑槽,滑槽的下端设有上卡瓦伸缩杆孔,上卡瓦伸缩杆孔的下端设置有上螺杆推进滑块空腔,上螺杆推进滑块空腔下端设有上螺杆定位孔,上螺杆定位孔下端设置上螺杆驱动转子122、上卡瓦驱动电机模块123、上电机固定环124、上控制模块125的安装空腔;三个上卡瓦锁紧滑块116分别装在三个滑槽中,上卡瓦锁紧滑块116的下端与上卡瓦伸缩杆117相连接;上卡瓦伸缩杆117装在上卡瓦伸缩杆孔中,上卡瓦伸缩杆117下端与上螺杆推进滑块119相连接。 3, FIG. 6, FIG. 7, the outer circumferential direction of the slip housing 114 is provided with a uniform three slide in the axial direction, the lower end of the chute is provided on the telescopic rod bore slips, the slips on the extendable rod the lower end is provided with a screw hole advancing slide cavity, the lower slide is provided with screw propulsion cavity positioning screw holes, positioning holes on the lower end of the screw spindle drive is provided on the rotor 122, upper slip drive motor module 123, the motor a fixed ring 124, a cavity 125 is mounted on the control module; three slips on the locking slide 116 are mounted in three chute, the lower end of the slips 116 with the locking slide on the telescopic rod 117 slips connection; upper slip 117 is mounted on the extendable rod telescopic rod bore slips, the slips on the extendable rod 117 and the lower end of the slider 119 is connected to the screw propulsion.

[0048] 如图3、图8、图9所示,上电驱动与控制单元12从上到下依次包括上螺杆121、上螺杆驱动转子122、上卡瓦驱动电机模块123、上电机固定环124、上控制模块125 ;三个上螺杆121纵向定位在上卡瓦壳体114的三个上螺杆定位孔中,上螺杆121的上端与上螺杆推进滑块119通过螺纹传动连接,上螺杆121的下端与上螺杆驱动转子122通过齿轮连接,上卡瓦驱动电机模块123固定连接并驱动上螺杆驱动转子122 ;上卡瓦驱动电机模块123通过上电机固定环124固定在上卡瓦壳体内,上螺杆121、上螺杆驱动转子122、上卡瓦驱动电机模块123、上电机固定环124和上控制模块125均装在上卡瓦壳体114的空腔内。 [0048] As shown in FIG. 3, FIG. 8, FIG. 9, the electric drive and control unit 12 comprises, in order from top to bottom on the screw 121, the screw drive rotor 122, upper slip drive motor module 123, the motor fixing ring 124, the control module 125; three screw 121 is positioned on the longitudinally upper slip housing three positioning holes 114 of the screw, the screw 121 and the upper end of the screw propulsion drive slider 119 by screwing, the screw 121 the lower end of the screw rotor 122 driven by a gear connected to the motor slip drive module 123 is fixedly connected to and drives the drive screw rotor 122; upper slip driving motor 123 through the motor module fixing ring 124 is fixed on the slip housing, the screw 121, the screw drive rotor 122, upper slip drive motor module 123, the motor control module 124 and fixed ring 125 are mounted in the cavity of the housing 114 slips. 上卡瓦壳体114的下端设有内螺纹。 The lower end of the slip housing 114 is provided with an internal thread.

[0049] 如图1、图3所示,上牵引单元13包括上牵引驱动电机131、上牵引壳体132、上牵引转子133、上牵引壳体支座135。 [0049] As shown in FIG 1, FIG. 3, the traction on the traction unit 13 includes a drive motor 131, the tractor housing 132, the rotor 133 on the traction, the traction bearing housing 135.

[0050] 如图3、图7、图8、图9所示,上牵引壳体132为上端带有六方孔的中空圆柱体,上牵引壳体132可以相对六方中心滑管2作轴向滑动,上牵引壳体132的上端具有外螺纹、下端具有径向定位插销螺孔,上牵引壳体132的上端与上卡瓦壳体114的下端通过螺纹连接;上牵引壳体空腔中的上端固定上牵引驱动电机131,上牵引驱动电机131下端连接并驱动上牵引转子133,上牵引转子133内腔加工有上牵引转子螺母134,上牵引转子螺母134与上六方中心滑管螺杆21传动连接;上牵引壳体支座135为带有六方孔的中空圆柱体,上牵引壳体支座135上端带有与上牵引壳体132的上端径向定位插销螺孔对应的径向定位插销螺孔,上牵引壳体支座135可以相对六方中心滑管2作轴向滑动;上牵引壳体132下端与上牵引壳体支座135通过径向定位插销螺孔连接。 [0050] As shown in FIG. 3, FIG. 7, FIG. 8, FIG. 9, the upper housing 132 pulling the upper end of a hollow cylinder having a hexagonal hole 132 slides on the traction slip housing may be relatively central hexagonal pipe 2 axially , traction on the upper end of the housing 132 has an external thread, the lower end having a radial positioning pin holes, pulling the upper end of upper housing 132 and lower housing 114 slips on the threaded connection; pulling an upper end of the upper housing cavity the traction drive motor 131 is fixed, the traction drive motor 131 connected to the lower end of the traction and driving rotor 133, the rotor 133 lumen machined with traction on the traction of the rotor nut 134, the nut 134 and the upper rotor traction hexagonal central drive screw 21 connected to the slide tube ; traction on the support housing 135 is a hollow cylinder having a hexagonal hole, pulling the upper end of the support 135 on the upper end of the housing with the housing 132 and the upper traction radial pin radial positioning holes corresponding to the positioning pin holes , traction housing support 135 may slide relative to the center of a hexagonal tube 2 to slide axially; 132 pulling the lower end of the upper housing traction support housing 135 is connected by radial holes on the alignment pins.

[0051] 如图3所示,上控制模块125可通过扭矩的大小和转数的多少对上牵引驱动电机131和上卡瓦驱动电机模块123进行控制。 [0051] 3, the control module 125 may drive to the traction motor 131 and the motor driving module upper slip number and the size of the number of rotations of the torque control 123.

[0052] 如图3、图10、图11所示,上卡瓦115和上卡瓦锁紧滑块116加工有相互配合的倾斜面,斜面的角度能保证在上卡瓦锁紧滑块116向上移动时滑动膨胀开上卡瓦115 ;上卡瓦具有一定的弹性,能在上卡瓦锁紧滑块116的作用下膨胀开,在外力消除情况下闭合。 [0052] As shown in FIG. 3, FIG. 10, FIG. 11, the upper slips 115 and upper slips 116 slide lock inclined surface cooperating with a machining of the bevel angle on the slips to ensure that the locking slide 116 the slide moves upward to open the upper slip expander 115; upper slip having a certain elasticity, expansion can open under the effect of slip on the locking slide 116 is closed in the case where external force is removed.

[0053] 下牵引系统I与上牵引系统3结构完全相同,下面做简要说明。 Traction system I [0053] Under the traction system with exactly the same structure 3, described briefly below.

[0054] 如图1所示,下牵引器系统3从下到上依次包括上支撑单元31、下电驱动与控制单元32和下牵引单元33。 [0054] As shown in FIG 1, the traction system 3 includes, in order from the lower to the upper support unit 31, and the electric drive control unit 32 and the traction unit 33.

[0055] 如图1、图12所示,下支撑单元31包括下卡瓦支座311、下卡瓦壳体314、下卡瓦315、下卡瓦锁紧滑块316、下卡瓦伸缩杆317、下螺杆推进滑块319。 [0055] As shown in FIG 1, FIG. 12, the lower support unit 31 comprises a lower slip support 311, lower housing 314 slips, the slips 315, slips under the locking slide 316, lower slip telescopic rod 317, a screw advancing slider 319. 如图1、图2、图12所示,下卡瓦支座311为轴向具有正六边形孔的圆柱体,下卡瓦支座311套在六方中心滑管2上并可以相对六方中心滑管2作轴向滑动;在下卡瓦支座311的正六边形孔的上端具有内螺纹313,在下卡瓦支座311上端的外部沿周向均布有三个下卡瓦支座滑孔插销总成312。 1, FIG. 2, FIG. 12, lower slip support 311 having a regular hexagonal cylinder into an axial bore, lower slip support 311 set in the center of the hexagonal tubes and can slide relative to slide on the hexagonal center 2 tube 2 to slide axially; the upper end of the lower slip carrier 311 of regular hexagonal bore 313 having an internal thread, an external circumferential lower slip support 311 in the upper end are evenly distributed to the three lower slip support pin slide hole assembly 312 .

[0056] 图12所示,下卡瓦壳体314为具有正六边形孔的圆柱体,下卡瓦支座311套在六方中心滑管2上并可以相对六方中心滑管2作轴向滑动;在下卡瓦壳体314的下端具有外螺纹,下卡瓦壳体314与下卡瓦支座311通过螺纹连接成整体,并套在六方中心滑管2上,可以相对六方中心滑管2作轴向滑动。 [0056] As shown in FIG. 12, the lower housing 314 is a slip cylinder having a regular hexagonal hole, lower slip support 311 set in the center of a hexagonal tube 2 and the slide can slide relative to the slide 2 axially central hexagonal pipe ; the lower end of the lower housing 314 slips externally threaded lower slip housing 314 and lower slip support 311 are integrally connected by a screw, a hexagonal center and set in the slide tube 2, the tube can slide relative to the center 2 as hexagonal axial sliding.

[0057] 图12所示,在下卡瓦壳体314的中部沿圆周方向均布有三个下卡瓦壳体滑孔插销总成318,下卡瓦壳体滑孔插销总成318与下卡瓦支座滑孔插销总成312上下对应;下卡瓦315具有三个,三个下卡瓦315沿下卡瓦壳体周向均匀分布,下卡瓦315下端通过下卡瓦支座滑孔插销总成312与下卡瓦支座311连接,下卡瓦315上端通过下卡瓦壳体滑孔插销总成318与下卡瓦壳体314相连接;下卡瓦支座滑孔和下卡瓦壳体滑孔均为长形孔,以使得下卡瓦315在张开和收缩时滑孔插销在长形孔中具有一定的轴向位移空间。 [0057] As shown in FIG. 12, the central housing lower slips 314 in the circumferential direction with a uniform three lower slips 318 slide hole housing the latch assembly, the slip assembly pin slide hole of the housing 318 and the lower slips bearing slide hole corresponding to the pin assembly 312 up and down; lower slip 315 has three, uniformly distributed circumferential casing slips downwardly along the three lower slip 315, the slip 315 at the lower end by a pin slide hole slip bearing assembly 312 and lower slip support 311 is connected to the upper end of the lower slip 315 slips through the slide hole 318 of the housing latch assembly connected to the lower housing 314 slips; lower slip support slide hole and lower slips the slide hole of the housing are elongated holes, so that the lower slips 315 slide hole having a certain axial displacement of the pin in the elongated hole in space when expanded and contracted.

[0058] 如图12所示,下卡瓦壳体314在外圆周方向均匀设有三个沿轴向的滑槽,在滑槽的上端设有下卡瓦伸缩杆孔,下卡瓦伸缩杆孔的上端设置有下螺杆推进滑块316空腔,下螺杆推进滑块空腔上端设有下螺杆定位孔,下螺杆定位孔的上端设置下螺杆驱动转子322、下卡瓦驱动电机模块323、下电机固定环324、下控制模块325安装空腔;三个下卡瓦锁紧滑块316分别装在三个滑槽中,下卡瓦锁紧滑块316的上端与下卡瓦伸缩杆317相连接;下卡瓦伸缩杆317装在下卡瓦伸缩杆孔中,下卡瓦伸缩杆317上端与下螺杆推进滑块319相连接。 [0058] 12, 314 of the outer circumferential direction of the lower slip housing is provided with three axially uniform chute, with slips at the upper end of the telescopic rod hole chute, lower slip telescopic rod hole the upper end is provided with a screw advancing slide cavity 316, the upper end of the slider advancing a screw with a screw cavity positioning holes, the positioning holes of the upper end of the screw spindle drive is provided under the rotor 322, lower slip drive motor module 323, the motor fixing ring 324, a cavity 325 is under the control module; three slips under the locking slide 316 are mounted in three chutes, the upper end of the slider lock 316 slips under the lower slip 317 is connected to the telescopic rod ; lower slip means slips telescopic rod telescopic rod hole 317 in the lower, the upper end of lower slip telescoping rod 317 with a screw 319 connected to advance the slider.

[0059] 如图2、图12所示,下电驱动与控制单元32从下到上依次包括下螺杆321、下螺杆驱动转子322、下卡瓦驱动电机模块323、下电机固定环324、下控制模块325 ;三个下螺杆321纵向定位在下卡瓦壳体314的三个下螺杆定位孔中,下螺杆321的下端与下螺杆推进滑块319通过螺纹传动连接,下螺杆321的上端与下螺杆驱动转子322通过齿轮连接,下卡瓦驱动电机模块323固定连接并驱动下螺杆驱动转子322 ;下卡瓦驱动电机模块323通过下电机固定环324固定在下卡瓦壳体内,下螺杆321、下螺杆驱动转子322、下卡瓦驱动电机模块323、下电机固定环324和下控制模块325均装在下卡瓦壳体314的空腔内。 [0059] As shown in FIG 2, as shown, the electric drive and control unit 32 includes, in order from the bottom to a screw 321, a screw drive rotor 322, lower slip drive motor module 323, the motor fixing ring 324, the FIG. 12 the control module 325; three longitudinal positioning of a screw 321 screw three positioning holes at the lower slip housing 314, the lower end of a screw 321 and a screw propeller drives the slider 319 by screwing, the upper end of the lower screw 321 screw drive rotor 322 is connected via a gear, the driving motor slip module 323 is fixedly connected to the screw drive and driven rotor 322; an inner ring fixed at the motor slip drive motor 324 fixed to the lower module 323 through the slip housing, a screw 321, the screw drive rotor 322, lower slip drive motor module 323, the motor fixing ring 324 and the lower control module 325 are attached to the lower cavity of the housing 314 slips.

[0060] 如图1、图2、图12所示,下牵引单元33包括下牵引驱动电机331、下牵引壳体332、下牵引转子333、下牵引壳体支座335。 [0060] As shown in FIG 1, FIG 2, FIG. 12, the traction unit 33 includes a traction drive motor 331, housing 332 of traction, traction rotor 333, housing support 335 traction.

[0061] 如图12所示,下牵引壳体332为下端带有六方孔的中空圆柱体,下牵引壳体332的下端具有外螺纹、上端具有内螺纹,下牵引壳体332可以相对六方中心滑管2作轴向滑动;下牵引壳体332的下端与下卡瓦壳体314的上端通过螺纹连接;下牵引壳体空腔中的下端固定下牵引驱动电机331,下牵引驱动电机331上端连接并驱动下牵引转子333,下牵引转子333内腔加工有下牵引转子螺母334,下牵引转子螺母334与下六方中心滑管螺杆23传动连接;下牵引壳体支座335为带有六方孔的中空圆柱体,下牵引壳体支座335的上端带有径向定位插销螺孔,下牵引壳体支座335可以相对六方中心滑管2作轴向滑动;下牵引壳体332上端与下牵引壳体支座335通过径向定位插销连接。 [0061] 12, traction lower housing 332 is a hollow cylinder having a hexagonal hole, the lower end of the lower housing 332 has an external thread traction, having an internally threaded upper end, the lower housing 332 may be relatively traction hexagonal center slide tube 2 to slide axially; traction slip lower end of the lower housing 332 of the upper housing 314 by a threaded connection; traction lower housing cavity traction drive motor 331 is fixed, at the upper end of the traction drive motor 331 and connecting a traction driven rotor 333, the rotor 333 lumen processing traction traction rotor has a nut 334, the nut 334 and the lower rotor traction hexagonal central slide tube 23 connected to a drive screw; traction support housing 335 having a hexagonal bore hollow cylinders, upper bearing housing 335 under traction with a radial positioning pin holes, pulling the lower housing seat 335 can slide relative to the center of a hexagonal tube 2 to slide axially; traction upper housing 332 and lower traction housing 335 connected by radially positioned support pin.

[0062] 如图12所示,下控制模块325可通过扭矩的大小和转数的多少对下牵引驱动电机331和下卡瓦驱动电机模块323进行控制。 [0062] As shown, the control module 325 may drive the motor 331 and the lower slip module 323 controls the driving motor 12 by the size and number of the number of rotations of the traction torque.

[0063] 如图10、图11所示,下卡瓦315和下卡瓦锁紧滑块316加工有相互配合的倾斜面,斜面的角度能保证在下卡瓦锁紧滑块316向下移动时滑动膨胀开下卡瓦315 ;下卡瓦具有一定的弹性,能在下卡瓦锁紧滑块316的作用下膨胀开,在外力消除情况下闭合。 [0063] 10, as shown, the slips 315 and slip under the locking slider 316 has an inclined surface cooperating processing of FIG. 11, the bevel angle of the lower slips to ensure the locking slide 316 moves downwardly opening of the expansion sliding lower slip 315; lower slip having a certain elasticity, to the lower slips 316 slide under the action of the locking opening of the expansion, is closed in the case of external force is removed.

[0064] 本发明的电机驱动连续油管井下牵引器的运动状态可由地面输入指令分别对上控制模块125和下控制模块325进行控制,其控制原理如下: [0064] Motor drive coiled tubing downhole tractor motion state of the present invention may be ground, respectively on the input command and control module 125 under the control of a control module 325 which controls the principle is as follows:

[0065]( 一)、上牵引器系统I控制原理:上控制模块125接收到地面信号后,可驱动上卡瓦驱动电机模块123正转或反转,带动上螺杆驱动转子122和上螺杆121正转或反转,通过上螺杆121与上螺杆推进滑块119的螺杆滑块机构推动螺杆推进滑块119前进或后退,螺杆推进滑块119通过上卡瓦伸缩杆117推动上卡瓦锁紧滑块116前进或后退,当卡瓦锁紧滑块116前进时,通过斜锥面外推上卡瓦115发生弹性变形,并沿上卡瓦支座滑孔和上卡瓦壳体滑孔滑动,使其张开抓紧井壁,张紧力的大小可以通过驱动电机模块123的扭矩来控制,张开的程度可由上卡瓦驱动电机模块123转动的圈数和角度来控制;当卡瓦锁紧滑块116后退时,卡瓦锁紧滑块116与上卡瓦115的斜锥面离开,外推力消失,上卡瓦115在自身弹性与井壁挤压力的作用下收缩到最小外径状态。 [0065] (a), traction control system Principle I: the control module 125 receives the signals to the ground, the driving motor may be driving the slip module 123 forward or reverse, the driven screw rotor 122 and screw drive 121 forward or reverse, the slider advancing lead screw auger screw 119 forward or backward the slider slider mechanism 119 by the screw 121 and the screw, the screw advancing slider 119 on upper slip through the extendable rod 117 push the locking slips the slider 116 forward or backward, the locking slide 116 when the slips forward, pushed by the oblique tapered slips 115 are elastically deformed and slides along the slide hole and the upper slip carrier slide hole housing upper slip , spread the gripping wall, the size of the tension can be controlled by the torque of the drive motor module 123, the opening degree may be the number of turns and the slip angle of rotation of the driving motor 123 to the control module; lock when the slip when tightening the slider 116 backward, kava kava locking slide 116 and the tapered surface 115 is inclined away from the outer thrust disappears, the contraction effect of the slips 115 with the borehole wall itself elastically to the pressing force of the minimum outer diameter status. 上控制模块125接收到地面信号后,同时控制上牵引驱动电机131正转或反转、带动上牵引转子133和上牵引转子螺母134正转或反转,通过六方中心滑管2上的上六方中心滑管螺杆21机构,推动上牵引器系统I沿六方中心滑管2向上或向下做相对滑动,完成牵引功能,其牵引力的大小、位移和方向可分别由上牵引驱动电机131的输出扭矩、转数和正反转来控制。 After control module 125 receives the terrestrial signal, while driving the traction control motor 131 forward or reverse, the traction drive rotor 133 and nut 134 on the traction of the rotor forward or reverse, by hexagonal hexagonal center 2 on the slide tube Center slide pipe screw mechanism 21, the push tractor system I 2 slide relative to the slide tube made up or down the center of a hexagonal, complete traction function, size, and direction of displacement respectively by the traction on the traction drive motor 131 output torque , to control the number of revolutions and reversing.

[0066] ( 二)、下牵引器系统3控制原理:下控制模块325接收到地面信号后,可驱动下卡瓦驱动电机模块323正转或反转,带动下螺杆驱动转子322和下螺杆321正转或反转,通过螺杆321与上螺杆推进滑块319的螺杆滑块机构推动螺杆推进滑块319前进或后退,螺杆推进滑块319通过下卡瓦伸缩杆317推动下卡瓦锁紧滑块316前进或后退,当卡瓦锁紧滑块316前进时,通过斜锥面外推下卡瓦315发生弹性变形,并沿下卡瓦支座滑孔和下卡瓦壳体滑孔滑动,使其张开抓紧井壁,张紧力的大小可以通过驱动电机模块323的扭矩来控制,张开的程度可由下卡瓦驱动电机模块323转动的圈数和角度来控制;当卡瓦锁紧滑块下316后退时,下卡瓦锁紧滑块316与下卡瓦315的斜锥面离开,外推力消失,下卡瓦315在自身弹性与井壁挤压力的作用下收缩到最小外径状态。 [0066] (b), 3 traction system control principle: When the control module 325 receives the signals to the ground, the motor slip drive module 323 may be driven at the forward or reverse, the drive rotor driven by the screw 322 and a screw 321 forward or reverse, the slider advancing lead screw 319 forward or backward the slider slider mechanism auger screw 319 by a screw 321 and a screw which promote lower slip telescoping rod 317 driven by a locking slide 319 by sliding the slip block 316 forward or backward, the locking slide 316 when the slips forward, pushed by the oblique tapered slips 315 is elastically deformed, and lower slip support along the slide hole of the housing and slide the slip slide hole, spread the gripping wall, the size of the tension can be controlled by the torque of the drive motor module 323, the opening degree may be the number of turns and the slip angle of rotation of the driving motor 323 to the control module; slip locking when when the slider 316 backward, slips under the locking slide 316 and lower slip tapered surface 315 inclined away from the outer thrust disappears, the contraction effect of the slips 315 with the borehole wall in its own elastic pressing force to a minimum at the outer diameter state. 下控制模块325接收到地面信号后,同时控制下牵引驱动电机331正转或反转、带动下牵引转子333和下牵引转子螺母334正转或反转,通过六方中心滑管2上的上六方中心滑管螺杆21机构,推动下牵引器系统3沿六方中心滑管2向上或向下做相对滑动,完成牵引功能,其牵引力的大小、位移和方向可分别由下牵引驱动电机331的输出扭矩、转数和正反转来控制。 After the module 325 receives the control signal to the ground, while under the control of a traction drive motor 331 forward or reverse rotation, the traction of the rotor 333 and driven rotor traction nut 334 forward or reverse, by hexagonal hexagonal center 2 on the slide tube Center slide pipe screw mechanism 21, the output torque of the push tractor system 3 along the center of a hexagonal tube 2 slide upwardly or downwardly relative sliding doing, complete traction function, the size of its traction, respectively, from the direction of displacement and traction drive motor 331 , to control the number of revolutions and reversing.

[0067](三)、上控制模块125和下控制模块325彼此之间相互联系,根据工作过程的先后顺序的不同,上控制模块125和下控制模块325对各个电机模块的控制存在相位差,保证牵引器工作的顺利进行。 [0067] (III), under the control module 125 and control module 325 interconnected to each other, depending on the sequence of the working process, the control module 125 and control module 325 under the control of the presence of each phase of the motor module, to ensure the smooth progress of tractor work.

[0068](四)、利用六方中心滑管2的外部六方形阻碍六方中心滑管2绕轴线旋转的反作用形成轴向牵引力原理:除上螺杆驱动转子122、上牵引转子133可相对六方中心滑管2作轴线转动外,上牵引器系统1,六方中心滑管2,下牵引器系统3都不能绕六方中心滑管2轴线转动,只能沿轴线滑动,原因如下:当上牵引驱动电机131带动上牵引转子133绕六方中心滑管2轴线旋转时,上牵引转子133驱动上牵引转子螺母134转动,上牵引转子螺母134带动上六方中心滑管螺杆21运动,由于上六方中心滑管2外部是六方的,使得上六方中心滑管2同上牵引驱动电机131,上牵引壳体132,上牵引壳体支座135,下卡瓦支座311,上卡瓦壳体114,上卡瓦115等在绕轴线旋转上是一个整体,阻碍了上六方中心滑管2上的牵引转子螺母134旋转,阻碍的反作用对上六方中心滑管螺杆21产生轴向推力,牵引六方中 [0068] (iv), using the hexagonal central hexagonal outer slide tube 2 slide tube obstruction reaction hexagonal center of rotation about the axis 2 an axial traction principle: In addition to the screw drive rotor 122, the rotor 133 relatively traction slip hexagonal center as the rotation axis of the outer tube 2, the retractor system 1, a hexagonal central slide tube 2, the traction system 3 can not slide around the central hexagonal pipe axis of rotation 2, can slide along the axis, for the following reasons: when the traction drive motor 131 when driven by the traction of the rotor 133 about a hexagonal center slide tube rotates two axes, the traction pull rotor nut 134 rotatably drive the rotor 133, the traction hexagonal central slide tube screw 21 movement of the rotor nut 134 drive, since the upper hexagonal central slide 2 of the outer tube hexagonal, so that the slide pipe 2 above the central hexagonal traction drive motor 131, the housing 132 on the traction, the traction bearing housing 135, lower slip support 311, upper housing 114 slips, the slips 115 and the like on a whole about the axis of rotation is hindered traction on the central hexagonal nut 134 rotates the rotor 2 on the slide tube, the reaction to the obstruction of the central hexagonal screw slide tube 21 generates an axial thrust in a hexagonal traction 心滑管2相对卡瓦做轴线运动;相反,如果上六方中心滑管2是圆的,上六方中心滑管2就会随上牵引转子螺母134的驱动而旋转,上牵引转子螺母134对上六方中心滑管螺杆21的轴向推力无法形成,牵弓I器就失去沿轴线牵弓丨的功能。 Heart slide pipe 2 relative to the slips do axis motion; on the contrary, if the center of the hexagonal slide pipe 2 is round, hexagonal on the central tube 2 will slide over the nut to the rotor 134 is driven to rotate the traction, the traction of the rotor nut 134 pairs hexagonal central slide pipe axial thrust of the screw 21 is not formed, the retractor is lost I bow axial pull bow Shu function.

[0069](五)、内置8芯电缆完成输电和有线信号传输功能:一般上控制模块125和下控制模块325的供电有三种方式,一种是连续油管内置8芯电缆,既可以完成输电,又可以实现有线信号传输;二是连续油管管壁外埋电缆,但这样相对较少;三是连续油管外配置多芯电缆,完成输电功能和信号传输功能;本发明可以采用内置8芯电缆完成输电和有线信号传输功能。 [0069] (E), the built-in 8-core cable and cable transmission completion signal transmission function: Usually the power supply module 125 and the control module 325 under the control of three ways, one is 8-core cable coiled tubing built, transmission may be completed, and a wired signal transmission can be achieved; Second coiled tubing outer wall of the buried cable, but this is relatively small; three coiled tubing is arranged outside the multi-core cables, and signal transmission complete transmission function; the present invention can be completed using a built-core cable 8 wired signal transmission and transmission function.

[0070] 本发明的电机驱动连续油管井下牵引器的工作过程如下: [0070] Motor drive coiled tubing downhole tractor of operation of the present invention is as follows:

[0071]( 一)、初始状态:上支撑单元11和下支撑单元31都处于张开抓紧井壁,上牵引器系统I处在六方中心滑管2的最上端,下牵引器系统3处在六方中心滑管2的最下端。 [0071] (a), the initial state: the support unit 11 and the lower support unit 31 are in the open gripping wall, traction system I is in the center of a hexagonal tube uppermost slide 2, 3 in the traction system hexagonal central lowermost slide tube 2.

[0072] (二)、上支撑单元11收缩离开井壁,下支撑单元31仍处于张开抓紧井壁状态;上牵引单元13和下牵引单元33不动。 [0072] (ii), the support unit shrink away from wall 11, the lower support means 31 remains in the open state of the gripping wall; the traction unit 13 and the traction unit 33 does not move.

[0073](三)、上牵引单元13牵引上牵引器系统I相对六方中心滑管2向下移动一个上牵引转子螺母134的距离;同时下牵引单元33牵引六方中心滑管2和上牵引器系统I相对与井壁固定的下支撑单元31向下移动一个下牵引转子螺母334的距离;上牵引器系统I相当于沿井壁向下移动了一个上牵引转子螺母134长度和一个下牵引转子螺母334的长度之和的距离,六方中心滑管2相当于向井下移动了一个上牵引转子螺母134长度的距离。 [0073] (c), the traction on the traction unit 13 relative to the traction system I hexagonal central slide tube 2 is moved downward from a traction rotor nut 134; 2 and simultaneous traction on the traction unit 33 hexagonal central traction slide tube system I opposed stationary wall and the lower support unit 31 moves from a traction rotor nut 334 downwardly; I retractor system 134 is equivalent to moving the next upper longitudinal traction and a nut in the rotor wall pulling down the rotor and the length from the nut 334, slide tube 2 corresponds to the center of the hexagonal moved a distance a nut 134 on the pull-rotor downhole length.

[0074](四)、上支撑单元11张开抓紧井壁,下支撑单元31仍处于张开抓紧井壁状态;上牵引单元13和下牵引单元33不动。 [0074] (iv), grip the wall support unit 11 open, the lower support means 31 remains in the open state of the gripping wall; lower tractor unit 13 and the traction unit 33 does not move.

[0075](五)、上支撑单元11张开抓紧井壁,下支撑单元31收缩离开井壁; [0075] (E), the support unit 11 gripping wall opening, the lower support unit shrink away from wall 31;

[0076](六)、下牵引单元33牵引下牵引器系统3相对六方中心滑管2向下移动一个下牵引转子螺母334的距离;同时上牵引单元13牵引六方中心滑管2和下牵引器系统3相对与井壁固定的上支撑单元11向下移动一个上牵引转子螺母134的距离;下牵引器系统3相当于沿井壁向下移动了一个上牵引转子螺母134长度和一个下牵引转子螺母334的长度之和的距离,六方中心滑管2相当于向井下移动了一个下牵引转子螺母334长度的距离。 [0076] (VI), the traction unit 33 relative to the hexagonal central traction 3 tractor slide tube system 2 is moved downward from a traction rotor nut 334; traction unit 13 while the traction slip hexagonal central tube 2 and the lower tractor system 3 is moved downward relative to the fixed wall of the support unit 11 from a traction rotor nut 134; traction system 3 corresponds to a wall moved downwardly along the length of the pull rotor nut 134 and a traction rotor and the length from the nut 334, slide tube 2 corresponds to the center of the hexagonal moved a distance at a draw nut 334 downhole length of the rotor.

[0077](七)、上支撑单元11仍处于张开抓紧井壁状态,下支撑单元31张开抓紧井壁,牵引器恢复到(一)初始状态。 [0077] (VII), the support unit 11 is still in the open state of the gripping wall, the lower support unit 31 open gripping wall, the tractor returns to (a) the initial state.

[0078]按“(一)一(二)一(三)一(四)一(五)一(六)一(七)一(一)”的顺序依次往复运动,可使牵引器不断的牵引连续油管柱向井下爬行,下入连续油管;反之“(七)—(六)一(五)一(四)一(三)一(二)一(一)一(七)”的顺序往复运动,可使牵引器不断的牵引连续油管柱向井上爬行,取出连续油管。 [0078] Press "(a) an (b) a (c) an (d) an (e) a (f) a (G) a (a)" in order of reciprocation, can continue pulling tractor continuous tubing string crawl downhole, the coiled tubing; otherwise "(VII) - (vi) an (E) a (d) a (iii) a (ii) a (a) a (g)" in order to reciprocate , allows the tractor pulling the coiled tubing string continue to creep uphole, remove coiled tubing.

[0079] 上牵引器系统、下牵引器系统结构相同,在六方中心滑管上的安装方向相同或相反:既可以如图1所示安装,也可以如图12a,12b,12c安装。 Traction [0079] the system, the same system architecture traction, in the same or opposite directions is mounted on a slide central hexagonal pipe: both can be installed as shown in FIG. 1, as shown in 12a, 12b, 12c mounted.

Claims (6)

  1. 1.一种电机驱动连续油管井下牵引器,包括上牵引器系统、六方中心滑管、下牵引器系统;上牵引器系统和下牵引器系统分别套在六方中心滑管的上部和下部;上牵引器系统、下牵引器系统结构相同;上牵引器系统、下牵引器系统在六方中心滑管上的安装方向相同或相反;六方中心滑管中间有中空圆形的循环水眼、外部呈正六边形,在六方中心滑管上部与上牵引单元对应位置和下部与下牵引单元对应位置分别设有上突出法兰、下突出法兰;上六方中心滑管螺杆和下六方中心滑管螺杆分别通过螺栓装配在上突出法兰、下突出法兰上;上牵引器系统从上到下依次包括上支撑单元、上电驱动与控制单元和上牵引单元;其特征在于:上支撑单元包括上卡瓦支座、上卡瓦壳体、上卡瓦、上卡瓦锁紧滑块、上卡瓦伸缩杆、上螺杆推进滑块;上卡瓦支座为轴向具有 1. A motor drive coiled tubing downhole tractor, comprising a traction system, central hexagonal pipe slide, traction system; traction system and a traction system respectively, set at upper and lower central slide hexagonal tube; the traction system, the same traction system configuration; the same as or opposite to the mounting direction on the traction system, the traction system on a hexagonal central sliding tube; hexagonal central slide tube in the middle of the hollow round circulating water hole, external regular hexagonal octagonal, hexagonal slide tube at the upper center of the corresponding position on the traction unit and the lower unit and the corresponding position are provided on the traction projecting flange, the flange projecting; slide tube on the central screw and hexagonal lower central hexagonal screw respectively slide tube by a bolt fitted on the protruding flange, the lower flange protruding; traction system comprises from top to bottom on the support unit, and the electric drive unit and the traction control unit; wherein: the card supporting means comprises shoe seat, the slip case, the slip, the locking slide slips, the slips telescopic rod, the slider advancing screw; upper slip carrier having axial 六边形孔的圆柱体,上卡瓦支座套在六方中心滑管上并可以相对六方中心滑管作轴向滑动;在上卡瓦支座的正六边形孔的下端具有内螺纹,在上卡瓦支座底端的外部沿周向均布有三个上卡瓦支座滑孔插销总成;上卡瓦壳体为具有正六边形孔的圆柱体,上卡瓦壳体套在六方中心滑管上并可以相对六方中心滑管作轴向滑动;在上卡瓦壳体的上端具有外螺纹,上卡瓦壳体与上卡瓦支座通过螺纹连接成整体,并套在六方中心滑管上,可以相对六方中心滑管作轴向滑动;在上卡瓦壳体的中部沿圆周方向均布有三个上卡瓦壳体滑孔插销总成,上卡瓦壳体滑孔插销总成与上卡瓦支座滑孔插销总成上下对应;上卡瓦具有三个,三个上卡瓦沿上卡瓦壳体周向均匀分布,上卡瓦上端通过上卡瓦支座滑孔插销总成与上卡瓦支座连接,上卡瓦下端通过上卡瓦壳体滑孔插销 Hexagonal cylinder bore, the sleeve slips in the hexagonal central support tube and the slide can slide relative to the center of a hexagonal tube to slide axially; regular hexagonal hole in the lower end of the upper slip carrier having an internal thread, in upper slip carrier along the circumferential outer bottom of the slide hole are evenly distributed upper slip support three pin assembly; upper slip housing having a cylinder bore of a regular hexagon, the hexagonal upper slip sleeve housing center slide tube and a hexagonal center relative to the slide tube can slide axially; having external threads at the upper end of the slip housing, upper slip support housing and upper slips are integrally connected by a screw, a hexagonal center and set in the slide tube , you can slide relative to the center of a hexagonal tube axially slidable; in the middle in the circumferential direction on the casing slips are evenly distributed on three slips slide hole housing the latch assembly, the upper slip assembly and the slide hole on the plug housing slip support pin slide hole corresponding to the upper and lower assemblies; upper slip with three, three slips along the upper slip housing circumferentially uniformly distributed, the upper end of the upper slip carrier by the upper slip assembly pin slide hole slips connected to the upper abutment, the lower end by the upper slip slip slip housing pin bore 成与上卡瓦壳体相连接;上卡瓦支座滑孔和上卡瓦壳体滑孔均为长形孔,从而使得上卡瓦在张开和收缩时滑孔插销在长形孔中具有一定的轴向位移空间;上卡瓦壳体在外圆周方向均匀设有三个沿轴向的滑槽,滑槽的下端设有上卡瓦伸缩杆孔,上卡瓦伸缩杆孔的下端设置有上螺杆推进滑块空腔,上螺杆推进滑块空腔下端设有上螺杆定位孔,上螺杆定位孔下端设置上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环、上控制模块的安装空腔;三个上卡瓦锁紧滑块分别装在三个滑槽中,上卡瓦锁紧滑块的下端与上卡瓦伸缩杆相连接;上卡瓦伸缩杆装在上卡瓦伸缩杆孔中,上卡瓦伸缩杆下端与上螺杆推进滑块相连接。 To be connected to the upper slip housing; upper slip carrier slide hole of the housing and the slip of the slide hole are elongate holes, so that the slide hole when the slips expand and contract the pins in the elongated hole has a certain axial displacement space; slips on the outer circumferential direction of the housing is provided with a uniform three axially lower end of the chute, the chute is provided with the telescoping rod bore slips, the slips on the lower end of the extendable rod is provided with a hole screw advancing slide cavity, the lower slide is provided with screw propulsion cavity positioning screw holes, positioning holes on the lower end of the screw spindle drive is provided on the rotor, the motor slip drive module, the fixing ring motor, the control module mounting cavity; three on the locking slide slips were installed in three chutes, the upper slip locking slide is connected to the lower end of the telescopic rod slips; upper slip mounted on the telescoping rod slips telescopic rod bore, the lower end of the upper slip promoting the telescopic rod is connected to the slider and the screw.
  2. 2.根据权利要求1所述的电机驱动连续油管井下牵引器,其特征在于:上电驱动与控制单元从上到下依次包括上螺杆,以及所述的上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环、上控制模块;三个上螺杆纵向定位在上卡瓦壳体的三个上螺杆定位孔中,上螺杆的上端与上螺杆推进滑块通过螺纹传动连接,上螺杆的下端与上螺杆驱动转子通过齿轮连接,上卡瓦驱动电机模块固定连接并驱动上螺杆驱动转子;上卡瓦驱动电机模块通过上电机固定环固定在上卡瓦壳体内,上螺杆、上螺杆驱动转子、上卡瓦驱动电机模块、上电机固定环和上控制模块均装在上卡瓦壳体的空腔内;上卡瓦壳体的下端设有内螺纹。 The motor drive according to claim 1 of coiled tubing downhole tractor, characterized in that: the electric drive and control unit comprises, in order from top to bottom on the screw, and the screw drive rotor, the drive motor slip module fixing ring on the motor, the control module; three longitudinally positioned on the screw hole in the screw locating three upper slip housing, the upper end of the screw and the screw drive propulsion slider by screwing, the screw the lower end of the screw rotor through a drive gear connected to the driving motor slip drive module and fixedly connected to the screw drive rotor; upper slip on the motor module driving motor fixing ring is fixed on the slip housing, screw, screw drive the rotor, the motor slip drive module, motor control module and a fixing ring are mounted in the cavity of the slip housing; an internal thread is provided on the lower end of the slip housing.
  3. 3.根据权利要求2所述的电机驱动连续油管井下牵引器,其特征在于:上牵引单元包括上牵引驱动电机、上牵引壳体、上牵引转子、上牵引壳体支座;上牵引壳体为上端带有六方孔的中空圆柱体,上牵引壳体可以相对六方中心滑管作轴向滑动,上牵引壳体的上端具有外螺纹、下端具有径向定位插销螺孔,上牵引壳体的上端与上卡瓦壳体的下端通过螺纹连接;上牵引壳体空腔中的上端固定上牵引驱动电机,上牵引驱动电机下端连接并驱动上牵引转子,上牵引转子内腔加工有上牵引转子螺母,上转子螺母与上六方中心滑管螺杆传动连接;上牵引壳体支座为带有六方孔的中空圆柱体,上牵引壳体支座上端带有径向定位插销螺孔,上牵引壳体支座可以相对六方中心滑管作轴向滑动;上牵引壳体下端与上牵引壳体支座通过径向定位插销连接;上控制模块可通过正 The motor drive according to claim 2 coiled tubing downhole tractor, comprising: a traction on the traction means comprises a drive motor, the traction housing, the rotor traction, traction housing support; pulling on housing the upper end of a hollow cylinder with hexagonal holes, the housing may be relatively traction hexagonal center tube axially slidable slide, pulling the upper end of the housing with an external thread, the lower end having a radial positioning pin holes, the upper housing traction upper and lower ends of the upper slip housing by a threaded connection; traction upper fixed housing cavity traction drive motor, the traction drive motor connected to the lower end of the traction and driving a rotor with a lumen processing on the traction on the traction of the rotor nuts, nut on the rotor central hexagonal screw driving connection slide tube; traction housing seat for a hollow cylinder with a hexagonal bore, an upper housing traction abutment with a radial positioning pin holes, the upper housing traction hexagonal central support member relative to the slide tube can slide axially; traction lower housing and the upper housing traction bolt support via the radial positioning; positive control module by 反旋转方向、转速的大小、转数的多少、扭矩的大小对上牵引驱动电机和上卡瓦驱动电机模块进行控制。 The size of the reverse rotation direction, rotation speed, how much the number of revolutions, the magnitude of the torque on the traction drive motor and the motor drive slip control module.
  4. 4.根据权利要求3所述的电机驱动连续油管井下牵引器,其特征在于:上卡瓦和上卡瓦锁紧滑块加工有相互配合的倾斜面,斜面的角度能保证在上卡瓦锁紧滑块向上移动时滑动膨胀开上卡瓦;上卡瓦具有一定的弹性,能在上卡瓦锁紧滑块的作用下膨胀开,在外力消除情况下闭合。 4. A machine according to claim 3, wherein the coiled tubing downhole tractor driver, wherein: the upper slip and the slip lock sliders machined with cooperating inclined surface, the angle of the inclined surface on the slip lock ensures expandable tight sliding the slider is moved upward to open the upper slip; upper slip having a certain elasticity, expansion can open under the effect of slip on the locking slide, the closure in the case where external force is removed.
  5. 5.根据权利要求4所述的电机驱动连续油管井下牵引器,其特征在于:上控制模块通过对上卡瓦驱动电机的正反旋转方向、转速的大小、转数的多少、扭矩的大小进行控制,进而分别对牵引器支撑系统的卡瓦是张开还是闭合、卡瓦张开和闭合的速度、卡瓦张开和闭合的程度、卡瓦支撑力的大小进行控制;上控制模块可通过对上牵引驱动电机的正反旋转方向、转速的大小、转数的多少、扭矩的大小进行控制,进而分别对牵引器上牵引单元和下牵引单元的向上和向下的牵引方向、牵引速度的大小、牵引位移的大小、牵引力的大小进行控制。 The coiled tubing downhole motor drive tractor according to claim 4, wherein: the control module forward and reverse rotation direction by the drive motor on the upper slip, the rotational speed of the size, the number of the number of revolutions, the magnitude of the torque for control, respectively, and further the slip puller support system is open or closed, open and close the slip speed, the degree of opening and closing of the slips, the slips supporting force magnitude controlled; by control module reverse rotational direction of the traction drive motor, the rotational speed of the size, the number, the size of the number of revolutions of the torque control, respectively, and further upward and downward direction of the traction unit and the traction unit of a tractor pulling, pulling speed size, the traction size of the displacement, the size of the traction control.
  6. 6.根据权利要求5所述的电机驱动连续油管井下牵引器,其特征在于:根据工作过程的先后顺序的不同,上控制模块对上牵引驱动电机、上卡瓦驱动电机模块的控制存在相位差。 6. The motor as claimed in claim 5, wherein coiled tubing downhole tractor driver, wherein: a phase difference depending on the sequence of operation process, driving the traction motor control module, the control module driving motor slip .
CN 201210290226 2012-08-16 2012-08-16 Motor-driven underground tractor for coiled tubing CN102808589B (en)

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