CN103174391A

CN103174391A - Control system of coiled tubing underground tractor driven by electronic control hydraulic pressure

Info

Publication number: CN103174391A
Application number: CN2012103428055A
Authority: CN
Inventors: 侯学军
Original assignee: Chongqing University of Science and Technology
Current assignee: Chongqing University of Science and Technology
Priority date: 2012-09-17
Filing date: 2012-09-17
Publication date: 2013-06-26
Anticipated expiration: 2032-09-17
Also published as: CN103174391B

Abstract

The invention belongs to the field of oil and gas development and particularly relates to a control system of a coiled tubing underground tractor driven by electronic control hydraulic pressure. The control system of the coiled tubing underground tractor driven by the electronic control hydraulic pressure comprises a control system shell body, a motor module, a hydraulic pipeline module and an electronic control module. The control system of the coiled tubing underground tractor driven by the electronic control hydraulic pressure is characterized in that the motor module, the hydraulic pipeline module and the electronic control module are arranged in sequence in the control system shell body from top to bottom; the motor module comprises a traction control servo motor and a support control servo motor; and the traction control servo motor and the support control servo motor are controlled through the electronic control module by sending instructions. The control system of the tractor is good in flexibility, is suitable for underground traction control operation of a well with a slim hole, and is capable of guaranteeing normal underground liquid circulation in a traction control process, achieving effective control of traction speed, achieving effective power-off protection and two-way traction control and achieving effective control of the traction speed.

Description

A kind of control system of Electro-hydraulic drive coiled tubing downhole tractor

Technical field

The invention belongs to the oil and gas development field, particularly, relate to a kind of control system of Electro-hydraulic drive coiled tubing downhole tractor.

Background technology

In the later stage nineties 20th century, external many companies have developed in succession can be at the horizontal well draw-gear (namely cable puller) of down-hole independently working.through development for many years, up to the present, representational tractor product mainly comprises: the wheeled tractor of the Well Tractor of Denmark Welltec company, the wheeled tractor of Sondex of Britain Sondex Co., Ltd, the wheeled tractor of PowerTrac Advance of Norway Maritime Well Service (MWS) company, PowerTrac INVADER crawler type tractor, the telescopic tractor of SmarTract of Britain ExproGroup company, the telescopic tractor of MaxTRAC of France Schlumberger company, the telescopic tractor of Microhole Drilling Tractor of U.S. Western Well Tool company.Wherein the telescopic tractor of Microhole Drilling Tractor of U.S. Western Well Tool company is, the tractor that can be used for slim-hole that drive by the ground cleaner for high-pressure drilling fluid of coiled tubing formula, the ground circulation of drilling fluid of can remaining valid during work; Remaining tractor is mostly wheeled or crawler type, and Outside Dimensions is larger, is only applicable to large hole, connects with cable or wire rope, and electricity drives, and tractive force is less, can not carry out effective circulation of drilling fluid during work, the application of the industry that is generally limited to log well.

But no matter be the sort of tractor, for domestic, all taked strict technical know-how measure abroad, cause domestic research to downhole tractor also to be in the infancy: from August, 2002, Tarim Oilfield is by the mode of technological cooperation, adopt the downhole tractor technology to carry out the exploration of horizontal well industry profile logging, obtained certain effect.After this, domestic minority scientific research institutions have also carried out the research of downhole tractor in succession, mainly contain China University Of Petroleum Beijing, Harbin Institute of Technology, Southwest Petroleum Institute, Daqing Petroleum Institute, Xi'an Petroleum University etc., also applied for the patent of some tractors, but some shortcomings of these tractors existence more or less, and mostly be confined to utilize circulation fluid to compress into row and drive control, not directly do not carry out tractor with servo step motor and drive and control, can not satisfy preferably the requirement of underground work.

the people such as the Gao Jinwei of China University Of Petroleum Beijing, Liu Meng are at document (Gao Jinwei, Liu Meng, Yan Xiangzhen. wheeled self-adapting pipe crawl device under Horizontal Well: the structural concept that has proposed a kind of wheeled drag device China), and applied for utility model patent (200520008070.8.2006-08-16, puller reducing draught device of horizontal borehole of quill), Harbin Institute of Technology also developed the wheeled drag device of a cable (Tang Dewei, Wang Xinjie, Deng Zongquan. Driver of horizontal oil well detecting instruments. the journal .2007 of Harbin Institute of Technology, 39 (9): 1395-1397), and carried out ground experiment, the Zhu Lin of Xi'an Petroleum University, the flat designed, designed of Wu Song a kind of wheeled tractor (Zhu Lin, Wu Songping. the design of horizontal wellbore logging instrument traction crawl device. New Technologies, 2007, (12): 32-34), Liaohe Petroleum Exploration Bureau has proposed to have the wheeled tractor (200720190260.5 of independent intellectual property right, puller reducing draught device of horizontal borehole of quill), and the underground trials that probing Logging Company in Great Wall in 2008 has carried out the tractor of its development at the four-hole horizontal well of Liaohe Oil Field, also some other scientific research institutions has also carried out the research of wheeled tractor related fields, but these tractors have some common ground: be all wheeled tractor, all that cable connects without circulation, it is all well logging, the little underground work of the tractive force such as well workover tractor, therefore there are a lot of defectives, major defect is as follows: the electric driving control system that () relies on cable or wire rope to connect, coiled tubing be can not effectively connect and effective circulation of drilling fluid and control driven and realize by ground hydraulic, (2) most of tractor control system can not realize bi-directional drive, (3) most of tractor control system safeguard measure of supporting mechanism automatic drawing back that can not realize cutting off the power supply, (4) most of tractor control system is strong according to patience to the surface pump pressure, and starting operting differential pressure and maximum operating pressure differential can not achieve effective control.

Shao of Daqing Petroleum Institute keeps monarch, Chang Yulian proposed a kind of lock piston type walking of rising telescopic drag device (Shao Shoujun. based on the oil well fault-finding robot research of virtual prototype. the Master's thesis .2007:5 of Daqing Petroleum Institute～7) mainly by electric component, hydraulic package, upper support walking assembly, lower support walking assembly and probe assembly form, by solenoid operated directional valve, four hydraulic cylinders are controlled, make, lower support walking assembly is realized alternately stretching or withdrawal on request, stretch out and indentation, thereby realize independently advancing, but there is very large defective in this tractor: (one) powers drive motors to make hydraulic mechanism carry out work with stube cable to electric component, the circulation of drilling fluid passage is not provided in tractor, can't realize the Efficient Cycle of down-hole liquid and ground in operation process, (2) control system is controlled four fluid cylinders with solenoid operated directional valve, can not realize effective control of hauling speed size, (3) pull-in control system is without the automatic Protection of overload protection and the withdrawal of outage slips.

Southwest Petrol University wishes that effect is magnificent, Hu Zhiqiang, (201110081197.2 of the application such as Shi Changshuai, continuous oil pipe crawler and the method for creeping thereof) continuous oil pipe crawler and the method for creeping thereof be by front crawling device, controller and rear crawling device form, although be to adopt coiled tubing to connect, utilize the ground hydraulic device to drive, but the obvious Shortcomings part of this patent: (one) traction element adopts two of up and down traction fluid cylinder to carry out traction drive and control, make traction element long, supporting mechanism adopts single fluid cylinder to drive and spring reverse motion, make the tractor fluid pressure line complicated, minimum applicable borehole diameter is larger, be not suitable for drawing in slim-hole and advance, (2) because coiled tubing underground work makes in coiled tubing cyclic pressure dissipation larger, adopt pure hydraulic-driven and control, tractor inside and outside differential pressure minimum value there is certain requirement, could drive the tractor normal operation after only having the ground pump pressure to reach certain value, make this tractor larger to the ground pressure dependence, traction control is dumb, (3) just propose to drive control concept with hydraulic pressure, but do not provide the pipeline embodiment of concrete hydraulic-driven and control, (4) without speed regulation throttle valve, can not realize effective control of hauling speed size, (5) traction control is without the automatic Protection of overload protection and the withdrawal of outage slips.

Along with downhole tractor is used increasingly extensive, the petroleum drilling and mining industry has been introduced multiple downhole tractor product and has been carried out underground work from external, although domestic research to tractor is started late, and only limit to the research of the single drivings such as the wheeled downhole tractor of motor, hydraulic-driven continuous-tube downhole tractor, pure mechanical cam formula downhole tractor, do not have ripe product to move towards market, also there are a lot of defectives in the tractor control system, can not satisfy preferably the requirement of underground work.Main cause by:

(1) the downhole tractor technology is taked strict technical know-how measure abroad, made the research of domestic tractor control system be in the independent research state fully;

(2) research of domestic tractor is limited to well logging use, and the research of drillng operation tractor is less, and the tractor of slim-hole or Microdrilling down-hole towage is domestic also not to be had, thus slim-hole or Microdrilling downhole tractor control system research difficulty larger;

(3) domestic tractor: the valve of single hydraulic-driven control use is more, and structure is more complicated, and poor stability without the control that startup pressure reduction, overload pressure reduction and outage supporting mechanism automatic drawing back are protected, presses dependence larger to the ground front pump;

(4) the tractor control system can only realize that unidirectional downward traction enters well control system, can not control by bivector traction;

(5) the circulation pipe passage is arranged, the control system that can carry out the hydraulic-driven tractor of ground and down-hole liquid Efficient Cycle only provides concept, there is no concrete hydraulic-driven control program, there is no experimental prototype, also there is no matured product;

(6) mostly lay particular emphasis on the research of large hole tractor control system, research is subjected to the little restriction in well space to the slim-hole control system, and research and enforcement difficulty are larger.

Summary of the invention

For overcoming the defective of prior art, the control system that the purpose of this invention is to provide a kind of Electro-hydraulic drive coiled tubing downhole tractor, it utilizes electronic control module control servomotor to make two five position-5 way valves accurately control hydraulic circuit, and other valves are controlled in cooperation, realize that effective hydraulic-driven tractor is lowered to smoothly and takes out at down-hole traction Coiled Tubing, solved because of coiled tubing larger at the down-hole frictional resistance, be lowered to and take out difficulty, the pressure of the drill and the technical barrier such as be difficult to apply, coiled tubing can be extended longer in the down-hole.

In order to achieve the above object, the present invention adopts following scheme:

Here refine control system:

Namely which parts is control system comprise, the relation between each parts how.

A kind of control system of Electro-hydraulic drive coiled tubing downhole tractor comprises control system housing, motor module, fluid pressure line module, electronic control module; It is characterized in that: motor module, fluid pressure line module, electronic control module are installed in the control system housing from top to bottom successively; Motor module comprises traction control servomotor, support and control servomotor; Traction control servomotor and support and control servomotor send instruction by electronic control module and control.

Preferably, the fluid pressure line module comprises upper slips fluid cylinder two position three-way valve, import pressure limiting two position three-way valve, four five-way valves of support fluid cylinder, import spring-loaded overflow valve, traction fluid cylinder three position five-way valve.

Preferably, the three-way interface pipeline of upper slips fluid cylinder two position three-way valve is respectively: entrance termination drilling liquid pressure pipeline, and all the other two logical ports of export connect respectively the first upper slips fluid cylinder pressure piping and the second upper slips fluid cylinder pressure piping; Wherein control by spring and electromagnetic valve for two.

Preferably, import pressure limiting two position three-way valve is two-position three way spring electromagnetism pilot operated valve device, and the three-way interface pipeline is respectively: entrance termination drilling fluid entrance cavity pressure line, two ports of export connect respectively cleaner for high-pressure drilling fluid pressure line and drilling fluid backflow bore hole annulus pipeline; Import pressure limiting two position three-way valve one end is equipped with electromagnet, and the other end is equipped with spring; Electromagnet end high pressure hydraulic control entrance connects drilling fluid entrance cavity pressure line, and spring terminal low pressure hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline; Wherein two pressure reduction by spring, electromagnet magnetic force, drilling fluid entrance cavity pressure line and drilling fluid backflow bore hole annulus pipeline are controlled.

Preferably, the import spring-loaded overflow valve is bi-bit bi-pass spring electromagnetic relief valve, import spring-loaded overflow valve one end is equipped with electromagnet, the other end is equipped with spring, the entrance of import spring-loaded overflow valve connects the cleaner for high-pressure drilling fluid pressure line, the outlet termination drilling fluid backflow bore hole annulus pipeline of import spring-loaded overflow valve, spring terminal low pressure hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline, and electromagnet end high pressure hydraulic control entrance connects the cleaner for high-pressure drilling fluid pressure line; Two of the import spring-loaded overflow valve is to control by pressure reduction and the spring thrust of cleaner for high-pressure drilling fluid pressure line and drilling fluid backflow bore hole annulus pipeline, makes the cleaner for high-pressure drilling fluid pressure line be communicated with or disconnect with drilling fluid backflow bore hole annulus pipeline.

Preferably, support four five-way valve one entrances of fluid cylinder and connect the cleaner for high-pressure drilling fluid pressure line, two bypass outlets all connect drilling fluid backflow bore hole annulus pipeline, and two outlets connect respectively drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping; Support the upper termination support and control servomotor of the spool of four five-way valves of fluid cylinder, the lower termination spring of spool; Support four five-way valves of fluid cylinder and divide from top to bottom four: first, the drilling liquid pressure pipeline is communicated with drilling fluid backflow bore hole annulus pipeline, and the cleaner for high-pressure drilling fluid pressure line is communicated with lower slips fluid cylinder pressure piping; Second, the cleaner for high-pressure drilling fluid pressure line is communicated with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping respectively simultaneously, and drilling fluid backflow bore hole annulus pipeline and drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping disconnect; The 3rd, the cleaner for high-pressure drilling fluid pressure line with connect the drilling liquid pressure pipeline and be communicated with, lower slips fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; The 4th, drilling fluid backflow bore hole annulus pipeline respectively simultaneously with connect the drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping is communicated with, the cleaner for high-pressure drilling fluid pressure line is simultaneously and drilling liquid pressure pipeline and the disconnection of lower slips fluid cylinder pressure piping; Support first of four five-way valves of fluid cylinder, second, tertiary mode of communicating and all adopt the adjustable throttle mode of communicating: spool position changes, passage flow section size variation, flowing through the channel liquid flow velocity varies in size, accurately control the position of spool by the support and control servomotor, be communicated with interface flow section size thereby accurately control three, the input and output rate of flow of fluid that makes is effectively controlled.

Preferably, traction fluid cylinder three position five-way valve one entrance connects the cleaner for high-pressure drilling fluid pressure line, and two bypass outlets all connect drilling fluid backflow bore hole annulus pipeline, and other two outlets connect respectively traction fluid cylinder pressure piping and traction fluid cylinder pressure piping; The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, the lower termination spring of traction fluid cylinder three position five-way valve spool; Traction fluid cylinder three position five-way valve has three from top to bottom: upper, the cleaner for high-pressure drilling fluid pressure line is communicated with traction fluid cylinder pressure piping, and traction fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; Meta, the cleaner for high-pressure drilling fluid pressure line, drilling fluid backflow bore hole annulus pipeline, traction fluid cylinder pressure piping, traction fluid cylinder pressure piping is broken into respectively off state; The next: the cleaner for high-pressure drilling fluid pressure line is communicated with traction fluid cylinder pressure piping, and traction fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; Upper and the next mode of communicating of traction fluid cylinder three position five-way valve adopts the adjustable throttle mode of communicating: the position of accurately controlling spool can be controlled three, and to be communicated with interfaces big or small, and the input and output rate of flow of fluid that makes is effectively controlled; The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, the traction control servomotor can accurately be controlled the position of traction fluid cylinder three position five-way valve spool.

Preferably, the traction control servomotor can accurately be controlled the displacement of traction fluid cylinder three position five-way valve spool, upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve is regulated with spool displacement, control the traction control servomotor and can accurately control the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, control the hauling speed size; The support and control servomotor can accurately be controlled the displacement of supporting four five-way valve spools of fluid cylinder, supporting the four-position valve core passage overflow section size of four five-way valves of fluid cylinder regulates with spool displacement, control the traction control servomotor and can accurately control the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, the size of the speed that control upper slips and lower slips open and shrink.

Preferably, support termination back-moving spring under four five-way valves of fluid cylinder, four five-way valve spools of outage rear support fluid cylinder move to the 4th pressure release loop state: drilling fluid backflow bore hole annulus pipeline is communicated with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping simultaneously, make simultaneously the circulating fluid in upper slips fluid cylinder and lower card fluid cylinder be back to the low pressure bore hole annulus by the circulation fluid pipeline, upper slips and lower slips leave the borehole wall simultaneously, prevent that outage from causing bit freezing.

Preferably, upper center slip pipe is processed with respectively the first upper slips fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping along tube wall; The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, the outlet of the lower end of lower traction fluid cylinder pressure piping is all at the lower end periphery of upper center slip pipe, and is connected with the fluid pressure line module respectively; The upper end of the first upper slips fluid cylinder pressure piping outlet center slip pipe topmost the time in the coverage of upper slips fluid cylinder on the slip pipe of upper center on upper supporting system is in, the upper end outlet of the second upper slips fluid cylinder pressure piping center slip pipe bottom the time in the coverage of upper slips fluid cylinder on the slip pipe of upper center on upper supporting system is in; The upper end outlet of up and down two traction fluid cylinder pressure pipings is respectively in the two sides up and down of drawing liquid cylinder piston; Connection or the disconnection of the first upper slips fluid cylinder pressure piping disconnection of fluid pressure line module controls or connection, the second upper slips fluid cylinder pressure piping are to the circulating fluid that inputs or outputs of upper slips fluid cylinder; Fluid pressure line module controls traction fluid cylinder pressure piping inputs or outputs circulating fluid for upper traction fluid cylinder, and fluid pressure line module controls traction fluid cylinder pressure piping is given lower traction fluid cylinder output or input circulating fluid, promotes the traction liquid cylinder piston and moves downward or upward.

The present invention compared with prior art, the advantage that has has:

(1) flexibility of tractor control system is better: the simple heavy-fluid pressure-controlled of the main side of tractor control system of domestic research or simple electric control, and higher to the hydraulic pressure dependence, the driving control system more complicated, tractor control system of the present invention adopts hydraulic-driven to control, coordinate electronic control module, the method of the integrated control of servomotor, reduce the complexity of the pipeline of pure hydraulic control, no matter surface pump is pressed with much, as long as have pressure reduction and energising inside and outside downhole tractor, just can start tractor work, simultaneously, the liquid in-out valve adopts 3 position-5 way valve and four position-5 way valves, can accurately control spool position by servo step motor, adjustment terminal valve size, control flow, reach the purpose of flexible control hauling speed, the flexibility of controlling is better.

(2) the tractor control system is applicable to traction control operation under slim hole well: domestic a lot of tractor control systems are applicable to the tractor of the larger link supports structure of borehole diameter or pipe wheeled construction and control, and are not suitable for the control of small diameter borehole tractor; The support system that tractor control system of the present invention adopts is inclined-plane slip extrapolation slips expansion type structure, support section is compacter, effectively reduced the minimum applicable borehole diameter of tractor, made control system can be applicable to the even downhole tractor traction control operation of Microdrilling of slim-hole.

(3) the tractor control system can guarantee normal down-hole liquid circulation in controlling distraction procedure: most domestic tractor control system can not guarantee the circulation of normal drilling fluid or flushing fluid for the design of well logging tractor in work; Tractor control system of the present invention is reserved inner cycle channel, can effectively guarantee Fluid Circulation in the underground work process.

(4) the tractor control system can realize power-off protection effectively: most domestic tractor control system does not have outage or the automatic safety device during without hydraulic pressure; When adopting outage, tractor control system of the present invention promotes four five-way valves to the pressure release of slips fluid cylinder by spring, make support system rely on spring reverse motion, in the situation that outage or can rely on acting force of the spring automatic drawing back slips without pump pressure, reduce the generation of the complex situations such as tractor down-hole bit freezing.

(5) the tractor control system can realize bivector traction control: the most domestic tractor can only be realized unidirectional traction control; Tractor control system of the present invention can be controlled smoothly tractor traction tubing string and take out and be lowered to operation, and flexibility is good.

Description of drawings

Fig. 1 is that Electro-hydraulic drive coiled tubing downhole tractor master looks schematic diagram;

Fig. 2 is Electro-hydraulic drive coiled tubing downhole tractor schematic top plan view;

Fig. 3 a be Electro-hydraulic drive coiled tubing downhole tractor upper slips when opening the first half along A-A generalized section in Fig. 2;

When Fig. 3 b is Electro-hydraulic drive coiled tubing downhole tractor upper slips closure, the first half is along A-A generalized section in Fig. 2;

Fig. 4 a be Electro-hydraulic drive coiled tubing downhole tractor upper slips when opening the latter half along A-A generalized section in Fig. 2;

When Fig. 4 b is Electro-hydraulic drive coiled tubing downhole tractor upper slips closure, the latter half is along A-A generalized section in Fig. 2;

Original state hydraulic principle schematic diagram when Fig. 5 a is the work of Electro-hydraulic drive coiled tubing downhole tractor;

Fig. 5 b is that Electro-hydraulic drive coiled tubing downhole tractor upper slips closure is left borehole wall hydraulic principle schematic diagram;

Fig. 5 c is Electro-hydraulic drive coiled tubing downhole tractor upper slips and the whole traction fluid pressure-controlled principle schematic downwards of traction fluid cylinder;

Fig. 5 d is that Electro-hydraulic drive coiled tubing downhole tractor upper slips opens promptly borehole wall hydraulic principle schematic diagram;

Fig. 5 e is that Electro-hydraulic drive coiled tubing downhole tractor lower slips closure is left borehole wall hydraulic principle schematic diagram;

Fig. 5 f is that Electro-hydraulic drive coiled tubing downhole tractor center slip pipe and lower slips integral body move down the hydraulic principle schematic diagram;

Fig. 5 g is that Electro-hydraulic drive coiled tubing downhole tractor lower slips opens promptly borehole wall hydraulic principle schematic diagram;

Original state power-off protection hydraulic principle schematic diagram when Fig. 6 a is the work of Electro-hydraulic drive coiled tubing downhole tractor;

Fig. 6 b is that Electro-hydraulic drive coiled tubing downhole tractor upper slips closure is left borehole wall power-off protection hydraulic principle schematic diagram;

Fig. 6 c is Electro-hydraulic drive coiled tubing downhole tractor upper slips and the whole traction downwards of traction fluid cylinder power-off protection hydraulic principle schematic diagram;

Fig. 6 d is that Electro-hydraulic drive coiled tubing downhole tractor upper slips opens promptly borehole wall power-off protection hydraulic principle schematic diagram;

Fig. 6 e is that Electro-hydraulic drive coiled tubing downhole tractor lower slips closure is left borehole wall hydraulic principle schematic diagram;

Fig. 6 f is that Electro-hydraulic drive coiled tubing downhole tractor center slip pipe and lower slips integral body move down power-off protection hydraulic principle schematic diagram;

Fig. 6 g is that Electro-hydraulic drive coiled tubing downhole tractor lower slips opens promptly borehole wall power-off protection hydraulic principle schematic diagram;

In figure: 1, upper slips support system, 2, center slip pipe assembly, 3, control system, 4, the lower slips support system; 21, traction fluid cylinder housing, 22a, external screw thread, 23b, internal thread, 23, the traction fluid cylinder cap, 24, the sealing of traction fluid cylinder cap; 31, control system housing, 32, motor module, 33, the fluid pressure line module, 34, electronic control module, 35, sealing ring, 36, the circulation fluid filtration device, 37, the sealing of circulation fluid filtration device, 38a, external screw thread, 38b, internal thread; 111, upper center slip pipe, 112, traction fluid cylinder pressure piping, 113, traction liquid cylinder piston, 114, traction fluid cylinder pressure piping, 115, traction fluid cylinder piston seal, 116, traction fluid cylinder piston displacement sensor, 117, traction fluid cylinder differential pressure pickup, 118, the first upper slips fluid cylinder pressure piping, the 119, second upper slips fluid cylinder pressure piping; 121, upper slips bearing, 122, upper slips bearing scraper, 123a, upper slips Fixed latches groove and pin hole, 123b, upper slips steady pin, 124, upper slips, 125, the upper slips support set; 131, upper slips fluid cylinder lid, 132, the sealing of upper slips lid, 133a, external screw thread, 133b, internal thread, 134, the upper slips return spring holder, 135, the upper slips back-moving spring; 141, upper slips liquid cylinder piston, 142, upper slips liquid cylinder piston displacement transducer, 143, the sealing of upper slips liquid cylinder piston, 144, the upper slips fluid cylinder, 145, upper fluid cylinder housing, 146, the housing seal of upper slips fluid cylinder, 147, the traction fluid cylinder; 321, traction control servomotor, 322, the support and control servomotor; 331, drilling fluid entrance cavity pressure line, 332, upper slips fluid cylinder two position three-way valve, 333, import pressure limiting two position three-way valve, 334, support four five-way valves of fluid cylinder, 335, import spring-loaded overflow valve, 336, drilling fluid backflow bore hole annulus pipeline, 337, drilling fluid input pressure pipeline, 338, traction fluid cylinder three position five-way valve, 339, the drilling liquid pressure pipeline; 411, lower center slip pipe, 412, lower slips fluid cylinder pressure piping, 413a, external screw thread, 413b, internal thread; 421, lower slips bearing, 422, lower slips bearing scraper, 423a, upper slips Fixed latches groove and pin hole, 423b, lower slips steady pin, 424, lower slips, 425, the lower slips support set; 431, lower slips fluid cylinder lid, 432, the sealing of lower slips lid, 433a, external screw thread, 433b, internal thread, 434, the lower slips return spring holder, 435, the lower slips back-moving spring; 441, lower slips liquid cylinder piston, 442, lower slips liquid cylinder piston displacement transducer, 443, the sealing of lower slips liquid cylinder piston, 444, the lower slips fluid cylinder, 445, lower slips fluid cylinder housing, 446, the housing seal of lower slips fluid cylinder.

The specific embodiment

As shown in Figure 1, Electro-hydraulic drive coiled tubing downhole tractor comprises that upper slips supports and trailer system 1, center slip pipe assembly 2, control system 3, lower slips support system 4.Upper slips supports the top that slides over center slip pipe assembly 2 with trailer system 1, can slide up and down along center slip pipe assembly 2; Control system 3, lower slips support system 4 are fixed on the bottom of center slip pipe assembly 2.The Main Function that upper slips supports with trailer system 1 is: promptly the borehole wall supports tractor and produces axial friction provides reaction force for the tractive force of tractor.The Main Function of control system 3 is by receiving ground signal, controlling the downhole tractor working.The Main Function of lower slips support system 4 is: promptly the borehole wall supports tractor and produces axial friction provides reaction force for the tractive force of tractor.

As Fig. 1-2,3a, 3b, 4a, shown in 4b, center slip pipe assembly 2 comprises: upper center slip pipe 111, circulation fluid filtration device 36, lower center slip pipe 411.

As Fig. 1-2,3a, shown in 3b, upper center slip pipe 111 is a Circular Pipe, and upper center slip pipe 111 is processed with respectively the first upper slips fluid cylinder pressure piping 118, the second upper slips fluid cylinder pressure piping 119, upper traction fluid cylinder pressure piping 112, lower traction fluid cylinder pressure piping 114 along tube wall; Be processed with the larger traction liquid cylinder piston 113 of diameter on upper center slip pipe 111, the upper outlet of upper traction fluid cylinder pressure piping 112 and lower traction fluid cylinder pressure piping 114 lays respectively at the both sides up and down of traction liquid cylinder piston 113, and two traction fluid cylinder piston seals 115, a traction fluid cylinder piston displacement sensor 116, a traction fluid cylinder differential pressure pickup 117 are installed on traction liquid cylinder piston 113; Slip pipe 111 lower ends, upper center are processed with the external screw thread 38a that is tightly connected, lower end surface is provided with the circular orientation flange.

As Fig. 1,4a, shown in 4b, lower center slip pipe 411 is a large stairstepping Circular Pipe of upper end external diameter little lower end external diameter, the upper end end face of lower center slip pipe 411 is provided with the circular orientation flange, be processed with external screw thread 413a near the upper end of lower center slip pipe 411, be processed with lower slips fluid cylinder pressure piping 412 in slip pipe 411 tube walls of lower center.

As Fig. 1,3a, 3b, 4a, shown in 4b, circulation fluid filtration device 36 is for having the cylinder of oblique sieve aperture; There is the circular orientation groove at the two ends up and down of circulation fluid filtration device 36, circulation fluid filtration device 36 upper ends are tightly connected with upper center slip pipe 111 by circular orientation groove and the sealing 37 of two circulation fluid filtration devices, and circulation fluid filtration device 36 lower ends are tightly connected with lower center slip pipe 411 by circular orientation groove and two circulation fluid filtration devices sealings 37.The Main Function of circulation fluid filtration device 36 is to filter out the larger particle of diameter in the drilling well circulation fluid, prevents the clogging hydraulic pipeline.

As Fig. 3 a, shown in 3b, upper slips supports with trailer system 1 and comprises upper slips bearing 121, upper slips 124, upper slips support set 125, upper slips fluid cylinder lid 131, upper slips return spring holder 134, upper slips back-moving spring 135, upper fluid cylinder housing 145, traction fluid cylinder cap 23.

As 2,3a, shown in 3b, upper slips bearing 121 is the heavy wall short cylinder, and upper slips bearing 121 slides on upper center slip pipe 111 by the cylinder endoporus, between upper slips bearing 121 and upper center slip pipe 111, upper slips bearing scraper 122 is installed; Upper slips bearing 121 lower end excircles are to uniform three cover slips Fixed latches groove and pin hole 123a.

As Fig. 3 a, shown in 3b, upper fluid cylinder housing 145 slides on upper center slip pipe 111 by the through hole at middle part, and upper fluid cylinder housing 145 top internal diameters are little, and the middle part internal diameter is minimum, and the bottom internal diameter is maximum; Form superposed upper slips fluid cylinder 144 and the traction fluid cylinder 147 that is positioned at the bottom between upper fluid cylinder housing and upper center slip pipe; The external diameter of upper slips fluid cylinder housing 144 is little, external diameter traction fluid cylinder housing 21 is large; Seal by two upper slips fluid cylinders housing seal 146 between upper fluid cylinder housing 145 and upper center slip pipe 111; Upper fluid cylinder housing 145 middle parts are along excircle to uniform three cover slips Fixed latches groove and pin holes.The upper end of upper slips fluid cylinder housing 144 is processed with internal thread 133b; The lower end of traction fluid cylinder housing 21 is processed with internal thread 22b.

As Fig. 3 a, shown in 3b, upper slips 124 is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is triangular ramp the centre, and there is parallel pin hole at two ends.The upper end of three upper slipses 124 is fixed in the cover slips Fixed latches groove of three on upper slips bearing 121 and pin hole 123a by three cover upper slips steady pin 123b, and the lower end of three upper slipses 124 is fixed on upper fluid cylinder housing 145 by three cover upper slips steady pins.

As Fig. 3 a, shown in 3b, upper slips fluid cylinder lid 131 is the middle heavy wall short cylinder that through hole is arranged, the lower end is provided with closed type external screw thread 133a, upper slips fluid cylinder lid 131 slides on the cylinder of upper slips support set 125 cores by intermediate throughholes, and two upper slips lids sealing 132 is installed between the core cylinder of upper slips fluid cylinder lid 131 and upper slips support set 125.Upper fluid cylinder housing 145 upper ends are threaded with upper slips fluid cylinder lid 131.

As Fig. 3 a, shown in 3b, upper slips support set 125 cores are cylinder, and upper slips support set 125 slides on upper center slip pipe 111 by the core cylinder, upper slips support set 125 lower ends are processed with upper slips liquid cylinder piston 141, and upper slips liquid cylinder piston 141 is placed in upper slips fluid cylinder 147; On the cylinder top of upper slips support set 125 along three panes with triangular ramp of the uniform welding of excircle direction, triangular ramp is radially outside, and match with triangular ramp on three upper slipses 124, a upper slips liquid cylinder piston displacement transducer 142 and four upper slips liquid cylinder pistons sealings 143 are installed on upper slips liquid cylinder piston 141.Upper slips liquid cylinder piston 141 can slide on upper center slip pipe 111 vertically promoting upper slips support set 125 under the fluid cylinder thrust: during when upward sliding, upper slips support set 125 is pushed three upper slipses 124 open by the triangle inclined-plane and is promptly supported the borehole wall.

as Fig. 3 a, shown in 3b, upper slips return spring holder 134 is the middle thin-walled cup type cylinder that through hole is arranged, the cup end, upwards be resisted against on upper slips fluid cylinder lid 131, upper slips back-moving spring 135 is helical springs, upper slips back-moving spring 135 seatings are interior aerial upper slips return spring holder 134, upper slips back-moving spring 135 upper ends withstand on the bottom surface, upper end of upper slips return spring holder 134, upper slips back-moving spring 135 lower ends withstand on the end face of upper slips liquid cylinder piston 141, upper slips back-moving spring 135 and upper slips return spring holder 134 slide on the cylinder of upper slips support set 125 cores together.The Main Function of upper slips back-moving spring 135 is when upper slips fluid cylinder 144 pressure are removed, downward thrust is provided for upper slips liquid cylinder piston 141, make upper slips support set 125 down slidings, on upper slips support set 125 on triangle inclined-plane and upper slips 124 the triangle inclined-plane unclamp, guarantee that upper slips 124 can automatic drawing back in extrapolability elimination situation; When upper slips support set 125 was regained the triangle inclined-plane extrapolation expansion force that makes upper slips 124 and removed, three upper slipses 124 can rely on self elasticity and borehole wall backup effect to regain and leave the borehole wall.the Main Function of upper slips return spring holder 134 be limit triangular aslant on upper slips support set 125 be moved beyond facing up occur after triangle inclined-plane peak on upper slips 124 locked: upper slips return spring holder 134 lower ends are the moving limit position that the upper side of upper slips liquid cylinder piston 141 makes progress, when the triangular aslant on upper slips support set 125 facing up during the mobile triangle inclined-plane peak that reaches on upper slips 124, the lower end of upper slips return spring holder 134 just withstands on the upper side of upper slips liquid cylinder piston 141, make slips liquid cylinder piston 141 and upper slips support set 125 can not continue upward sliding, stop upper slips 124 and upper slips support set 125 locked.

As Fig. 3 a, shown in 3b, the traction liquid cylinder piston 113 on upper center slip pipe 111 is positioned at the traction fluid cylinder, and will draw fluid cylinder 147 and be divided into traction fluid cylinder and lower traction fluid cylinder.Traction fluid cylinder cap 23 is the middle heavy wall short cylinder that through hole is arranged, traction fluid cylinder cap 23 slides over the bottom of upper center slip pipe 111 by intermediate throughholes, the upper end is provided with closed type external screw thread 22a, and traction fluid cylinder housing 21 lower ends and traction fluid cylinder cap 23 upper ends are threaded connection; Seal by two traction fluid cylinder cap sealings 24 between traction fluid cylinder cap 23 and upper center slip pipe 111.

As Fig. 1,4a, shown in 4b, lower slips support system 4 comprises: lower slips bearing 421, lower slips 424, lower slips support set 425, lower slips fluid cylinder lid 431, lower slips return spring holder 434, lower slips back-moving spring 435, lower slips fluid cylinder housing 445.

As Fig. 2,4a, 4b, shown in 5, lower slips bearing 421 is the middle cylinder that through hole is arranged, lower slips bearing 421 slides on lower center slip pipe 411 by through hole, and lower slips bearing scraper 422 is installed between lower slips bearing 421 and lower center slip pipe 411; Lower slips bearing 421 outsides, upper end three cover slips Fixed latches groove and the pin hole 423a that are uniformly distributed along the circumference.

As Fig. 2,4a, 4b, shown in 5, lower slips fluid cylinder housing 445 has the cylindrical shell of manhole for upper coarse and lower fine centre, lower slips fluid cylinder housing 445 slides on lower center slip pipe 411 by manhole, is provided with two upper slips fluid cylinders housing seal 446 between lower slips fluid cylinder housing 445 and lower center slip pipe 411, seals by two upper slips fluid cylinders housing seal 446 in the middle of lower slips fluid cylinder housing 445 and lower center slip pipe 411; Lower slips fluid cylinder housing 445 upper end inner headed faces have internal thread 413b, and lower slips fluid cylinder housing 445 is connected with lower center slip pipe 411 by internal thread 413b.There is annular seal groove lower slips fluid cylinder housing 445 upper surfaces, and lower slips fluid cylinder housing 445 upper end end faces are tightly connected by sealing ring 35 and control system housing 31 lower end surfaces.Lower slips fluid cylinder housing 445 intermediary outside three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference.

As Fig. 4 a, 4b, 5,8, shown in 9, lower slips 424 is axially symmetrical elastic steel sheet of the narrow long strip type in middle wide two, and radially there is the triangular pyramidal inclined-plane centre, and there is parallel pin hole at two ends.Three lower slips 424 lower ends circumferentially are fixed on lower slips bearing 421 by three groups of lower slips steady pin 423b in uniform way; The upper end of three lower slipses 424 is fixed in the slips Fixed latches groove and pin hole of lower slips fluid cylinder housing 445 by three cover lower slips steady pins respectively.Three lower slipses 424 can open under 425 effects of lower slips support set, can rely on self elasticity and borehole wall extruding force closure after external force is removed.

As Fig. 4 a, 4b, 5,6, shown in 7, lower slips support set 425 cores are cylinder, three panes that the triangular pyramidal inclined-plane is arranged of uniform welding along the circumferential direction in the cylinder bottom, the triangular pyramidal inclined-plane is radially outside, and matches with each triangular pyramidal inclined-plane on three lower slipses 424, can do relative sliding under thrust, to open three lower slipses 424; Lower slips support set 425 upper ends are processed with lower slips liquid cylinder piston 441, and lower slips liquid cylinder piston 441 is placed in lower slips fluid cylinder 444; A lower slips liquid cylinder piston displacement transducer 442 and four lower slips liquid cylinder piston sealings 443 are installed on lower slips liquid cylinder piston 441, and lower slips support set 425 is that cylinder slides on lower center slip pipe 411 by core.Lower slips liquid cylinder piston 441 can be done on lower center slip pipe 411 and endwisely slip promoting lower slips support set 425 under the fluid cylinder thrust, and when down sliding, lower slips support set 425 opens three lower slipses 424 and promptly supports the borehole wall by chasing after the inclined-plane.

As Fig. 4 a, shown in 4b, lower slips fluid cylinder lid 431 is the middle short cylinder that through hole is arranged, lower slips fluid cylinder lid 431 slides on the cylinder of lower slips support set 425 cores by intermediate throughholes, and two lower slips lids sealing 432 is installed between the core cylinder of lower slips fluid cylinder lid 431 and lower slips support set 425; There is closed type external screw thread 433a lower slips fluid cylinder lid 431 upper ends; 431 pairs of lower slips fluid cylinder housings 445 of lower slips fluid cylinder lid play a supportive role.

As Fig. 4 a, shown in 4b, lower slips return spring holder 434 abutted against downwards on lower slips fluid cylinder lid 431 for the middle cup type cylinder that through hole is arranged, a glass end, and lower slips back-moving spring 435 seatings slide on the cylinder of lower slips support set 425 cores in lower slips return spring holder 434 together.Lower slips back-moving spring 435 lower end seatings are on lower slips return spring holder 434, and lower slips back-moving spring 435 upper ends are resisted against the bottom surface of lower slips liquid cylinder piston 441.Lower slips return spring holder 434 upper ends are the downward moving limit position of the lower slips liquid cylinder piston 441 on lower slips support set 425, guarantee on lower slips support set 425 that on triangle inclined-plane and lower slips 424, the triangle inclined-plane can reach maximum and open fixed point, but can not slip over locked; When lower slips back-moving spring 435 disappears at lower slips fluid cylinder housing 445 pressure, rely on spring force to promote lower slips support set 425 and upwards regain.When upward sliding, lower slips support set 425 is regained, and removes at extrapolability, and three lower slipses 424 can rely on self elasticity and borehole wall backup effect to regain and leave the borehole wall.

As Fig. 3 a, 3b, 4a, shown in 4b, lower slips fluid cylinder pressure piping 412 upper ends are connected with electronic control module 34, and the lower end is connected with lower traction fluid cylinder; Lower slips fluid cylinder pressure piping 412 is used for to lower slips fluid cylinder 444 input and output liquid.The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping 118, the lower end outlet of the second upper slips fluid cylinder pressure piping 119, traction fluid cylinder pressure piping 112, the lower end outlet of traction fluid cylinder pressure piping 114 is all at the lower end periphery of upper center slip pipe 111, and is connected with fluid pressure line module 33 respectively; Fluid pressure line module 33 is according to the position of upper slips fluid cylinder 144, control respectively connection or the disconnection of the first upper slips fluid cylinder pressure piping 118 disconnections or connection, the second upper slips fluid cylinder pressure piping 119, realize the circulating fluid that inputs or outputs to upper slips fluid cylinder 144; Fluid pressure line module 33 is controlled traction fluid cylinder pressure piping 112 and is inputed or outputed circulating fluid to upper traction fluid cylinder, draws simultaneously fluid cylinder pressure piping 114 to lower traction fluid cylinder output or input circulating fluid, promotes traction liquid cylinder piston 113 and moves downward or upward.

As Fig. 4 a, shown in 4b, control system 3 comprises control system housing 31, motor module 32, fluid pressure line module 33, electronic control module 34.Control system housing 31 is for there being the cylinder of internal cavities, and control system housing 31 lower end surfaces are provided with annular seal groove.The upper end of control system housing 31 has internal thread 38b, lower end and all has internal thread 413b, control system housing 31 upper ends are connected with external screw thread 38a on upper center slip pipe 111 by internal thread 38b, and control system housing 31 lower ends are passed through internal thread 413b and are connected with external screw thread 413a on lower center slip pipe 411.Motor module 32, fluid pressure line module 33, electronic control module 34 are installed in control system housing 31 cavitys from top to bottom successively.31 effects of control system housing have 2 points: assembling and support motor module 32, fluid pressure line module 33, electronic control module 34; Center slip pipe 111 and lower center slip pipe 411 in connection.The Main Function of fluid pressure line module 33 provides the control hydraulic circuit of the input such as the traction fluid cylinder pressure piping 112 of upper slips fluid cylinder 144, lower slips fluid cylinder 444, traction fluid cylinder 147 and traction fluid cylinder pressure piping 114 and output pipe, and control, realize the normal operation of tractor.

As Fig. 4 a, 4b, shown in 5,6, motor module 32 comprises traction control servomotor 321, support and control servomotor 322; Traction control servomotor 321 and support and control servomotor 322 send instruction by electronic control module 34 respectively and control; The Main Function of traction control servomotor 321 is the spool displacements accurately that realize accurately controlling traction fluid cylinder three position five-way valve 338, and the Main Function of support and control servomotor 322 is to realize accurately controlling the spool displacement accurately of supporting four five-way valves 334 of fluid cylinder.

As Fig. 5, shown in 6, fluid pressure line module 33 comprises upper slips fluid cylinder two position three-way valve 332, and import pressure limiting two position three-way valve 333 supports four five-way valves 334 of fluid cylinder, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338.

As Fig. 5, shown in 6, upper slips fluid cylinder two position three-way valve 332, Main Function are to control drilling liquid pressure pipeline 339 to be connected or off-state with the first upper slips fluid cylinder pressure piping 118, with disconnection or the connection status of the second upper slips fluid cylinder pressure piping 119; The three-way interface pipeline is respectively: entrance termination drilling liquid pressure pipeline 339, and all the other two logical ports of export connect respectively the first upper slips fluid cylinder pressure piping 118 and the second upper slips fluid cylinder pressure piping 119; Wherein control by spring and electromagnetic valve for two, two motion processes are respectively:

When (one) electromagnet on two position three-way valve 332 is switched on, electromagnet produces magnetic force and overcomes by spring action, the promotion spool moves to right, drilling liquid pressure pipeline 339 is communicated with the first upper slips fluid cylinder pressure piping 118, disconnect with the second upper slips fluid cylinder pressure piping 119, the second upper slips fluid cylinder pressure piping 119 is opened circuit;

When (two) electromagnet on two position three-way valve 332 cuts off the power supply, by spring action, spool moves to left, and drilling liquid pressure pipeline 339 is communicated with the second upper slips fluid cylinder pressure piping 119, disconnect with the first upper slips fluid cylinder pressure piping 118, the first upper slips fluid cylinder pressure piping 118 is opened circuit.

As Fig. 5, shown in 6, import pressure limiting two position three-way valve 333, Main Function are to control cleaner for high-pressure drilling fluid pressure line 337 disconnect or be communicated with drilling fluid entrance cavity pressure line 331; The three-way interface pipeline is respectively: entrance termination drilling fluid entrance cavity pressure line 331, two ports of export connect respectively cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid backflow bore hole annulus pipeline 336; Electromagnet end hydraulic control entrance connects drilling fluid entrance cavity pressure line 331, and spring terminal hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline 336; Wherein control with the pressure reduction of drilling fluid backflow bore hole annulus pipeline 336 by spring, electromagnet magnetic force, drilling fluid entrance cavity pressure line 331 for two, duty is respectively:

When (one) drilling fluid entrance cavity pressure line 331 reaches predetermined value with the pressure reduction that connects drilling fluid backflow bore hole annulus pipeline 336, two position three-way valve 333 produces under magnetic force moving at pressure reduction and electromagnet, overcome by acting force of the spring, the promotion spool moves to right, drilling fluid entrance cavity pressure line 331 is communicated with cleaner for high-pressure drilling fluid pressure line 337, and drilling fluid backflow bore hole annulus pipeline 336 disconnects with cleaner for high-pressure drilling fluid pressure line 337;

When (two) drilling fluid entrance cavity pressure line 331 does not reach predetermined value with the pressure reduction that connects drilling fluid backflow bore hole annulus pipeline 336, two position three-way valve 333 overcomes the magnetic force of pressure reduction thrust and electromagnet under spring action, the promotion spool moves to left, drilling fluid entrance cavity pressure line 331 disconnects with cleaner for high-pressure drilling fluid pressure line 337, and drilling fluid entrance cavity pressure line 331 is communicated with drilling fluid backflow bore hole annulus pipeline 336.Drilling fluid entrance cavity pressure line 331 is set by the size of the electric current of electronic control module 34 control inputs electromagnet with the large I of the pressure reduction predetermined value of cleaner for high-pressure drilling fluid pressure line 337.

As Fig. 5; shown in 6; import spring-loaded overflow valve 335 is bi-bit bi-pass spring electromagnetic relief valves, and Main Function is that the pressure reduction of restriction cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid backflow bore hole annulus pipeline 336 can not surpass the maximum preset value, and fluid pressure line module 33 is played the safeguard protection effect.The entrance of import spring-loaded overflow valve 335 connects cleaner for high-pressure drilling fluid pressure line 337, the outlet termination drilling fluid backflow bore hole annulus pipeline 336 of import spring-loaded overflow valve 335, spring terminal hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline 336, and electromagnet end hydraulic control entrance connects cleaner for high-pressure drilling fluid pressure line 337.Two of import spring-loaded overflow valve 335 is to control by cleaner for high-pressure drilling fluid pressure line 337 and pressure reduction and the spring thrust of drilling fluid backflow bore hole annulus pipeline 336, make cleaner for high-pressure drilling fluid pressure line 337 be communicated with or disconnect with drilling fluid backflow bore hole annulus pipeline 336, duty is as follows:

When (one) pressure reduction of cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid backflow bore hole annulus pipeline 336 reaches preset maximum value, spool moves to left, cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling fluid backflow bore hole annulus pipeline 336, cleaner for high-pressure drilling fluid pressure line 337 is to 336 pressure releases of drilling fluid backflow bore hole annulus pipeline, cleaner for high-pressure drilling fluid pressure line 337 decreases with the pressure reduction of drilling fluid backflow bore hole annulus pipeline 336, until lower than the maximum differential pressure preset value;

(2) reduce until during lower than the maximum differential pressure preset value, spool moves to right when the pressure reduction of cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid backflow bore hole annulus pipeline 336, cleaner for high-pressure drilling fluid pressure line 337 disconnects with drilling fluid backflow bore hole annulus pipeline 336.Cleaner for high-pressure drilling fluid pressure line 337 is set by the size of the electric current of electronic control module 34 control inputs electromagnet with the large I of the pressure reduction maximum preset value of drilling fluid backflow bore hole annulus pipeline 336.

As Fig. 5, shown in 6, an entrance that supports four five-way valves 334 of fluid cylinder connects cleaner for high-pressure drilling fluid pressure line 337, two bypass outlets and all connects drilling fluid backflow bore hole annulus pipeline 336, and other two outlets connect respectively drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412.Support four five-way valves 334 of fluid cylinder and divide from top to bottom four: in the time of first, drilling liquid pressure pipeline 339 is communicated with drilling fluid backflow bore hole annulus pipeline 336, and cleaner for high-pressure drilling fluid pressure line 337 is communicated with lower slips fluid cylinder pressure piping 412; During second, cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 respectively simultaneously, and drilling fluid backflow bore hole annulus pipeline 336 disconnects with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412; In the time of the 3rd, cleaner for high-pressure drilling fluid pressure line 337 with connect drilling liquid pressure pipeline 339 and be communicated with, lower slips fluid cylinder pressure piping 412 is communicated with drilling fluid backflow bore hole annulus pipeline 336; In the time of the 4th, drilling fluid backflow bore hole annulus pipeline 336 respectively simultaneously with connect drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 is communicated with, cleaner for high-pressure drilling fluid pressure line 337 is simultaneously and drilling liquid pressure pipeline 339 and 412 disconnections of lower slips fluid cylinder pressure piping.Support three mode of communicating employing adjustable throttle mode of communicating on four five-way valves 334 of fluid cylinder: three connection interfaces sizes can be controlled in the position of accurately controlling spool, and the input and output rate of flow of fluid that makes is effectively controlled.Support the upper termination support and control servomotor 322 of four five-way valve 334 spools of fluid cylinder, the lower termination spring of spool; The Main Function of support and control servomotor 322 is to control the position of supporting four five-way valve 334 spools of fluid cylinder, guarantee the spool precise displacement on four respectively, the Main Function of the lower termination spring of spool can automatically promote spool when being outage and get back to the pressure release state.

The Main Function that supports four five-way valves 334 of fluid cylinder is: control cleaner for high-pressure drilling fluid pressure line 337 is communicated with or disconnection with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412, and drilling liquid pressure pipeline 339 or lower slips fluid cylinder pressure piping 412 are inputted highly pressurised liquids or stopped input; Control drilling fluid backflow bore hole annulus pipeline 336 and input being communicated with or disconnection of drilling liquid pressure pipeline 339 with cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid, cleaner for high-pressure drilling fluid pressure line 337 and drilling fluid input drilling liquid pressure pipeline 339 are carried out pressure release or disconnection; Can automatically carry out pressure release to drilling fluid input drilling liquid pressure pipeline 339 or lower slips fluid cylinder pressure piping 412 under powering-off state, make upper slips 124 and lower slips 424 can automatically revert to contraction state, prevent that the bit freezing phenomenon from occuring.

As Fig. 5, shown in 6, the function that four five-way valves 334 of support fluid cylinder are realized in four different situations respectively is as follows:

(1) first: drilling fluid backflow bore hole annulus pipeline 336 is communicated with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 is communicated with the first upper slips fluid cylinder pressure piping 118 or the second upper slips fluid cylinder pressure piping 119, make upper slips fluid cylinder 144 circulating fluids be back to the low pressure bore hole annulus, upper slips back-moving spring 135 promotes upper slips liquid cylinder piston 141 and upper slips support set 125 moves down, upper slips support set 125 and upper slips 124 triangle inclined-planes slide separately, and upper slips 124 shrinks under self elasticity and borehole wall backup effect and leaves the borehole wall; Cleaner for high-pressure drilling fluid pressure line 337 is communicated with lower slips fluid cylinder pressure piping 412 simultaneously, to lower slips fluid cylinder 444 conveying high-pressure circulating fluids, the resistance that lower slips liquid cylinder piston 441 overcomes lower slips back-moving spring 435 drives lower slips support set 425 promotion downwards, and lower slips support set 425 forces lower slips 424 to open under the effect on triangle inclined-plane and promptly supports the borehole wall; The circulation fluid flow velocity of input and output can accurately be controlled triangle inclined-plane make lower slips support set 425 move down the time by support and control servomotor 322 and slide and open lower slips 424 and promptly support the speed of the borehole wall and upper slips 124 and shrink the speed of leaving the borehole wall can be effectively controlled under self elasticity and borehole wall backup effect;

(2) second: cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 simultaneously,, upper slips 124 and lower slips 424 are opened simultaneously promptly support the borehole wall simultaneously to upper slips fluid cylinder 144 and lower card fluid cylinder 444 conveying high-pressure circulating fluids by circulation line; The circulation fluid flow velocity of input and output can accurately be controlled by support and control servomotor 322, and making upper slips 124 and lower slips 424 open simultaneously the speed that promptly supports the borehole wall can be effectively controlled.

(3) the 3rd: cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 is by 332 pairs of the first upper slips fluid cylinder pressure pipings 118 of upper slips fluid cylinder two position three-way valve or the second upper slips fluid cylinder pressure piping 119 conveying high-pressure liquid, promote upper slips liquid cylinder piston 141 and overcome upper slips back-moving spring 135 resistances and move up, the triangle inclined-plane is slided open upper slips 124 and promptly support the borehole wall.Simultaneously, drilling fluid backflow bore hole annulus pipeline 336 is communicated with lower slips fluid cylinder pressure piping 412, make lower slips fluid cylinder 444 circulating fluids be back to the low pressure bore hole annulus, lower slips back-moving spring 435 promotes lower slips liquid cylinder piston 441 and lower slips support set 425 upwards promotes, lower slips support set 425 and lower slips 424 triangle inclined-planes slide separately, and lower slips 424 shrinks under self elasticity and borehole wall backup effect and leaves the borehole wall.The circulation fluid flow velocity of input and output can accurately be controlled by support and control servomotor 322, makes triangle inclined-plane when moving on upper slips support set 125 slide to open upper slips 124 promptly to support the contraction under self elasticity and borehole wall backup effect of the speed of the borehole wall and lower slips 424 and leaves the speed of the borehole wall and can be effectively controlled.

(4) the 4th: in the situation that outage, support four five-way valves 334 of fluid cylinder and automatically get back to the pressure release loop state under spring action: drilling fluid backflow bore hole annulus pipeline 336 is communicated with drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 simultaneously, make simultaneously the circulating fluid in upper slips fluid cylinder 144 and lower card fluid cylinder 444 be back to the low pressure bore hole annulus by the circulation fluid pipeline, make upper slips 124 and lower slips 424 leave simultaneously the borehole wall, prevent from cutting off the power supply or the generation of the special circumstances such as bit freezing.

As Fig. 5, shown in 6, one entrance of traction fluid cylinder three position five-way valve 338 connects cleaner for high-pressure drilling fluid pressure line 337, two bypass outlets and all connects drilling fluid backflow bore hole annulus pipeline 336, and other two outlets connect respectively traction fluid cylinder pressure piping 112 and traction fluid cylinder pressure piping 114.Traction fluid cylinder three position five-way valve 338 divides three from top to bottom: upper, cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 114, and traction fluid cylinder pressure piping 112 is communicated with drilling fluid backflow bore hole annulus pipeline 336; Meta, cleaner for high-pressure drilling fluid pressure line 337, drilling fluid backflow bore hole annulus pipeline 336, traction fluid cylinder pressure piping 114, traction fluid cylinder pressure piping 112 is broken into respectively off state; The next: cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 112, and traction fluid cylinder pressure piping 114 is communicated with drilling fluid backflow bore hole annulus pipeline 336.Upper and the next mode of communicating of traction fluid cylinder three position five-way valve 338 adopts the adjustable throttle mode of communicating: the position of accurately controlling spool can be controlled three, and to be communicated with interfaces big or small, and the input and output rate of flow of fluid that makes is effectively controlled.The upper termination traction control servomotor 321 of traction fluid cylinder three position five-way valve 338 spools, lower termination spring, the Main Function of traction control servomotor 321 is positions of controlling traction fluid cylinder three position five-way valve 338 spools, guarantees the spool precise displacement on four respectively.

The Main Function of traction fluid cylinder three position five-way valve 338 is that drilling liquid pressure pipeline 337 is communicated with traction fluid cylinder pressure piping 112, carry out pressurising to drawing upper fluid cylinder infusion fluid, drilling fluid backflow bore hole annulus pipeline 336 is communicated with traction fluid cylinder pressure piping 114, carries out pressure release to drawing lower fluid cylinder output liquid; Drilling liquid pressure pipeline 337 is communicated with traction fluid cylinder pressure piping 114, carry out pressurising to drawing lower fluid cylinder infusion fluid, drilling fluid backflow bore hole annulus pipeline 336 is communicated with traction fluid cylinder pressure piping 112, carries out pressure release to drawing upper fluid cylinder output liquid; Perhaps make drilling liquid pressure pipeline 337, drilling fluid backflow bore hole annulus pipeline 336, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114 disconnects respectively and is in off state, keeps the invariant position of traction liquid cylinder piston 113 in traction fluid cylinder 147.

The function that traction fluid cylinder three position five-way valve 338 is realized in the situation of three of upper, middle and lower respectively is as follows:

(1) upper: cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 114, and to the lower fluid cylinder input cycle of higher pressure liquid of traction fluid cylinder 147, pressure raises; Simultaneously, traction fluid cylinder pressure piping 112 is communicated with drilling fluid backflow bore hole annulus pipeline 336, make the upper fluid cylinder circulation fluid of traction fluid cylinder 147 be back to the low pressure bore hole annulus, pressure decreased, traction liquid cylinder piston 113 moves up under the effect of traction up and down fluid cylinder pressure reduction, makes traction upper center slip pipe 111 relative upper slipses 124 move up; But the circulation fluid flow velocity of input and output can accurately be controlled by traction control servomotor 321, and making the traction speed that moves up of liquid cylinder piston 113 and traction go up the speed that center slip pipe 111 relative upper slipses 124 move up can be effectively controlled.

(2) meta: drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid backflow bore hole annulus pipeline 336 disconnects respectively, makes traction liquid cylinder piston 113 and draws the relative upper slipses 124 maintenance inactive states of upper center slip pipe 111.(3) the next: cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 112, and to the upper fluid cylinder input cycle of higher pressure liquid of traction fluid cylinder 147, pressure raises, simultaneously, traction fluid cylinder pressure piping 114 is communicated with drilling fluid backflow bore hole annulus pipeline 336, make the lower fluid cylinder circulation fluid of traction fluid cylinder 147 be back to the low pressure bore hole annulus, traction liquid cylinder piston 113 moves down under the effect of drawing up and down fluid cylinder pressure reduction, making traction go up center slip pipe 111 relative upper slipses 124 moves down, but the circulation fluid flow velocity of input and output can accurately be controlled by traction control servomotor 321, make the traction speed that moves down of liquid cylinder piston 113 and make traction go up the speed that center slip pipe 111 relative upper slipses 124 move down and to be effectively controlled.

Electronic control module 34 is separately converted to action command and flows to traction control servomotor 321 and support and control servomotor 322 after receiving the signal that cables transmit from ground.After traction control servomotor 321 receives action commands, the spool shift position of traction fluid cylinder three position five-way valve 338 is accurately controlled, realize drawing the unlatching of fluid cylinder and stop, tractive force size, hauling speed are big or small, the accurate control of lead; After support and control servomotor 322 receives action command, the spool shift position of supporting four five-way valves 334 of fluid cylinder is accurately controlled, realized the sequencing that opens of upper slips 124 and lower slips 424, the degree of opening, the speed of opening, open the accurate control of the size of power.

Increase along with the continuous oil pipe operation degree of depth, especially at extended reach well, horizontal well etc., only depend on the injected system on ground can not make downhole tool continue to be lowered to or to trip out, must utilize the ground drilling pump to provide hydraulic energy to circulation fluid, and send instruction by ground to control system 3, make tractor open normal operation, as shown in Fig. 5 a: three upper slipses 124 of the upper slips support system 1 of tractor all open the promptly borehole wall with three lower slipses 424 of lower slips support system 4, and traction liquid cylinder piston 113 is moved down near traction fluid cylinder cap 23.The state of tractor divides following 6 steps as follows as its workflow of job initiation state in Fig. 5 a:

the first step, as shown in Fig. 5 b, after control system 3 receives ground signal, send instruction to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 to control fluid pressure line module 33, traction control servomotor 321 and support and control servomotor 322 are turned round respectively promote traction fluid cylinder three position five-way valve 338 and support four five-way valves 334 of fluid cylinder: make traction fluid cylinder three position five-way valve 338 be in meta, drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid backflow bore hole annulus pipeline 336 disconnects respectively, make traction liquid cylinder piston 113 and draw the relative upper slipses 124 maintenance inactive states of upper center slip pipe 111, make four five-way valves 334 of support fluid cylinder be in first, the first upper slips fluid cylinder pressure piping 118 is communicated with drilling fluid backflow bore hole annulus pipeline 336, the second upper slips fluid cylinder pressure piping 119 is closed, 144 pressure releases of upper slips fluid cylinder, upper slips liquid cylinder piston 141 moves down under the effect of upper slips back-moving spring 135, driving upper slips support set 125 regains, upper slips 124 is after the expansion force effect that loses upper slips support set 125, by well effect and the elasticity automatic drawing back of self, upper slips 124 disappears with the grasp of the borehole wall, when upper slips liquid cylinder piston 141 resets to bottom, upper slips liquid cylinder piston displacement transducer 142 on upper slips liquid cylinder piston 141 produces the displacement Stopping signal, and send to control system 3.

As shown in Fig. 6 b, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant; Move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, upper slips fluid cylinder 144 is maintained the original state constant under upper slips back-moving spring 135 effect, upper slips 124 state that remains retracted is constant; The circulating fluid of lower slips fluid cylinder 444 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of lower slips back-moving spring 435, lower slips 425 is after the expansion force effect that loses lower slips support set 425, by well effect and the elasticity automatic drawing back of self, make lower slips 425 can automatically get back to contraction state after outage; Therefore, after outage, upper slips 124 and lower slips 425 can keep after outage or automatically get back to contraction state, prevent the generation of down-hole lock of tool drilling, have effectively realized the automatic protection functions of outage.

second step, as shown in Fig. 5 c: after the electronic control module 34 of control system 3 receives signal, send instruction, electronic control module 34 changes into the motor movement instruction, impels motor module 32 to control fluid pressure line module 33, makes and supports four five-way valves 334 of fluid cylinder, upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335 maintains the original state constant, make 321 runnings of traction control servomotor promote traction fluid cylinder three position five-way valve 338, traction fluid cylinder three position five-way valve 338 is in upper, cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 114 on upper center slip pipe 111, to the lower fluid cylinder input cycle of higher pressure liquid of traction fluid cylinder 147, pressure raises, simultaneously, on upper center slip pipe 111, traction fluid cylinder pressure piping 112 is communicated with drilling fluid backflow bore hole annulus pipeline 336, drilling fluid backflow bore hole annulus pipeline 336 is communicated with the upper fluid cylinder of traction, make the upper fluid cylinder circulation fluid of traction fluid cylinder 147 be back to the low pressure bore hole annulus, pressure decreased, traction liquid cylinder piston 113 moves up under the effect of drawing up and down fluid cylinder pressure reduction, making traction go up center slip pipe 111 relative upper slipses 124 moves up, prop up at lower slips the reaction force that 424 frictional force of firmly grasping the borehole wall provide tractive force, traction upper slips support system 1 integral body moves down, but the circulation fluid flow velocity of input and output can accurately be controlled by traction control servomotor 321, and making the traction speed that moves up of liquid cylinder piston 113 and traction go up the speed that center slip pipe 111 relative upper slipses 124 move up can be effectively controlled, the traction fluid cylinder piston displacement sensor 116 and the traction fluid cylinder differential pressure pickup 117 that draw simultaneously on liquid cylinder piston 113 produce live signal, and send to the electronic control module 34 of control system 3.

As shown in Fig. 6 c, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant; Move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, upper slips fluid cylinder 144 is maintained the original state constant under upper slips back-moving spring 135 effect, upper slips 124 state that remains retracted is constant; The circulating fluid of lower slips fluid cylinder 444 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of lower slips back-moving spring 435, lower slips 425 is after the expansion force effect that loses lower slips support set 425, by well effect and the elasticity automatic drawing back of self, make lower slips 425 can automatically get back to contraction state after outage; Therefore, after outage, upper slips 124 and lower slips 425 can keep after outage or automatically get back to contraction state, prevent the generation of down-hole lock of tool drilling, have effectively realized the automatic protection functions of outage.

The 3rd step, as shown in Fig. 5 d: after the electronic control module 34 of control system 3 receives traction fluid cylinder piston displacement sensor 116 and traction fluid cylinder differential pressure pickup 117 signals, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 to control fluid pressure line module 33: to make import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335 maintains the original state constant; Upper slips fluid cylinder two position three-way valve 332 spools are moved to the left, and the second upper slips fluid cylinder pressure piping 119 is closed, and the first upper slips fluid cylinder pressure piping 118 is communicated with 339; Make 321 runnings of traction control servomotor promote traction fluid cylinder three position five-way valve 338 spools and move to meta, the traction fluid cylinder pressure piping 112 of the upper fluid cylinder of traction and the traction fluid cylinder pressure piping 114 of the lower fluid cylinder of traction are closed in the pass, make the invariant position of traction liquid cylinder piston 113 in traction fluid cylinder 147; Make simultaneously 322 runnings of support and control servomotor promote to support four five-way valve 334 spools of fluid cylinder and move to second, cycle of higher pressure liquid is pressed into upper slips fluid cylinder 144 by cycle of higher pressure drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, drilling liquid pressure pipeline 339, the first upper slips fluid cylinder pressure piping 118, the reaction force that promotion upper slips liquid cylinder piston 141 overcomes upper slips back-moving spring 135 moves up, drive on upper slips support set 125 and move, the upper slips 124 that makes opens the promptly borehole wall; After pressure and displacement reached predetermined value, upper slips liquid cylinder piston displacement transducer 142 produced signals and sends to the electronic control module 34 of control system 3.

as shown in Fig. 6 d, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant, move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, the circulating fluid of upper slips fluid cylinder 144 and lower slips fluid cylinder 444 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of upper slips back-moving spring 135 and lower slips back-moving spring 435 respectively, upper slips 124 and lower slips 425 are after the expansion force effect that loses upper slips support set 125 and lower slips support set 425, by well effect and the elasticity automatic drawing back of self, make upper slips 124 and lower slips 425 be in contraction state when outage, prevent the generation of down-hole lock of tool drilling, effectively realized the automatic protection functions of outage.

The 4th step, as shown in Fig. 5 e: after the electronic control module 34 of control system 3 receives the signal of upper slips liquid cylinder piston displacement transducer 142, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 to control fluid pressure line module 33, make upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, five five-way valves 338 of traction fluid cylinder maintain the original state constant.Make 322 runnings of support and control servomotor promote to support on four five-way valve 334 spools of fluid cylinder and move to the 3rd, cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling liquid pressure pipeline 339, drilling liquid pressure pipeline 339 is by 332 pairs of the first upper slips fluid cylinder pressure piping 118 conveying high-pressure liquid of upper slips fluid cylinder two position three-way valve, upper slips fluid cylinder 144 is remained unchanged, and upper slips 124 continues to open maintenance and promptly supports borehole wall state; Simultaneously, drilling fluid backflow bore hole annulus pipeline 336 is communicated with lower slips fluid cylinder pressure piping 412, make lower slips fluid cylinder 444 circulating fluids be back to the low pressure bore hole annulus, lower slips back-moving spring 435 promotes lower slips liquid cylinder piston 441 and lower slips support set 425 upwards promotes, lower slips support set 425 and lower slips 424 triangle inclined-planes slide separately, and lower slips 424 shrinks under self elasticity and borehole wall backup effect and leaves the borehole wall.The circulation fluid flow velocity of input and output can accurately be controlled by support and control servomotor 322, and the speed that makes lower slips 424 contraction under self elasticity and borehole wall backup effect leave the borehole wall can be effectively controlled.When moving on to the precalculated position on lower slips liquid cylinder piston 441, lower slips liquid cylinder piston displacement transducer 442 produces and sends prearranged signals equally to the electronic control module 34 of control system 3.

As shown in Fig. 6 e, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant; Move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, lower slips fluid cylinder 444 is maintained the original state constant under lower slips back-moving spring 435 effect, lower slips 424 state that remains retracted is constant; The circulating fluid of upper slips fluid cylinder 144 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of upper slips back-moving spring 135, upper slips 125 is after the expansion force effect that loses upper slips support set 125, by well effect and the elasticity automatic drawing back of self, make upper slips 125 can automatically get back to contraction state after outage; Therefore, after outage, upper slips 124 and lower slips 425 can keep after outage or automatically get back to contraction state, prevent the generation of down-hole lock of tool drilling, have effectively realized the automatic protection functions of outage.

The 5th step, as shown in Fig. 5 f: after the electronic control module 34 of control system 3 receives the signal of lower slips liquid cylinder piston displacement transducer 442, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 to control fluid pressure line modules 33, keep import pressure limiting two position three-way valve 333, support six five-way valves 334 of fluid cylinder, import spring-loaded overflow valve 335 previous status are constant.

Make 321 runnings of traction servomotor promote to move on traction fluid cylinder three position five-way valve 338 spools the next: cleaner for high-pressure drilling fluid pressure line 337 is communicated with traction fluid cylinder pressure piping 112, and to the upper fluid cylinder input cycle of higher pressure liquid of traction fluid cylinder 147, pressure raises; Simultaneously, traction fluid cylinder pressure piping 114 is communicated with drilling fluid backflow bore hole annulus pipeline 336, make the lower fluid cylinder circulation fluid of traction fluid cylinder 147 be back to the low pressure bore hole annulus, traction liquid cylinder piston 113 moves down under the effect of drawing up and down fluid cylinder pressure reduction, making traction go up center slip pipe 111 relative upper slipses 124 moves down, firmly grasp by upper slips support system 1 frictional force that the borehole wall produces, in traction, center slip pipe 111 and lower center slip pipe assembly 41 integral body together with lower slips support system 4 move down.When the relative upper slips 124 of upper center slip pipe 111 is moved down into when making 119 upper ends outlets enter into upper slips support set 125 to form off state, upper slips fluid cylinder two position three-way valve 332 spools are moved right, drilling liquid pressure pipeline 339 is communicated with the second upper slips fluid cylinder pressure piping 119, and the first upper slips fluid cylinder pressure piping 118 disconnects and is in off state.But the circulation fluid flow velocity of input and output can accurately be controlled by traction control servomotor 321, makes the traction speed that moves down of liquid cylinder piston 113 and make traction go up the speed that center slip pipe 111 relative upper slipses 124 move down to be effectively controlled.The traction fluid cylinder piston displacement sensor 116 and the traction fluid cylinder differential pressure pickup 117 that draw simultaneously on liquid cylinder piston 113 produce live signal, and send to the electronic control system 34 of control system 3.

As shown in Fig. 6 f, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant; Move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, lower slips fluid cylinder 444 is maintained the original state constant under lower slips back-moving spring 435 effect, lower slips 424 state that remains retracted is constant; The circulating fluid of upper slips fluid cylinder 144 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of upper slips back-moving spring 135, upper slips 125 is after the expansion force effect that loses upper slips support set 125, by well effect and the elasticity automatic drawing back of self, make upper slips 125 can automatically get back to contraction state after outage; Therefore, after outage, upper slips 124 and lower slips 425 can keep after outage or automatically get back to contraction state, prevent the generation of down-hole lock of tool drilling, have effectively realized the automatic protection functions of outage.

The 6th step, as shown in Fig. 5 g: after the electronic control module 34 of control system 3 receives the traction fluid cylinder piston displacement sensor 116 on traction liquid cylinder piston 113 and draws fluid cylinder differential pressure pickup 117 and produces live signals, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 to control fluid pressure line modules 33, keep upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335 previous status constant.Make 321 runnings of traction control servomotor promote traction fluid cylinder three position five-way valve 338 spools and move to meta: drilling fluid input pressure pipeline 337, traction fluid cylinder pressure piping 112, traction fluid cylinder pressure piping 114, drilling fluid backflow bore hole annulus pipeline 336 disconnects respectively, makes traction liquid cylinder piston 113 and draws the relative upper slipses 124 maintenance inactive states of upper center slip pipe 111.the spool that makes simultaneously 322 runnings of support and control servomotor promote four five-way valves 334 of support fluid cylinder moves to second: cleaner for high-pressure drilling fluid pressure line 337 is communicated with drilling liquid pressure pipeline 339, cleaner for high-pressure drilling fluid is successively by drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, drilling liquid pressure pipeline 339, the second upper slips fluid cylinder pressure piping 119, to upper slips fluid cylinder 144 conveying high-pressure circulating fluids, make upper slips 124 keep supporting borehole wall state constant, cleaner for high-pressure drilling fluid pressure line 337 is communicated with lower slips fluid cylinder pressure piping 412 simultaneously, cleaner for high-pressure drilling fluid is successively by drilling fluid entrance cavity pressure line 331, cleaner for high-pressure drilling fluid pressure line 337, lower slips fluid cylinder pressure piping 412, block simultaneously fluid cylinder 444 conveying high-pressure circulating fluids downwards, lower card fluid cylinder 444 pressure are raise, promote lower slips liquid cylinder piston 441 and overcome lower slips back-moving spring 435 reaction forces, driving lower slips support set 425 moves down, the lower slips 424 of realizing extrapolating opens and promptly supports borehole wall function, but the circulation fluid flow velocity of input and output can accurately be controlled by support and control servomotor 322, the speed that makes lower slips 424 open promptly to support the borehole wall can be effectively controlled.After lower slips liquid cylinder piston 441 pushing forces and displacement reached reservation, whole tractor returned to again initial state as shown in Fig. 5 a, and lower slips liquid cylinder piston displacement transducer 442 produces signals and sends to the electronic control module 34 of control system 3.

as shown in Fig. 6 g, when outage occurs: upper slips fluid cylinder two position three-way valve 332, import pressure limiting two position three-way valve 333, import spring-loaded overflow valve 335, traction fluid cylinder three position five-way valve 338 maintains the original state constant, move to the 4th on the spool of four five-way valves 334 of support fluid cylinder is automatic under spring action, drilling liquid pressure pipeline 339 and lower slips fluid cylinder pressure piping 412 are communicated with drilling fluid backflow bore hole annulus pipeline 336 simultaneously, the circulating fluid of upper slips fluid cylinder 144 and lower slips fluid cylinder 444 is flowed through drilling fluid backflow bore hole annulus pipeline 336 to bore hole annulus next time in the effect of upper slips back-moving spring 135 and lower slips back-moving spring 435 respectively, upper slips 124 and lower slips 425 are after the expansion force effect that loses upper slips support set 125 and lower slips support set 425, by well effect and the elasticity automatic drawing back of self, make upper slips 124 and lower slips 425 be in contraction state when outage, prevent the generation of down-hole lock of tool drilling, effectively realized the automatic protection functions of outage.

If the order by " → two → three → four → five → six → " constantly repeats above-mentioned action, make tractor draw the function of creeping downwards in the down-hole; On the contrary, if press the operation in tandem of " six → five → four → three → two → → six ", can realize that tractor draws at down hole reverse the function of creeping.

Claims

1. the control system of an Electro-hydraulic drive coiled tubing downhole tractor, comprise control system housing, motor module, fluid pressure line module, electronic control module; It is characterized in that:

Motor module, fluid pressure line module, electronic control module are installed in the control system housing from top to bottom successively; Motor module comprises traction control servomotor, support and control servomotor; Traction control servomotor and support and control servomotor send instruction by electronic control module and control.

2. the control system of Electro-hydraulic drive coiled tubing downhole tractor according to claim 1 is characterized in that:

The fluid pressure line module comprises upper slips fluid cylinder two position three-way valve, import pressure limiting two position three-way valve, four five-way valves of support fluid cylinder, import spring-loaded overflow valve, traction fluid cylinder three position five-way valve.

3. the control system of according to claim 1-2 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

The three-way interface pipeline of upper slips fluid cylinder two position three-way valve is respectively: entrance termination drilling liquid pressure pipeline, two ports of export connect respectively the first upper slips fluid cylinder pressure piping and the second upper slips fluid cylinder pressure piping; Wherein control by spring and electromagnetic valve for two.

4. the control system of according to claim 1-3 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

Import pressure limiting two position three-way valve is two-position three way spring electromagnetism pilot operated valve device, and the three-way interface pipeline is respectively: entrance termination drilling fluid entrance cavity pressure line, two ports of export connect respectively cleaner for high-pressure drilling fluid pressure line and drilling fluid backflow bore hole annulus pipeline; Import pressure limiting two position three-way valve one end is equipped with electromagnet, and the other end is equipped with spring; Electromagnet end high pressure hydraulic control entrance connects drilling fluid entrance cavity pressure line, and spring terminal low pressure hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline;

Wherein two pressure reduction by spring, electromagnet magnetic force, drilling fluid entrance cavity pressure line and drilling fluid backflow bore hole annulus pipeline are controlled.

5. the control system of according to claim 1-4 described Electro-hydraulic drive coiled tubing downhole tractor, it is characterized in that: the import spring-loaded overflow valve is bi-bit bi-pass spring electromagnetic relief valve, import spring-loaded overflow valve one end is equipped with electromagnet, the other end is equipped with spring, the entrance of import spring-loaded overflow valve connects the cleaner for high-pressure drilling fluid pressure line, the outlet termination drilling fluid backflow bore hole annulus pipeline of import spring-loaded overflow valve, spring terminal low pressure hydraulic control entrance connects drilling fluid backflow bore hole annulus pipeline, and electromagnet end high pressure hydraulic control entrance connects the cleaner for high-pressure drilling fluid pressure line; Two of the import spring-loaded overflow valve is to control by pressure reduction and the spring thrust of cleaner for high-pressure drilling fluid pressure line and drilling fluid backflow bore hole annulus pipeline, makes the cleaner for high-pressure drilling fluid pressure line be communicated with or disconnect with drilling fluid backflow bore hole annulus pipeline.

6. the control system of according to claim 1-5 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

Support four five-way valve one entrances of fluid cylinder and connect the cleaner for high-pressure drilling fluid pressure line, two bypass outlets all connect drilling fluid backflow bore hole annulus pipeline, and two outlets connect respectively drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping; Support the upper termination support and control servomotor of the spool of four five-way valves of fluid cylinder, the lower termination spring of spool; Support four five-way valves of fluid cylinder and divide from top to bottom four: first, the drilling liquid pressure pipeline is communicated with drilling fluid backflow bore hole annulus pipeline, and the cleaner for high-pressure drilling fluid pressure line is communicated with lower slips fluid cylinder pressure piping; Second, the cleaner for high-pressure drilling fluid pressure line is communicated with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping respectively simultaneously, and drilling fluid backflow bore hole annulus pipeline and drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping disconnect; The 3rd, the cleaner for high-pressure drilling fluid pressure line with connect the drilling liquid pressure pipeline and be communicated with, lower slips fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; The 4th, drilling fluid backflow bore hole annulus pipeline respectively simultaneously with connect the drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping is communicated with, the cleaner for high-pressure drilling fluid pressure line is simultaneously and drilling liquid pressure pipeline and the disconnection of lower slips fluid cylinder pressure piping; Support first of four five-way valves of fluid cylinder, second, tertiary mode of communicating and all adopt the adjustable throttle mode of communicating: spool position changes, passage flow section size variation, flowing through the channel liquid flow velocity varies in size, accurately control the position of spool by the support and control servomotor, be communicated with interface flow section size thereby accurately control three, the input and output rate of flow of fluid that makes is effectively controlled.

7. the control system of according to claim 1-6 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

Traction fluid cylinder three position five-way valve one entrance connects the cleaner for high-pressure drilling fluid pressure line, and two bypass outlets all connect drilling fluid backflow bore hole annulus pipeline, and other two outlets connect respectively traction fluid cylinder pressure piping and traction fluid cylinder pressure piping; The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, the lower termination spring of traction fluid cylinder three position five-way valve spool; Traction fluid cylinder three position five-way valve has three from top to bottom: upper, the cleaner for high-pressure drilling fluid pressure line is communicated with traction fluid cylinder pressure piping, and traction fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; Meta, the cleaner for high-pressure drilling fluid pressure line, drilling fluid backflow bore hole annulus pipeline, traction fluid cylinder pressure piping, traction fluid cylinder pressure piping is broken into respectively off state; The next: the cleaner for high-pressure drilling fluid pressure line is communicated with traction fluid cylinder pressure piping, and traction fluid cylinder pressure piping is communicated with drilling fluid backflow bore hole annulus pipeline; Upper and the next mode of communicating of traction fluid cylinder three position five-way valve adopts the adjustable throttle mode of communicating: the position of accurately controlling spool can be controlled three, and to be communicated with interfaces big or small, and the input and output rate of flow of fluid that makes is effectively controlled; The upper termination traction control servomotor of traction fluid cylinder three position five-way valve spool, the traction control servomotor can accurately be controlled the position of traction fluid cylinder three position five-way valve spool.

8. the control system of according to claim 1-7 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

The traction control servomotor can accurately be controlled the displacement of traction fluid cylinder three position five-way valve spool, upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve is regulated with spool displacement, control the traction control servomotor and can accurately control the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, control the hauling speed size; The support and control servomotor can accurately be controlled the displacement of supporting four five-way valve spools of fluid cylinder, supporting the four-position valve core passage overflow section size of four five-way valves of fluid cylinder regulates with spool displacement, control the traction control servomotor and can accurately control the upper and the next valve core channel overflow section size of traction fluid cylinder three position five-way valve, control uninterrupted, the size of the speed that control upper slips and lower slips open and shrink.

9. the control system of according to claim 1-8 described Electro-hydraulic drive coiled tubing downhole tractor, it is characterized in that: support termination back-moving spring under four five-way valves of fluid cylinder, four five-way valve spools of outage rear support fluid cylinder move to the 4th pressure release loop state: drilling fluid backflow bore hole annulus pipeline is communicated with drilling liquid pressure pipeline and lower slips fluid cylinder pressure piping simultaneously, make simultaneously the circulating fluid in upper slips fluid cylinder and lower card fluid cylinder be back to the low pressure bore hole annulus by the circulation fluid pipeline, upper slips and lower slips leave the borehole wall simultaneously, prevent that outage from causing bit freezing.

10. the control system of according to claim 1-9 described Electro-hydraulic drive coiled tubing downhole tractor is characterized in that:

Upper center slip pipe is processed with respectively the first upper slips fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping along tube wall; The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, the outlet of the lower end of lower traction fluid cylinder pressure piping is all at the lower end periphery of upper center slip pipe, and is connected with the fluid pressure line module respectively; The upper end of the first upper slips fluid cylinder pressure piping outlet center slip pipe topmost the time in the coverage of upper slips fluid cylinder on the slip pipe of upper center on upper supporting system is in, the upper end outlet of the second upper slips fluid cylinder pressure piping center slip pipe bottom the time in the coverage of upper slips fluid cylinder on the slip pipe of upper center on upper supporting system is in; The upper end outlet of up and down two traction fluid cylinder pressure pipings is respectively in the two sides up and down of drawing liquid cylinder piston;

Connection or the disconnection of the first upper slips fluid cylinder pressure piping disconnection of fluid pressure line module controls or connection, the second upper slips fluid cylinder pressure piping are to the circulating fluid that inputs or outputs of upper slips fluid cylinder; Fluid pressure line module controls traction fluid cylinder pressure piping inputs or outputs circulating fluid for upper traction fluid cylinder, and fluid pressure line module controls traction fluid cylinder pressure piping is given lower traction fluid cylinder output or input circulating fluid, promotes the traction liquid cylinder piston and moves downward or upward.