CN1034599C

CN1034599C - Crawling device

Info

Publication number: CN1034599C
Application number: CN 91103581
Authority: CN
Inventors: 陈浩
Original assignee: Drilling Technology Int Research Inst Of Petroleum Exploration Development (c
Current assignee: Drilling Technology Int Research Inst Of Petroleum Exploration Development (c
Priority date: 1991-06-03
Filing date: 1991-06-03
Publication date: 1997-04-16
Anticipated expiration: 2006-06-03
Also published as: CN1067475A

Abstract

The present invention relates to a device capable of continuously frontward and backward creeping in narrow and long space. More than one rotary groove is arranged on the peripheric surface of a driven cam shaft, and more than one support foot capable of sliding in the rotary groove is respectively inlaid in each rotary groove. The rotation of the cam shaft can drive multiple support feet to orderly and alternately change the support positions of the support feet, and therefore, and the movement of the device itself or the inward conveyance of other devices driven by the device are achieved. The device can be used for the drilling of the horizontal sections of horizontal wells of petroleum drilling wells, the inward conveyance of horizontal well measuring instruments and the dredging, the detection, the cleanness, etc. of pipelines in slender pipelines.

Description

Crawl device

The present invention relates to a kind of device of the advance and retreat of in long narrow space, creeping continuously, has the more than one groove that circles round on the side face of the driven camshaft of this device employing, be embedded with the more than one feet that can in the groove that circles round, slide in each groove that circles round respectively, the rotation of camshaft can drive many row's feets Support Position of checker feet successively, thereby reaches advancing or driving sending into of other device of device itself.It can be used for creeping into of horizontal well horizontal segment in the oil drilling, horizontal well measuring Instrument send into and in the mediation of slender pipeline interior conduit, detection, cleaning etc.

In present horizontal well crept into, it was the pressure of the drill that need apply horizontal direction to drill bit that net horizontal section creeps into, and at this moment because gravity is inoperative, had to apply lateral thrust by the drill string behind the drill bit.The method that adopts is to be inverted drill collar at present, is about to drill collar and is installed in Vertical Well section or little gradient well section place, connects drill bit and drill collar with the pressure-bearing drilling rod then, gives drill bit with the weight transfer of drill collar.This method is because the following drill-string in compression of drill collar needs to use special thickening drilling rod.In horizontal segment, drilling rod lies on the borehole wall, need overcome frictional resistance during propelling, and along with horizontal segment increases, frictional resistance increases, and the length of net horizontal section is restricted.This is particularly outstanding for the well of beating short-radius, because general flexible (flexibility) drilling tool that uses of the horizontal segment of the horizontal well of short-radius is got, this drilling tool can not bear very big pressure, so it is it is all very short that the employing said method is beaten the horizontal segment of short turning radius horizontal well, general only within 60～130 meters.For sending into of horizontal well horizontal segment measuring apparatus, general at present employing pumping method is carried out.Promptly be connected by union by downhole probe and connect together on the tappet of forming, tappet is connected with a propeller again, and this propeller seals the tubing string volume.Propeller is suspended on the logging cable of standard, and all these devices guarantee the connection of electricity.Logging instrument, tappet and centralizer assembly at first are lowered in the tubing string by means of gravity, when the gravity deficiency of this assembly so that it is when continuing to sink, in order to continue that instrument is advanced the down-hole horizontal section, then need to the oil pipe liquid pressurization of tappet rod complement top, make propeller advance the tappet top, when tappet rod complement when extend in the shaft bottom, can carry out the down-hole well logging.This logging method needs special equipment, i.e. tappet, and propeller and press device need to increase working strength of workers in operating process, and when applying power for the down-hole tappet, require also relatively strictlyer, otherwise can cause the phenomenon of tappet bending.

The object of the present invention is to provide a kind of pipe crawling device, this pipe crawling device can become along the axial displacement of creeping of pipeline section by wheel shaft rotation radially, thereby drives sending into or the pressurization of drilling tool etc. of device for subsurface measuring.

Crawl device provided by the invention is that middle shell, camshaft and feet constitute, feature is, be driven the groove that circles round that has sealing more than on the side face of camshaft of rotation, the groove that circles round of described each sealing is by the left-hand screw groove, lautertuns between right-hand screw groove and two grooves constitutes, the bottom surface of left-hand screw groove greater than the bottom surface of the right-hand screw groove distance apart from the camshaft center line, is embedded with the more than one feet that is limited in slidably in the helicla flute apart from the distance between center line of camshaft respectively in each groove that circles round;

Camshaft is a hollow tube-shape, is equiped with drives impeller in its hollow body, and hollow camshaft is installed in the cylindrical outer casing by the bearing at two ends, an end of the shell body joint that is spirally connected, make camshaft at the shell body axis to stationary positioned;

The two ends of feet have flange, lower end flange is embedded in the groove that circles round, upper end flange is by stretching out in the axially extended bar hole corresponding on the shell, the length of described bar hole is greater than the axial range of the groove that circles round, the section of the described groove that circles round is " T " font, and to have a feet of flange suitable with two ends;

Axially be provided with slide rail on the outer wall of shell body, be fitted with slide block in axial sliding on the slide rail, have on the slide block and the suitable hole of feet upper end flange shape, the upper end of feet and flange sleeve are located in the hole of slide block;

By motor-driven camshaft is solid, and per two of the described groove that circles round is arranged in parallel in the same manner, and the section of the groove that circles round is rectangular, and the termination of feet is arranged in parallel for having protrudingly, and the section of the groove that circles round is rectangular, and the termination of feet is the cylinder with flange;

The external part of feet is the bar shaped block that an end face has groove, on the cylinder of feet, is arranged with a spring that feet is radially bounced back between shell and the camshaft respectively.

When driven camshaft rotates, for example the camshaft of hollow tube-shape is got excited by mud and is rotated, or drive camshaft when rotation of solid by motor with wheel shaft, feet in position place's left-hand screw groove is because this spiral fluted bottom surface ejection and protruding, and the feet withdrawal inwards owing to the spiral medial surface restriction of right-hand screw groove in place, the position right-hand screw groove, the feet that stretches out holds on the borehole wall or the tube wall, because the restriction of this feet that holds and to the reaction force of left-hand screw groove helical flank, force camshaft to do axial moving, thereby make crawl device itself advance forward together with shell.Feet withdrawal after feet in the helicla flute in turn will be advanced, the feet that will carry out the place ahead stretches out successively and pushes away card, thereby makes crawl device creep forward continuously.The above left-hand screw groove also can be the right-hand screw groove, and corresponding above-mentioned right-hand screw groove then is the left-hand screw groove.

The advantage of this invention be can be in long and narrow pipeline by self revolving force and become travelling forward of horizontal segment, overcome creeping into of net horizontal section in the prior art and be by boring gravity very, pressure measurement need lean on pump pressure and promotion forward.When this device is advanced, can produce active force forward in horizontal pipe, act on the drill bit, so just need not be inverted drill collar, the major part of drilling rod is tension state (safety), and net horizontal section in theory can endless.Because the structure of this device, lift leg as the people and advance, the little obstacle that so just can jump is in order to walk under more complicated landform, in the groove that circles round of each sealing, if a plurality of feets are so that still can walk when the whole upset of crawl device, in addition, adopt this device, the downhole instrument of sending 500 meters horizontal segments to only needs about 2 hours, and adopts the operation sequence of pumping method to send into instrument, needs at least more than 12 hours.

Now describe the concrete structure of invention in detail in conjunction with drawings and Examples of the present invention.

Fig. 1 is for the simplified schematic diagram of the crawl device principle of the present invention's proposition, with vertical expression;

Fig. 2 is the principle simplified schematic diagram of Fig. 1, with horizontal expression;

Fig. 3 is one of embodiment of the invention, and its power source is the wellbore tubular crawl device of down-hole slurry circulation;

Fig. 4 is two a generalized section of the embodiment of the invention, and its power source is motor-operated down-hole pipe crawling device;

Fig. 5 is a crawl device camshaft schematic appearance of the present invention;

Fig. 5 a is the profile of Fig. 5 A-A;

Fig. 5 b is the profile of Fig. 5 B-B;

Fig. 5 c is the profile of Fig. 5 C-C.

See also Fig. 3, this figure is the generalized section of one of embodiment of the invention.Hollow camshaft 1 is installed in the cylindrical outer casing body 2 by the bearing 7 at two ends, and an end of shell body 2 joint 9 that is spirally connected makes camshaft 1 axial stationary positioned in shell body 2.Drives impeller 8 is housed in the hollow bulb of camshaft 1, camshaft 1 is rotated.Have three grooves that circle round on the side face of camshaft 1, the channel section of this groove 10 that circles round (seeing Fig. 5 and Fig. 5 a, Fig. 5 b, Fig. 5 c) is shaped as "T"-shaped, and is made up of left-hand screw slot part 51 and right-hand screw slot part 52 and above-mentioned two-part lead-over groove 53.Left-hand screw slot part 51 accounts for circumferentially about 240 °, and right-hand screw slot part 52 and transition portion 53 account for circumferentially about 120 °, the bottom surface of left-hand screw slot part 51 apart from the distance of camshaft center line greater than the bottom surface of right-hand screw slot part 52 distance apart from the camshaft center line.Two-part bottom surface of helicla flute, the described left and right sides and side are with suitable transition face 53 transition.Described three grooves that circle round are arranged to successively 120 ° of circumferential misalignment.Be embedded with 6 feet 4 (see figure 2)s in each groove 10 that circles round, this feet 4 is the flat bar shape.Its two end has flange, and feet setting-in go into the to circle round section shape of groove one end is suitable with the shape of channel section of circling round.Stretch out in the axially extended bar hole 14 of feet 4 other ends by the correspondence on the shell body 2, the length of bar hole 14 is greater than the axial range of the groove 10 that circles round, for the guiding that feet 4 moves radially is set upright, on the outer wall of shell body 2, axially be provided with slide rail 15, be fitted with on the slide rail 15 can be on slide rail 15 slide block 16 in axial sliding.Slide block 16 have with feet 4 upper ends be the suitable hole of external part flange shape 12, feet 4 upper ends are that external part has flange to place the hole 12 of slide block 16.

The working condition of described crawl device please cooperates Fig. 1, shown in Figure 2 again.Impeller 8 in the middle lumen pore of the mud impact cam axle 1 that flows, the i.e. rotation in shell 2 of camshaft 1, be embedded the feet 4 that is limited in the groove 10 that respectively circles round the groove 10 that relatively respectively circle round is produced relative motions, the bottom surface diameter difference of groove 10 owing to respectively circle round, 4 of each feets are radially released or pulling-down entirely, and has a left side because of the groove that respectively circles round, the right-hand screw part, therefore feet 4 can form moving axially with slide block 16 simultaneously, again because the external part fill-in well wall of the feet 4 that stretches out, and can not axial displacement, therefore, the circle round side of left-hand screw part 51 of groove will be subjected to from the active force of feet 4 and camshaft 1 is moved axially together with shell 2.4 quilts of feet at outer 52 places of right-hand screw part, position place are pulling-down and leave the borehole wall of ejection radially, thereupon when 51 of left-hand screw parts are located these feet 4 places, this feet 4 is radially released again and is stuck on the borehole wall, dial one by one to spirality so successively and remove and card is established feet 4 in the borehole wall, axial displacement reaches the purpose of advancing because card is established the reaction force of feet for 2 on camshaft 1 and shell thereof.

See also Fig. 4, this figure is second embodiment of the present invention, with first embodiment difference be, described camshaft 44 is a solid, solid drives by flexible axle by motor direct-drive or with motor, the section of camshaft spin slot 44 last time is rectangular, in this embodiment, have 6 grooves that circle round on the camshaft, per two two adjacent grooves that circle round of forming one group are arranged in parallel respectively in the same manner, the part that feet 42 inserts the groove that circles round is the cylinder that two parallel terminations have flange, the external part of feet is the bar shaped block 43 that an end face has groove, on the cylinder of feet 42, between shell 45 and camshaft 44, be arranged with a spring 41 that feet is radially bounced back respectively.

Claims

1. crawl device, this crawl device includes shell and feet, it is characterized in that; This crawl device has the camshaft that is contained in rotationally in the housing, be driven the groove that circles round that has sealing more than on the side face of camshaft of rotation, the groove that circles round of described each sealing is by the left-hand screw groove, lead-over groove between right-hand screw groove and two grooves constitutes, one spiral fluted bottom surface greater than the distance of another spiral fluted bottom surface apart from the camshaft center line, is embedded with the more than one feet that is limited in slidably in the groove that circles round apart from the distance between center line of camshaft respectively in each groove that circles round.

2. crawl device according to claim 1 is characterized in that; Camshaft is a hollow cylinder, is equiped with drives impeller in this hollow cylinder, and hollow cylinder is installed in the cylindrical outer casing by the bearing at two ends, an end of the shell body joint that is spirally connected, camshaft at the shell body axis to stationary positioned.

3. crawl device according to claim 2, the two ends that it is characterized in that feet have flange, lower end flange is embedded in the groove that circles round, upper end flange is by stretching out in the axially extended bar hole corresponding on the shell, the length of described bar hole is greater than the axial range of the groove that circles round, the section of the described groove that circles round is " T " font, and to have a feet of flange suitable with two ends.

4. crawl device according to claim 2 is characterized in that; Axially be provided with slide rail on the outer wall of shell body, be fitted with slide block in axial sliding on the slide rail, have on the slide block and the suitable hole of feet upper end flange shape, the upper end of feet and flange sleeve are located in the hole of slide block.

5. crawl device according to claim 1 is characterized in that; By motor-driven camshaft is solid, and per two of the described groove that circles round is arranged in parallel in the same manner, and the section of the groove that circles round is rectangular, and the termination of feet is the cylinder with flange.

6. crawl device according to claim 5 is characterized in that; The external part of feet is the bar shaped block that an end face has groove, on the cylinder of feet, is arranged with a spring that feet is radially bounced back between shell and the camshaft respectively.