CN104775806A - Underground walking robot for oil and gas wells - Google Patents
Underground walking robot for oil and gas wells Download PDFInfo
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- CN104775806A CN104775806A CN201510160357.0A CN201510160357A CN104775806A CN 104775806 A CN104775806 A CN 104775806A CN 201510160357 A CN201510160357 A CN 201510160357A CN 104775806 A CN104775806 A CN 104775806A
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- piston rod
- walking robot
- gas well
- control circuit
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Abstract
The invention relates to an underground walking robot for oil and gas wells. The underground walking robot comprises a machine body main body, wherein the machine body main body sequentially comprises a rope cap head, a locking screw nut, a piston rod, a rotating valve, a transmission cabin, a power cabin, a control cabin and a bottom battery cabin from top to bottom, wherein the piton rod is a hollow pipe provided with openings at two ends, the rope cap head is connected with one end of the piston rod through a locking screw nut, the other end of the piston rod is connected with a rotating valve, a plurality of pressure relieving holes are formed in the pipe wall of the piston rod along the axial direction, and are respectively communicated with a hollow inner cavity of the hollow pipe for forming a pressure relieving passage, and a section, positioned between the locking screw nut and the rotating valve, on the piston rod is provided with a soft body variable-diameter capsule in a sleeving way. The underground walking robot has the advantages that various information collection instruments can be integrated, a self control circuit and a self executing mechanism can be used for realizing the walking in a vertical pipeline, the underground information and the flow state in the vertical pipeline are collected and stored, the necessary complicated equipment for putting the instrument into the well is avoided, and a great amount of labor and materials are saved.
Description
Technical field
The invention belongs to petroleum-gas fiedl Development and Production technical field, particularly relate to a kind of oil, gas well down-hole walking robot.
Background technology
Petroleum resources, buried thousands of meters of down-holes, bulk information needs to obtain, the reasonable development of guarantee oil gas field, as the fluidised form in down-hole pressure, temperature, flow, density, vertical pipe, down-hole hydrops degree and method for removing, well stimulation effect analysis, single well controlled reserves test and appraisal etc., occupy a large amount of manpower and materials.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of device being exclusively used in oil, exploring subsurface environment in gas well, it can substitute completely manually works, and reaches unmanned, both safe and reliable, object cost-saving again.
In order to achieve the above object, concrete technical scheme of the present invention is:
A kind of oil, gas well down-hole walking robot, comprise fuselage body, described fuselage body is followed successively by that rope is begun to crop up from top to bottom, locking nut, piston rod, rotary valve, transmission cabin, piggyback pod, control cabinet and bottom battery cabin; Described piston rod is the hollow tube of both ends open, described rope is begun to crop up and to be connected by locking nut with one end of piston rod, the described piston rod other end is connected with rotary valve, the tube wall of piston rod is provided with some pressure releasing holes vertically, some described pressure releasing holes are all connected with the hollow cavity of described hollow tube and form row pressure passage, and one section on piston rod between locking nut and rotary valve is arranged with a software reducing capsule;
Magnetic force rotary drum and magnetic shaft is provided with in described transmission cabin; One end of described magnetic force rotary drum is connected with described rotary valve, and the other end connects described magnetic shaft;
Be provided with motor in described piggyback pod, the power end of described motor is connected with described magnetic shaft;
Control circuit is provided with in described control cabinet;
Battery is provided with in described battery flat; The bottom of described battery flat is provided with separate space, arranges sensor in described separate space;
Described battery is described sensor, control circuit and motor, and sensor is by signal transmission to control circuit, and control circuit controls described motor action, opens or closes described rotary valve.
Described software reducing capsule is gum cover, and described gum cover adopts the rubber of the oil resistant such as FFKM, acrylonitrile-butadiene rubber wear resistant corrosion resistant to be made, two of gum cover and piston rod compact siro spinning technology.
The outer wall of described gum cover axially has some otch along gum cover, and some described otch form some reducing plug rings.
Described sensor is any one in pressure sensor, temperature pick up, flow transmitter.
Also be provided with data storage in described control cabinet, described data storage is connected with described control circuit.
Described sensor is pressure sensor, and described pressure sensor connects one end of connecting pipe, and the other end of connecting pipe is connected with the hollow cavity of described piston rod.
Described rope is provided with well head and arrives detection sensor in begining to crop up, described well head arrives detection sensor and is connected with control circuit.
Described control circuit is provided with time control module.
The bottom of described battery flat is connected with weighted lever.
Described rotary valve comprises inner stator, outer rotaring tube and is arranged on the cleaning adhesive tape between described inner stator and outer rotaring tube.
beneficial effect of the present invention:a kind of oil of the present invention, gas well down-hole walking robot are placed in much information acquisition function all over the body, utilize the control circuit and executing agency that carry, realize walking in vertical pipe, by the fluidised form in oil, gas well down-hole information and vertical pipe, gather and store, then return to ground, eliminate necessary complicated technology and the equipment of being gone into the well by instrument, save a large amount of man power and materials.
It can be with camera to down-hole leakage detection, checks wall erosion, also can be with pressure gauge, thermometer, flow meter, and collection is oily, gas well liquid loading is dynamic, carry out stable or transient well test, for reasonable development provides basic data.With the software carried, reducing, from pressurising capsule, become piston after pressurising, shaft bottom hydrops can also be ejected ground, realizes automatic water drainage gas production.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of a kind of oil of the present invention, gas well down-hole walking robot;
State diagram when Fig. 2 is changeover valve full open;
State diagram when Fig. 3 is changeover valve closedown;
State diagram when Fig. 4 is software reducing capsule non-reducing;
Fig. 5 is the state diagram after software reducing capsule reducing;
Fig. 6 is controlling functions block diagram of the present invention;
Wherein, 1, rope is begun to crop up; 2, well head arrives detection sensor; 3, locking nut; 4, piston rod; 5, software reducing capsule; 6, rotary valve; 7, transmission cabin; 8, magnetic force rotary drum; 9, magnetic shaft; 10, motor; 11, piggyback pod; 12, cabin is calculated; 13, control circuit; 14, connecting pipe; 15, battery flat; 16, battery; 17, pressure sensor; 18, sensor holder; 19, weighted lever; 20, tubing wall; 21, hydraulic pressure direction; 51, reducing plug ring; 61, inner stator; 62, outer rotaring tube; 63, adhesive tape is cleaned.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
The operating principle of a kind of oil of the present invention, gas well down-hole walking robot is:
With signals such as pressure, temperature or times as control source, when predetermined value experienced by sensor, start control circuit, connect transmission mechanism, open or close the valve of robot central passage, during unlatching, oil, gas Channel Group, robot utilizes self gravitation descending, after arriving desired depth, control circuit starts again, closes rotary valve 6, robot promotes up by the oil produced bottom oil, gas well, air-flow, so repeatedly walks.
Refer to Fig. 1, a kind of oil, gas well down-hole walking robot, comprise body, and described body is connected with that rope begins to crop up 1 from top to bottom in turn, locking nut 3, piston rod 4, transmission cabin 7, piggyback pod 11, calculate cabin 12, battery flat 15 and weighted lever 19; Wherein, described piston rod 4 is the hollow tube of both ends open, described rope is begun to crop up and 1 to be connected by locking nut 3 with one end of piston rod 4, described piston rod 4 other end is connected with rotary valve 6, the tube wall of hollow tube is provided with some pressure releasing holes along Axial and radial, a software reducing capsule 5 is arranged with on outside piston rod 4 between locking nut 3 and rotary valve 6, some described pressure releasing holes are all connected with the hollow cavity of described hollow tube and form row pressure passage, and one section on piston rod 4 between locking nut 3 and rotary valve 6 is arranged with a software reducing capsule 5;
Magnetic force rotary drum 8 and magnetic shaft 9 is connected with in turn in described transmission cabin 7; Described magnetic force rotary drum 8 is connected with described rotary valve 6;
Be provided with motor 10 in described piggyback pod 11, the power end of described motor 10 is connected with described magnetic shaft 9;
Control circuit 13 is provided with in described calculating cabin 12;
Battery 16 is provided with in described battery flat 15; The bottom of described battery flat 15 is provided with separate space, is provided with sensor in described separate space;
As shown in Figure 4 and Figure 5, a software reducing capsule 5 is arranged with on outside the piston rod 4 between locking nut 3 and rotary valve 6; After rotary valve 6 cuts out, because the gas stream passage in the middle of robot blocks rapidly, it is up that gas stream promotes described robot, in up process, top water column is produced hydraulic pressure by the pressure releasing hole of piston rod 4, is extruded described software reducing capsule 5, thus make the reducing plug ring on software reducing capsule 5 expand outwardly gradually and be close to tubing wall, until completely closed.Further, after described robot rises to certain altitude, the slippage of described robot upper part liquid can be prevented and suppress the speed uplink of robot, in addition, structure as shown in Figure 4 and Figure 5 made by software reducing capsule 5, due to can well reducing, pipe box cupling can be passed through very smoothly, prevent pipe box cupling from being blocked by robot.
As the preferred embodiments of the present invention, described software reducing capsule adopts the rubber of the oil resistant such as FFKM, acrylonitrile-butadiene rubber wear resistant corrosion resistant to be made, two of gum cover and piston rod compact siro spinning technology.Further, because tube inner wall is not very even, be connected with pipe box cupling between oil pipe and oil pipe, occur to prevent fixing phenomenon, the outer wall of described gum cover axially has some otch along gum cover, and some described otch form some reducing plug rings 51.Reducing plug ring 51 in time with the situation of change reducing of pressure, can be good at prevention robot and is stuck in up or decline process in robot.
Described sensor is any one in pressure sensor, temperature pick up, flow transmitter, described pressure sensor or temperature pick up or flow transmitter by the signal transmission that records to control circuit 13, be provided with in advance in control circuit 13 and described force value, temperature value or flow value, when surveyed numerical value is consistent with default value, control circuit 13 controls the action of described motor 10, opens or closes rotary valve 6.
Further, be also provided with data storage in described control cabinet, described data storage is connected with described control circuit.
Further, the bottom of described battery flat is connected with weighted lever 19.
As shown in Figures 2 and 3, rotary valve 6 adopts a kind of telescopic side direction quick-opening valve, it eliminates the impacts such as the unbalance stress under down-hole high pressure environment, ensures that valve switch moves freely, and add cleaning adhesive tape, prevent foreign material from entering piston.
As one embodiment of the present of invention, described sensor is pressure sensor, and described pressure sensor connects one end of connecting pipe, and the other end of connecting pipe connects the hollow cavity of described piston rod.
As an alternative embodiment of the invention, described control circuit 13 is provided with time control module, and time control module programmed in advance before going into the well, sets the time of time control module action.
Transmission mechanism is made up of motor, magnetic shaft and magnetic force rotary drum, and power supply is provided by chargeable High Temperature Lithium Cell, for 2000 meters of deep-wells.Upper next stroke about 40 ~ 60 minutes, can ensure down-hole continuous operation 15 days.
Claims (10)
1. an oil, gas well down-hole walking robot, it is characterized in that: comprise fuselage body, described fuselage body be followed successively by that rope is begun to crop up (1) from top to bottom, locking nut (3), piston rod (4), rotary valve (6), transmission cabin (7), piggyback pod (11), control cabinet (12) and bottom battery cabin; The hollow tube that described piston rod (4) is both ends open, begin to crop up one end of (1) and piston rod (4) of described rope is connected by locking nut (3), described piston rod (4) other end is connected with rotary valve (6), the tube wall of piston rod (4) is provided with some pressure releasing holes vertically, some described pressure releasing holes are all connected with the hollow cavity of described hollow tube and form row pressure passage, and a section of piston rod (4) being positioned between locking nut (3) and rotary valve (6) is arranged with a software reducing capsule (5);
Magnetic force rotary drum (8) and magnetic shaft (9) is provided with in described transmission cabin (7); One end of described magnetic force rotary drum (8) is connected with described rotary valve (6), and the other end connects described magnetic shaft (9);
Be provided with motor (10) in described piggyback pod (11), the power end of described motor (10) is connected with described magnetic shaft (9);
Control circuit (13) is provided with in described control cabinet (12);
Battery (16) is provided with in described battery flat (15); The bottom of described battery flat (15) is provided with separate space, arranges sensor in described separate space;
Described battery (16) is described sensor, control circuit (13) and motor (10) power supply, sensor by signal transmission to control circuit (13), control circuit (13) controls described motor (10) action, opens or closes described rotary valve (6).
2. a kind of oil according to claim 1, gas well down-hole walking robot, it is characterized in that: described software reducing capsule (5) is gum cover, described gum cover adopts the rubber of the oil resistant such as FFKM, acrylonitrile-butadiene rubber wear resistant corrosion resistant to be made, two of gum cover and piston rod (4) compact siro spinning technology.
3. a kind of oil according to claim 2, gas well down-hole walking robot, is characterized in that: the outer wall of described gum cover axially has some otch along gum cover, and some described otch form some reducing plug rings (51).
4. a kind of oil according to claim 1, gas well down-hole walking robot, is characterized in that: described sensor is any one in pressure sensor, temperature pick up, flow transmitter.
5. a kind of oil according to claim 1, gas well down-hole walking robot, it is characterized in that: described control cabinet is also provided with data storage in (12), described data storage is connected with described control circuit (13).
6. a kind of oil according to claim 1, gas well down-hole walking robot, it is characterized in that: described sensor is pressure sensor (17), described pressure sensor (17) connects one end of connecting pipe (14), and the other end of connecting pipe (14) is connected with the hollow cavity of described piston rod (4).
7. a kind of oil according to claim 1, gas well down-hole walking robot, is characterized in that: described rope is begun to crop up and is provided with well head in (1) and arrives detection sensor, and described well head arrives detection sensor and is connected with control circuit (13).
8. a kind of oil according to claim 1, gas well down-hole walking robot, is characterized in that: described control circuit (13) is provided with time control module.
9. a kind of oil according to claim 1, gas well down-hole walking robot, is characterized in that: the bottom of described battery flat (15) is connected with weighted lever (19).
10. a kind of oil according to claim 1, gas well down-hole walking robot, is characterized in that: the cleaning adhesive tape (63) that described rotary valve (6) comprises inner stator (61), outer rotaring tube (62) and is arranged between described inner stator (61) and outer rotaring tube (62).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510160357.0A CN104775806B (en) | 2015-04-07 | 2015-04-07 | A kind of oil, gas well down-hole walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510160357.0A CN104775806B (en) | 2015-04-07 | 2015-04-07 | A kind of oil, gas well down-hole walking robot |
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| CN104775806A true CN104775806A (en) | 2015-07-15 |
| CN104775806B CN104775806B (en) | 2017-03-01 |
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Cited By (5)
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| CN109732580A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on rear bracing wire |
| CN112065334A (en) * | 2020-07-30 | 2020-12-11 | 成都万基石油机械制造有限公司 | Underground intelligent gas interception and adjustment gas production and drainage robot |
| CN112253098A (en) * | 2020-09-27 | 2021-01-22 | 中国石油天然气股份有限公司 | Robot for water exploration of oil well and method for water exploration of oil well by using robot |
| CN113279732A (en) * | 2021-01-29 | 2021-08-20 | 西安安森智能仪器股份有限公司 | Compression type diameter-variable plunger |
| CN115788366A (en) * | 2022-11-29 | 2023-03-14 | 西南石油大学 | Multi-medium mixed multi-spraying-quantity variable wellhead diameter blowout simulation experiment device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109732580A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on rear bracing wire |
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| CN112065334A (en) * | 2020-07-30 | 2020-12-11 | 成都万基石油机械制造有限公司 | Underground intelligent gas interception and adjustment gas production and drainage robot |
| CN112253098A (en) * | 2020-09-27 | 2021-01-22 | 中国石油天然气股份有限公司 | Robot for water exploration of oil well and method for water exploration of oil well by using robot |
| CN112253098B (en) * | 2020-09-27 | 2023-12-26 | 中国石油天然气股份有限公司 | Robot for oil well water exploration and method for oil well water exploration by robot |
| CN113279732A (en) * | 2021-01-29 | 2021-08-20 | 西安安森智能仪器股份有限公司 | Compression type diameter-variable plunger |
| CN115788366A (en) * | 2022-11-29 | 2023-03-14 | 西南石油大学 | Multi-medium mixed multi-spraying-quantity variable wellhead diameter blowout simulation experiment device |
| CN115788366B (en) * | 2022-11-29 | 2024-05-31 | 西南石油大学 | Multi-medium mixed multi-injection variable wellhead diameter blowout simulation experiment device |
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