CN104775806B - A kind of oil, gas well down-hole walking robot - Google Patents
A kind of oil, gas well down-hole walking robot Download PDFInfo
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- CN104775806B CN104775806B CN201510160357.0A CN201510160357A CN104775806B CN 104775806 B CN104775806 B CN 104775806B CN 201510160357 A CN201510160357 A CN 201510160357A CN 104775806 B CN104775806 B CN 104775806B
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- piston rod
- rotary valve
- gas well
- walking robot
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Abstract
The present invention relates to a kind of oil, gas well down-hole walking robot, includings fuselage body, described fuselage body is followed successively by rope from top to bottom and begins to crop up, locking nut, piston rod, rotary valve, is driven cabin, piggyback pod, control cabinet and bottom battery cabin；Described piston rod is the hollow pipe of both ends open, described rope is begun to crop up and is connected by locking nut with one end of piston rod, the described piston rod other end is connected with rotary valve, some pressure releasing holes are provided with vertically on the tube wall of piston rod, some described pressure releasing holes are all connected with the hollow cavity of described hollow pipe and form row pressure passage, and one section that piston rod is located between locking nut and rotary valve is arranged with a software reducing capsule；Much information Acquisition Instrument can be placed in all over the body by apparatus of the present invention, using the control circuit carrying and actuator, realize walking in vertical pipe, the fluidised form in down-hole information and vertical pipe is gathered and stores, eliminate and instrument is gone into the well necessary complex device, save substantial amounts of man power and material.
Description
Technical field
The invention belongs to petroleum-gas fiedl Development and Production technical field, more particularly to a kind of oil, gas well down-hole running machine
People.
Background technology
Petroleum resources, buried thousands of meters of down-holes, bulk information needs to obtain, the reasonable development of guarantee oil gas field, such as
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.
Content of the invention
In order to solve above-mentioned technical problem, the present invention provides one kind to be exclusively used in oil, subsurface environment is explored in gas well
Device, it can substitute artificial work completely, reach unmanned, both safe and reliable and cost-effective purpose.
In order to achieve the above object, the concrete technical scheme of the present invention is：
A kind of oil, gas well down-hole walking robot, including fuselage body, described fuselage body is followed successively by rope from top to bottom and emits
Head, locking nut, piston rod, rotary valve, transmission cabin, piggyback pod, control cabinet and bottom battery cabin；Described piston rod is opened for two ends
The hollow pipe of mouth, described rope is begun to crop up and is connected by locking nut with one end of piston rod, and the described piston rod other end is connected with rotation
Rotary valve, the tube wall of piston rod is provided with some pressure releasing holes vertically, some described pressure releasing holes all with the hollow of described hollow pipe in
Chamber is connected and forms row pressure passage, and one section that piston rod is located between locking nut and rotary valve is arranged with a software reducing glue
Capsule；
It is provided with magnetic force rotary drum and magnetic shaft in described transmission cabin；One end of described magnetic force rotary drum is with described rotary valve even
Connect, the other end connects described magnetic shaft；
It is provided with motor, the power end of described motor is connected with described magnetic shaft in described piggyback pod；
It is provided with control circuit in described control cabinet；
It is provided with battery in described battery flat；The bottom of described battery flat is provided with separate space, setting sensor in described separate space；
Described battery is described sensor, control circuit and motor, sensor by signal transmission to control circuit,
Control circuit controls described motor action, opens or closes described rotary valve.
Described software reducing capsule is gum cover, and described gum cover is made using the rubber of oil resistant wear resistant corrosion resistant, glue
Two of set is closely connected with piston rod.
Some otch are axially had along gum cover, some described otch form some reducing plug rings on the outer wall of described gum cover.
Described sensor is pressure transducer, temperature sensor, any one in flow transducer.
It is additionally provided with data storage, described data storage is connected with described control circuit in described control cabinet.
Described sensor is pressure transducer, and described pressure transducer connects one end of connecting pipe, the other end of connecting pipe
It is connected with the hollow cavity of described piston rod.
Described rope is provided with well head arrival sensing sensor in begining to crop up, and described well head reaches sensing sensor and control circuit phase
Even.
Described control circuit is provided with time control module.
The bottom of described battery flat is connected with weighted lever.
Described rotary valve includes inner stator, outer rotaring tube and is arranged on the cleaning glue between described inner stator and outer rotaring tube
Bar.
Beneficial effects of the present invention：Much information acquisition function put by a kind of oil of the present invention, gas well down-hole walking robot
, using the control circuit carrying and actuator, realize in vertical pipe walk, by oil, gas well down-hole information and
Fluidised form in vertical pipe, gathers and stores, be then back to ground, eliminates and instrument is gone into the well necessary complicated technology and setting
Standby, save substantial amounts of man power and material.
It can carry photographic head to down-hole leakage detection, check wall erosion, also can carry piezometer, thermometer, effusion meter, collection
Oil, gas well liquid loading are dynamic, it is stable to carry out or transient well test, provides basic data for reasonable development.Can also be soft with carry
Body, reducing, from pressurising capsule, become piston after pressurising, by shaft bottom hydrops eject ground, realize automatic water drainage gas production.
Brief description
Fig. 1 is a kind of oil of the present invention, the general structure schematic diagram of gas well down-hole walking robot；
Fig. 2 is state diagram during changeover valve full open；
State diagram when Fig. 3 closes for changeover valve；
Fig. 4 is state diagram during the non-reducing of software reducing capsule；
Fig. 5 is the state diagram after software reducing capsule reducing；
Fig. 6 is control function block diagram of the present invention；
Wherein, 1, rope is begun to crop up；2nd, well head reaches sensing sensor；3rd, locking nut；4th, piston rod；5th, software reducing glue
Capsule；6th, rotary valve；7th, it is driven cabin；8th, magnetic force rotary drum；9th, magnetic shaft；10th, motor；11st, piggyback pod；12nd, calculate cabin；
13rd, control circuit；14th, connecting pipe；15th, battery flat；16th, battery；17th, pressure transducer；18th, sensor holder；19th, weighted lever；
20th, tubing wall；21st, hydraulic pressure direction；51st, reducing plug ring；61st, inner stator；62nd, outer rotaring tube；63rd, clean adhesive tape.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows：
A kind of oil of the present invention, the operation principle of gas well down-hole walking robot are：
With signals such as pressure, temperature or times as voltage input, when predetermined value experienced by sensor, start and control electricity
Road, connects drive mechanism, opens or closes the valve of robot central passage, during unlatching, oil, gas Channel Group, and robot is using certainly
Heavy sensation of the body power is descending, and after reaching desired depth, control circuit is again started up, and closes rotary valve 6, oil, the oil of gas well bottom generation, gas
Robot is promoted up by stream, so repeatedly walks.
Refer to Fig. 1, a kind of oil, gas well down-hole walking robot, including body, described body is sequentially connected from top to bottom
Have rope begin to crop up 1, locking nut 3, piston rod 4, transmission cabin 7, piggyback pod 11, calculate cabin 12, battery flat 15 and weighted lever 19；Its
In, described piston rod 4 is the hollow pipe of both ends open, and described rope is begun to crop up and 1 is 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 pipe is provided with some pressure releasing holes along Axial and radial, positioned at locking
Be arranged with a software reducing capsule 5 on piston rod 4 outside between nut 3 and rotary valve 6, some described pressure releasing holes all with described
The hollow cavity of hollow pipe is connected and forms row pressure passage, and piston rod 4 is located at a section between locking nut 3 and rotary valve 6
It is arranged with a software reducing capsule 5；
It is connected with magnetic force rotary drum 8 and magnetic shaft 9 in turn in described transmission cabin 7；Described magnetic force rotary drum 8 and described rotary valve
6 connections；
It is provided with motor 10, the power end of described motor 10 is connected with described magnetic shaft 9 in described piggyback pod 11；
It is provided with control circuit 13 in described calculating cabin 12；
It is provided with battery 16 in described battery flat 15；The bottom of described battery flat 15 is provided with separate space, is provided with biography in described separate space
Sensor；
As shown in Figure 4 and Figure 5, piston rod 4 outside between locking nut 3 and rotary valve 6 is arranged with a software
Reducing capsule 5；After rotary valve 6 cuts out, because the oil gas circulation road in the middle of robot blocks rapidly, gas stream promotes described machine
Device people is up, and during up, top water column is produced hydraulic pressure, extruded described software reducing glue by the pressure releasing hole of piston rod 4
Capsule 5, so that the reducing plug ring on software reducing capsule 5 gradually expands outwardly and is close to tubing wall, until completely enclosed.Enter one
Step, after described robot rises to certain altitude, can prevent described robot upper part liquid from slipping and suppressing robot
Speed uplink, in addition, structure as shown in Figure 4 and Figure 5 made by software reducing capsule 5, due to can be very good reducing, can
Smoothly to pass through pipe box cupling very, prevent pipe box cupling from blocking robot.
As the preferred embodiments of the present invention, described software reducing capsule adopts the oil resistant such as FFKM, nitrile rubber
The rubber of wear resistant corrosion resistant is made, and two of gum cover is closely connected with piston rod.Further, because tube inner wall is not
Very uniform, it is connected with pipe box cupling between oil pipe and oil pipe, in order to prevent fixing phenomenon generation, along glue on the outer wall of described gum cover
Set axially has some otch, and some described otch form some reducing plug rings 51.Reducing plug ring 51 robot up or under
Can be good at preventing robot to be stuck in time with the situation of change reducing of pressure during fall.
Described sensor is pressure transducer, temperature sensor, any one in flow transducer, described pressure sensing
The signal transmission recording to control circuit 13, is provided with control circuit 13 by device or temperature sensor or flow transducer in advance
With described pressure value, temperature value or flow value, when the numerical value surveyed is consistent with default value, control circuit 13 controls described electricity
Motivation 10 action, opens or closes rotary valve 6.
Further, it is additionally provided with data storage in described control cabinet, described data storage and described control circuit phase
Even.
Further, the bottom of described battery flat is connected with weighted lever 19.
As shown in Figures 2 and 3, using a kind of telescopic lateral quick-opening valve, it eliminates under down-hole high pressure environment rotary valve 6
The impact such as unbalance stress it is ensured that valve switch moves freely, and add cleaning adhesive tape, prevent debris from entering piston.
As one embodiment of the present of invention, described sensor is pressure transducer, and described pressure transducer connects pilot
One end of pipe, 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, time control mould
Block programmed in advance before going into the well, sets the time of time control module action.
Drive mechanism is made up of motor, magnetic shaft and magnetic force rotary drum, and power supply is provided by chargeable High Temperature Lithium Cell, with
As a example 2000 meters of deep-wells.Upper next one stroke about 40～60 minutes is it is ensured that in the continuous work in down-hole 15 days.
Claims (8)
1. a kind of oil, gas well down-hole walking robot it is characterised in that：Including fuselage body, described fuselage body is from top to bottom
It is followed successively by rope to begin to crop up（1）, locking nut（3）, piston rod（4）, rotary valve（6）, transmission cabin（7）, piggyback pod（11）, control cabinet
（12）And bottom battery cabin；Described piston rod（4）For the hollow pipe of both ends open, described rope is begun to crop up（1）With piston rod（4）One
Locking nut is passed through at end（3）Connect, described piston rod（4）The other end is connected with rotary valve（6）, piston rod（4）Tube wall on edge
It is axially arranged with some pressure releasing holes, some described pressure releasing holes are all connected with the hollow cavity of described hollow pipe and form row pressure passage,
Piston rod（4）Above it is located at locking nut（3）With rotary valve（6）Between one section be arranged with a software reducing capsule（5）；
Described transmission cabin（7）Inside it is provided with magnetic force rotary drum（8）And magnetic shaft (9)；Described magnetic force rotary drum（8）One end and described rotation
Rotary valve（6）Connect, the other end connects described magnetic shaft（9）；
Described piggyback pod（11）Inside it is provided with motor (10), described motor（10）Power end with described magnetic shaft (9) even
Connect；
Described control cabinet（12）Inside it is provided with control circuit（13）；
Described battery flat（15）Inside it is provided with battery（16）；Described battery flat（15）Bottom be provided with separate space, setting in described separate space
Sensor；
Described battery（16）For described sensor, control circuit（13）And motor（10）Power supply, signal transmission is given by sensor
Control circuit（13）, control circuit（13）Control described motor（10）Action, opens or closes described rotary valve（6）；Described
Software reducing capsule（5）For gum cover, described gum cover is made using the rubber of oil resistant wear resistant corrosion resistant, two of gum cover with
Piston rod（4）Closely connect；Described battery flat（15）Bottom be connected with weighted lever（19）.
2. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：The outer wall of described gum cover
On axially have some otch along gum cover, some described otch form some reducing plug rings（51）.
3. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described sensor is pressure
Force transducer, temperature sensor, any one in flow transducer.
4. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described control cabinet（12）
Inside it is additionally provided with data storage, described data storage and described control circuit（13）It is connected.
5. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described sensor is pressure
Force transducer（17）, described pressure transducer（17）Connect connecting pipe（14）One end, connecting pipe（14）The other end with described
Piston rod（4）Hollow cavity be connected.
6. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described rope is begun to crop up（1）Interior
It is provided with well head and reaches sensing sensor, described well head reaches sensing sensor and control circuit（13）It is connected.
7. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described control circuit
（13）It is provided with time control module.
8. a kind of oil according to claim 1, gas well down-hole walking robot it is characterised in that：Described rotary valve（6）Bag
Include inner stator（61）, outer rotaring tube（62）And it is arranged on described inner stator（61）And outer rotaring tube（62）Between cleaning adhesive tape
（63）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN201510160357.0A CN104775806B (en) | 2015-04-07 | 2015-04-07 | A kind of oil, gas well down-hole walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104775806A CN104775806A (en) | 2015-07-15 |
| CN104775806B true CN104775806B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510160357.0A Active CN104775806B (en) | 2015-04-07 | 2015-04-07 | A kind of oil, gas well down-hole walking robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732580B (en) * | 2019-01-18 | 2020-09-18 | 哈尔滨工业大学 | Soft robot camera carrying device and method based on rear pull wire |
| CN112065334B (en) * | 2020-07-30 | 2022-12-09 | 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 |
| 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 |
| 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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| US6464003B2 (en) * | 2000-05-18 | 2002-10-15 | Western Well Tool, Inc. | Gripper assembly for downhole tractors |
| CN101509369B (en) * | 2009-03-13 | 2012-08-15 | 盘锦纵横声光电子技术有限责任公司 | Horizontal well thruster raising tractor for measuring under well gravity force |
| DK2458137T3 (en) * | 2010-11-24 | 2019-02-25 | Welltec As | Wireless borehole unit |
| CN102206992B (en) * | 2011-04-01 | 2013-10-09 | 西南石油大学 | Crawler and crawling method for continuous oil pipe |
| CN202611638U (en) * | 2012-01-16 | 2012-12-19 | 克拉玛依新宇宙油气技术开发有限公司 | Oil pipe crawler for underground traction cable and collector |
| CN202788704U (en) * | 2012-08-16 | 2013-03-13 | 中国石油大学(北京) | Electrically-controlled hydraulic-driven coiled tubing downhole tractor |
| WO2014031092A1 (en) * | 2012-08-20 | 2014-02-27 | Halliburton Energy Services, Inc. | Hydrostatic pressure actuated stroke amplifier for downhole force generator |
| CN104343404B (en) * | 2013-07-26 | 2016-09-21 | 中国石油化工股份有限公司 | Creeping motion type downhole tractor |
| CN104265221B (en) * | 2014-09-17 | 2016-10-05 | 哈尔滨工业大学 | A kind of milling cutter type horizontal well draws removing obstacles mechanism of robot |
| CN204663512U (en) * | 2015-04-07 | 2015-09-23 | 成都陆海石油科技有限公司 | A kind of oil, gas well down-hole walking robot |
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