CN106837225A - A kind of motion of hydraulic telescopic type downhole tractor - Google Patents
A kind of motion of hydraulic telescopic type downhole tractor Download PDFInfo
- Publication number
- CN106837225A CN106837225A CN201710018259.2A CN201710018259A CN106837225A CN 106837225 A CN106837225 A CN 106837225A CN 201710018259 A CN201710018259 A CN 201710018259A CN 106837225 A CN106837225 A CN 106837225A
- Authority
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- China
- Prior art keywords
- grab
- cylinder
- skewback
- end cap
- arm rest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing, or removing tools, packers or the like in the boreholes or wells
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing, or removing tools, packers or the like in the boreholes or wells
- E21B23/001—Self-propelling systems or apparatus, e.g. for moving tools within the horizontal portion of a borehole
Abstract
The invention discloses a kind of motion of hydraulic telescopic type downhole tractor, including central shaft, grab by mechanism and telescoping mechanism, grab and constituted by cylinder, back-moving spring, skewback A and skewback B by grabbing by mechanism, grabbing includes grabbing by casing wall by cylinder, grabs by cylinder left end cap, grabs by cylinder right end cap and grab by cylinder piston；Telescoping mechanism is made up of flexible casing wall and telescoping cylinder right end cap；Central shaft is grabbed by cylinder left end cap, sliding sleeve, skewback B, telescoping cylinder right end cap by sequentially passing through from left to right, and the telescoping cylinder piston in flexible casing wall is fixed with central shaft.It is a kind of lockable mechanism based on inclined-plane self-locking that tractor of the invention is grabbed by mechanism, the problem that tractive force is limited to constant stiction is overcome by the mechanism, the brake pad of different coefficients of friction, different-thickness can be coordinated simultaneously, and with the larger caliber scope of application, the purpose of tractor driving power is improved so as to reach.
Description
Technical field
The present invention relates to natural petroleum gas field apparatus field, particularly a kind of motion of hydraulic telescopic type downhole tractor
Mechanism.
Background technology
Horizontal well technology is widely used in the exploration and development in deep, deep-sea and complex hydrocarbon resource, instrument in its application process
The problem of device conveying is increasingly becoming the key problem in technology of oil-gas field development and Oil ＆ Gas Storage.Conventional oil pipe conveys, pumps into conveying, connects
There is low efficiency, high cost and continuous pipe bending deformation etc. when in face of horizontal well, extended reach well, directional well and ask in continuous pipe conveying
Topic.Therefore, downhole tractor gradually grows up as a kind of new mode of movement.
For downhole tractor, can be divided into by different motion modes：Wheeled, telescopic, crawler type, impact type, wherein
Telescopic downhole tractor has the advantages that obstacle climbing ability is strong, tractive force is big, possesses stronger net horizontal section equipment conveying operation
Ability.
Telescopic downhole tractor is generally comprised grabs by mechanism and telescoping mechanism, grabs by maximum quiet between mechanism and the borehole wall
Frictional force is equal to maximum drawbar pull, and it characterizes the height of tractor driving power.It is maximum it can be seen from frictional force computing formula
Stiction is equal to the product of normal pressure and confficient of static friction, can be considered permanent by the confficient of static friction between mechanism and the borehole wall because grabbing
Definite value, therefore maximum drawbar pull to be improved then needs to be grabbed by normal pressure between mechanism and the borehole wall by increase to increase maximum static friction
Power, embodiments thereof has two kinds：Increase normal pressure by increasing power plant power, but underground high temperature, hyperbaric environment and narrow
Small space limits plant capacity, therefore normal pressure limited size；The mechanical structure by mechanism is grabbed by change to increase normal pressure,
Grabbing for self-lock mechanism is hereby based on to be suggested by mechanism, self-locking mechanism with cause to grab by the normal pressure between mechanism and the borehole wall with
Load is proportionate, and overcomes maximum static friction force and is limited by constant positive pressure, and then overcomes tractive force and quiet rubbed by constant
Wipe the limitation of power.Such as the downhole tractor product MaxTRAC of Schlumberger development in 2003, general orientation is become to radius using cam
Rotation trend increase the normal pressure for grabbing arm rest to the borehole wall so that grab by mechanism and borehole wall self-locking, so as to realizing that underground is unidirectional
Traction.
Self-lock mechanism has similitude in pipe robot with downhole tractor.Nineteen ninety-five Harbin industry is big
The pipe robot based on freewheel clutch self-locking that development is bravely waited in hall is learned, robot one direction in pipe is realized and is surmounted certainly
Lock walking.National University of Defense technology Qiao Jin in 2010 river bend etc. development based on cam self-locking principle pipe robot, realize small
The one direction cam self-locking walking of robot in pipeline；A kind of pipeline machine based on inclined-plane self-locking of team development in 2012
People, voussoir one direction self-locking is made using permanent magnet is mutually exclusive, realizes self-locking walking in one direction inclined-plane in pipe；The same year, the team
Propose it is a kind of can inside pipeline bidirectional walking pipe robot conceptual design, to a left side by way of adjusting electromagnet polarity
Right voussoir is attracted and is repelled so that left and right voussoir is capable of achieving inclined-plane self-locking with tube wall, so as to realize that bidirectional self-locking is walked.
Common self-locking manner has inclined-plane self-locking, cylinder self-locking, cam self-locking, freewheel clutch self-locking, push rod guide rail certainly
Lock etc., a contact self-locking, linear contact lay self-locking and face contact self-locking can be divided into according to contact form.The big contact when normal pressure is identical
Pressure on area is small, can be prevented effectively from contact surface compressive deformation.Therefore, the inclined-plane self-locking and cylinder self-locking of face contact form compared with
The cam self-locking of linear contact lay form, ratchet self-locking and freewheel clutch self-locking possess more preferable protectiveness to the borehole wall.
On the basis of the studies above, a kind of motion knot of the telescopic downhole tractor of fluid pressure type is innovatively have developed
Structure, proposes a kind of lockable mechanism based on inclined-plane self-locking so that the tractive force of tractor is not limited by constant stiction, and
And the brake pad of different-thickness, different coefficients of friction can be coordinated, make tractor that there is the larger caliber scope of application.
The content of the invention
Shortcoming it is an object of the invention to overcome prior art, there is provided a kind of tractive force is not limited by constant stiction
System, compact conformation, the motion of the effect hydraulic telescopic type downhole tractor of raising tractor driving power.
The purpose of the present invention is achieved through the following technical solutions：A kind of motion knot of the telescopic downhole tractor of fluid pressure type
Structure, including central shaft, grab by mechanism and telescoping mechanism, it is described to grab by mechanism by grabbing by cylinder, back-moving spring, skewback A and skewback B groups
Into described grabbing includes grabbing by casing wall by cylinder, grabs by cylinder left end cap, grabs by cylinder right end cap and grab by cylinder piston, described to grab left by cylinder
End cap and grab and be individually fixed in the left and right end portions grabbed by casing wall by cylinder right end cap, it is described grab be located at by cylinder piston grab by casing wall simultaneously
Coordinate and axially opposed can move by cylinder left end cap with grabbing, grab by cylinder piston and grab by being provided with reset bullet between cylinder right end cap
Spring；Circumferential direction between the skewback A and skewback B and along skewback is evenly arranged with and first grabs arm rest, second grabs arm rest and
Three grab arm rest, and skewed slot is offered along skewback inclined-plane, and the one end for grabbing arm rest is engaged with the skewed slot on skewback A, grabs the another of arm rest
One end is engaged with skewed slot on skewback B, is more than or equal to skewback A (or skewback B) and grabs when the angle of friction between arm rest and the borehole wall is grabbed
Self-locking is realized during the inclination angle sum of angle of friction and skewback A (or skewback B) between arm rest；
Further, the telescoping mechanism is made up of flexible casing wall and telescoping cylinder right end cap, and the left part of the casing wall that stretches is consolidated
Due to the right side of skewback B, the right part of flexible casing wall is fixed with telescoping cylinder right end cap；
Further, the central shaft is set by sequentially passing through to grab from left to right by cylinder left end cap, skewback B, telescoping cylinder right end cap
Put, the telescoping cylinder piston in flexible casing wall is fixed with central shaft.
Preferably, described grabbing by cylinder is single-action hydraulic cylinder.
Used as a kind of preferred scheme, it is spring return type single-action hydraulic cylinder to grab by cylinder.
Preferably, the telescoping mechanism is double acting hydraulic cylinder.
Preferably, offered in the central shaft along its axially arranged slurry channel.
Closer, the slurry channel is located at central shaft center, can also be offset to inside central shaft.
Preferably, the arm rest of grabbing can also coordinate the brake pad with different coefficients of friction, different-thickness.
The present invention has advantages below：
(1) present invention is a kind of lockable mechanism based on inclined-plane self-locking, specific locking show grab arm rest and the borehole wall or
Between tube wall, the problem that tractive force is limited to constant stiction is overcome by mechanism, reach raising tractor driving power
Effect；By grabbing the circulation work by mechanism and telescoping mechanism, tractor can be realized drawing in underground, while providing large traction
Power.
(2) grab arm rest and use hydraulic telescopic machanism, during grabbing and being promoted by cylinder piston rod and grab arm rest, grabbing arm rest can be with
Extend radially so that grabbing arm rest has certain scope of stretching out, within this range, grabbing arm rest can be parked in any one position,
Will stop pumping into hydraulic oil when grabbing and reaching setting value by in-cylinder pressure, this design may be such that this traction appliance for certain
Caliber accommodation；This grab by mechanism traction locking be self-locking locking；Additionally, grabbing arm rest can also coordinate differentiated friction block,
Make tractor that there is the bigger caliber scope of application.
(3) central shaft of the invention sets and leaves slurry channel so that can ensure mud circulating system just in distraction procedure
Often operation.
Brief description of the drawings
Fig. 1 is structural profile schematic diagram of the invention；
Fig. 2 is the distribution schematic diagram for grabbing arm rest；
Fig. 3 is present invention traction locking statical model figure；
Mark is followed successively by accompanying drawing：1- central shafts, 2- is grabbed by cylinder left end cap, and 3- is grabbed by casing wall, and 4- is grabbed by cylinder piston, and 5- is multiple
Position spring, 6- grabbed by cylinder right end cap, and 7- skewbacks A, 8- first grabs arm rest, 9- skewbacks B, and 10- stretches casing wall, 11- telescoping cylinder right-hand members
Lid, the 12- boreholes wall or tube wall, 13- second grab arm rest, and 14- the 3rd grabs arm rest, and 15- telescoping cylinder pistons, 16- slurry channels, 18- is left
Skewback, the right skewbacks of 19-.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings, and protection scope of the present invention is not limited to as described below：
As shown in Fig. 1~2, a kind of motion of hydraulic telescopic type downhole tractor, it includes central shaft 1, grabs by machine
Structure and telescoping mechanism, are grabbed and are constituted by cylinder, back-moving spring 5, skewback A7 and skewback B9 by grabbing by mechanism, and described grabbing is leaned on by mechanism by grabbing
Cylinder, back-moving spring 5, skewback A and skewback B9 composition, described grabbing include grabbing by casing wall 3 by cylinder, grab by cylinder left end cap 2, grab right by cylinder
End cap and grab by cylinder piston 4, it is described to grab by cylinder left end cap 2 and grab the left and right end grabbed by casing wall 3 is individually fixed in by cylinder right end cap
Portion, it is described grab to be located at by cylinder piston 4 grab by being connected by cylinder left end cap 2 in casing wall 3 and with grabbing, grab by cylinder piston 4 with grab right by cylinder
Back-moving spring 5 is provided between end cap；Circumferential direction between the skewback A and skewback B9 and along skewback is evenly arranged with first and grabs
Arm rest 8, second grab arm rest 13 and the 3rd and grab arm rest 14, and skewed slot is offered along skewback inclined-plane, grab on one end and the skewback A of arm rest
Skewed slot be engaged, the other end for grabbing arm rest is engaged with skewed slot on skewback B9, when grabbing the angle of friction between arm rest and the borehole wall 12
During more than or equal to skewback A7 (or skewback B9) with the inclination angle sum for grabbing angle of friction between arm rest and skewback A7 (or skewback B9)
Realize auto-lock function；
Described telescoping mechanism is made up of flexible casing wall 10 and telescoping cylinder right end cap 11, and the left part of flexible casing wall 10 is fixed
In the right side of skewback B9, the right part of flexible casing wall 10 is fixed with telescoping cylinder right end cap 11；
Described central shaft 1 is grabbed by cylinder left end cap 2, skewback B9, telescoping cylinder right end cap 11, center by sequentially passing through from left to right
The telescoping cylinder piston 15 in flexible casing wall 10 is fixed with axle 1.
Described grabbing by cylinder is spring return type single-action hydraulic cylinder；Described telescoping mechanism is double acting hydraulic cylinder；Institute
That states grabs arm rest and can also coordinate the brake pad with different coefficients of friction, different-thickness.
Offered along its axially arranged slurry channel 1616 in described central shaft 1, wherein slurry channel 1616 is located at
The center of central shaft 1, can also be offset to inside central shaft 1.When to grabbing by beating liquid in cylinder and positioned at the left side grabbed by cylinder piston 4, grab
Moved right by cylinder piston 4, skewback A7 moves right, under skewback A7 and skewback B9 collective effects, grab arm rest for three and radially stretch
Go out, grab and lean against on the borehole wall or tube wall 12；In the case where arm rest effect is grabbed, other parts in addition to central shaft 1 are completely in lockup state,
Liquid now is beaten in flexible casing wall 10 and positioned at the left side of telescoping cylinder piston 15, central shaft 1 is relative to other in addition to central shaft 1
Part travels forward, and realizes the drawing-in motion of tractor.
When in telescoping mechanism hydraulic action on telescoping cylinder piston 15 when, when tractor is in traction lockup state, its is quiet
Mechanical model is as shown in Figure 3.Known mutually connected object can be considered an entirety in force analysis, therefore will mutually be connected
Grab and be regarded as left skewback 18 by cylinder piston 4 and skewback A7, by mutually connected skewback B, flexible casing wall 10 and telescoping cylinder right end cap
11 are regarded as right skewback 19, and foundation is grabbed and draws locking statical model by mechanism i.e. lockable mechanism, as shown in Figure 3.Calculated to simplify
Process, will grab arm rest number and is reduced to two by three；F in figureSGrabbing by power on sliding sleeve 15 is acted on during by cylinder feed liquor to grab,
FS' it is to grab the reaction force by power, FTThe tractive force on telescoping cylinder piston 17, F are acted on during for telescoping cylinder rear-bank rotor housing feed liquorT' be
Act on the left end load of central shaft 1；FijFor object i acts on the power on object j, wherein i<=5, j<=5；φ1Represent
Left skewback 18 or right skewback 19 and grab the angle of friction between arm rest, φ2The friction between arm rest and the borehole wall or tube wall 12 is grabbed in expression
Angle, α represents left skewback 18, the inclination angle of right skewback 19.
Lockable mechanism according to Fig. 3 is regarded as entirety and carries out force analysis, can draw relational expression：
Individually consider left skewback, relational expression can be drawn：
Individually consider right skewback, relational expression can be drawn：
Individually consider to grab arm rest one, relational expression can be drawn：
Simultaneous formula (1), (2), (3), (4) are tried to achieve：
Make FS≤ 0, then there is relational expression：
Tried to achieve by equilibrium equation and worked asWhen, the motion of the hydraulic telescopic type downhole tractor can be realized
Traction locking, and traction locking is self-locking locking, that is, work asWhen, the normal pressure grabbed between arm rest and the borehole wall or tube wall will
With load increase and increase, therefore no matter load it is much, in the case of material is non-destructive, hydraulic telescopic type underground traction
The motion of device is grabbed arm rest and can firmly grasp tube wall or the borehole wall, and this causes that hydraulic telescopic type downhole tractor is solved in principle
Tractive force is limited to the problem of constant stiction so that holding is remained in the case of heavy load and grabs arm rest and the borehole wall or pipe
Locking between wall, the effect of tractor driving power is improved so as to reach.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the exclusion to other embodiment, and can be used for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change does not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention
It is interior.
Claims (8)
1. a kind of motion of hydraulic telescopic type downhole tractor, it is characterised in that：Including central shaft（1）, grab by mechanism and
Telescoping mechanism, it is described to grab by mechanism by grabbing by cylinder, back-moving spring（5）, skewback A（7）With skewback B（9）Composition, it is described to grab by cylinder bag
Include and grab by casing wall（3）, grab by cylinder left end cap（2）, grab by cylinder right end cap（6）With grab by cylinder piston（4）, it is described to grab by cylinder left end cap
（2）With grab by cylinder right end cap（6）It is individually fixed in and grabs by casing wall（3）Left and right end portions, it is described to grab by cylinder piston（4）Leaned on positioned at grabbing
Casing wall（3）It is interior and with grab by cylinder left end cap（2）Connection, grabs by cylinder piston（4）With grab by cylinder right end cap（6）Between be provided with reset bullet
Spring（5）；The skewback A（7）With skewback B（9）Between and the circumferential direction along skewback be evenly arranged with first and grab arm rest（8）,
Two grab arm rest（13）Arm rest is grabbed with the 3rd（14）, skewed slot is offered along skewback inclined-plane, grab one end and the skewback A of arm rest（7）On
Skewed slot be engaged, grab the other end of arm rest and skewback B（9）Upper skewed slot is engaged, when grabbing arm rest and the borehole wall（12）Between rub
Wipe angle and be more than or equal to skewback A（7）Or skewback B（9）With grab the angle of friction and skewback A between arm rest（7）Or skewback B（9）Inclination
Self-locking is realized during the sum of angle；
The telescoping mechanism is by the casing wall that stretches（10）With telescoping cylinder right end cap（11）Composition, stretch casing wall（10）Left part fix
In skewback B（9）Right side, stretch casing wall（10）Right part be fixed with telescoping cylinder right end cap（11）；
The central shaft（1）Grabbed by cylinder left end cap by sequentially passing through from left to right（2）, skewback B（9）, telescoping cylinder right end cap（11）If
Put, central shaft（1）On be fixed with positioned at flexible casing wall（10）Interior telescoping cylinder piston（15）.
2. the motion of hydraulic telescopic type downhole tractor according to claim 1, it is characterised in that：It is described to grab by cylinder
It is single-action hydraulic cylinder.
3. the motion of hydraulic telescopic type downhole tractor according to claim 1 and 2, it is characterised in that：It is described to grab
It is spring return type single-action hydraulic cylinder by cylinder.
4. the motion of hydraulic telescopic type downhole tractor according to claim 1, it is characterised in that：The telescopic machine
Structure is double acting hydraulic cylinder.
5. the motion of hydraulic telescopic type downhole tractor according to claim 1, it is characterised in that：The central shaft
（1）Inside offer along its axially arranged slurry channel（16）.
6. the motion of hydraulic telescopic type downhole tractor according to claim 5, it is characterised in that：The mud leads to
Road（16）Positioned at central shaft（1）Center.
7. the motion of hydraulic telescopic type downhole tractor according to claim 5, it is characterised in that：The mud leads to
Road（16）Central shaft can be offset to（1）It is internal.
8. the motion of hydraulic telescopic type downhole tractor according to claim 1, it is characterised in that：It is described to grab arm rest
The brake pad with different coefficients of friction, different-thickness can also be coordinated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018259.2A CN106837225B (en) | 2017-01-11 | 2017-01-11 | A kind of movement mechanism of hydraulic telescopic type downhole tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018259.2A CN106837225B (en) | 2017-01-11 | 2017-01-11 | A kind of movement mechanism of hydraulic telescopic type downhole tractor |
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| Publication Number | Publication Date |
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| CN106837225A true CN106837225A (en) | 2017-06-13 |
| CN106837225B CN106837225B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710018259.2A Active CN106837225B (en) | 2017-01-11 | 2017-01-11 | A kind of movement mechanism of hydraulic telescopic type downhole tractor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107366523A (en) * | 2017-08-17 | 2017-11-21 | 西南石油大学 | A kind of coiled tubing draws robot |
| CN107387058A (en) * | 2017-08-21 | 2017-11-24 | 西南石油大学 | A kind of control system and method based on Microdrilling horizontal well continuous tubing drill machine people |
| CN109681137A (en) * | 2019-02-28 | 2019-04-26 | 西安石油大学 | The telescopic coiled tubing tractor of one-way hydraulic |
| CN110469481A (en) * | 2019-07-15 | 2019-11-19 | 中国石油天然气集团有限公司 | A kind of electric direct-drive pumping arranging device |
| CN111911100A (en) * | 2020-08-07 | 2020-11-10 | 上海飞舟博源石油装备股份有限公司 | Stepping type underground traction device and traction method |
| CN113187461A (en) * | 2021-03-25 | 2021-07-30 | 西南石油大学 | Speed testing method for drilling traction robot |
| CN113482556A (en) * | 2021-08-25 | 2021-10-08 | 成都理工大学 | Closed-loop well flushing method based on coiled tubing and telescopic robot |
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| CN202788704U (en) * | 2012-08-16 | 2013-03-13 | 中国石油大学(北京) | Electrically-controlled hydraulic-driven coiled tubing downhole tractor |
| CN103982152A (en) * | 2014-05-30 | 2014-08-13 | 四机赛瓦石油钻采设备有限公司 | Device for feeding and retrieving steel wire rope |
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| US20120279709A1 (en) * | 2011-05-06 | 2012-11-08 | Smith International, Inc. | Expandable downhole casing coupling locator tool |
| CN202788704U (en) * | 2012-08-16 | 2013-03-13 | 中国石油大学(北京) | Electrically-controlled hydraulic-driven coiled tubing downhole tractor |
| CN103982152A (en) * | 2014-05-30 | 2014-08-13 | 四机赛瓦石油钻采设备有限公司 | Device for feeding and retrieving steel wire rope |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107366523A (en) * | 2017-08-17 | 2017-11-21 | 西南石油大学 | A kind of coiled tubing draws robot |
| CN107366523B (en) * | 2017-08-17 | 2019-03-22 | 西南石油大学 | A kind of coiled tubing traction robot |
| CN107387058A (en) * | 2017-08-21 | 2017-11-24 | 西南石油大学 | A kind of control system and method based on Microdrilling horizontal well continuous tubing drill machine people |
| CN107387058B (en) * | 2017-08-21 | 2020-09-04 | 西南石油大学 | Control system and method based on micro-borehole horizontal well coiled tubing drilling robot |
| CN109681137A (en) * | 2019-02-28 | 2019-04-26 | 西安石油大学 | The telescopic coiled tubing tractor of one-way hydraulic |
| CN109681137B (en) * | 2019-02-28 | 2024-02-27 | 西安石油大学 | Unidirectional hydraulic telescopic coiled tubing tractor |
| CN110469481A (en) * | 2019-07-15 | 2019-11-19 | 中国石油天然气集团有限公司 | A kind of electric direct-drive pumping arranging device |
| CN110469481B (en) * | 2019-07-15 | 2021-03-30 | 中国石油天然气集团有限公司 | Electric direct-drive pumping and discharging device |
| CN111911100A (en) * | 2020-08-07 | 2020-11-10 | 上海飞舟博源石油装备股份有限公司 | Stepping type underground traction device and traction method |
| CN111911100B (en) * | 2020-08-07 | 2022-04-08 | 上海飞舟博源石油装备股份有限公司 | Stepping type underground traction device and traction method |
| CN113187461A (en) * | 2021-03-25 | 2021-07-30 | 西南石油大学 | Speed testing method for drilling traction robot |
| CN113482556A (en) * | 2021-08-25 | 2021-10-08 | 成都理工大学 | Closed-loop well flushing method based on coiled tubing and telescopic robot |
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| CN106837225B (en) | 2019-02-15 |
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