CN107386971B - A kind of coiled tubing drilling Robot experimental simulation device and method - Google Patents
A kind of coiled tubing drilling Robot experimental simulation device and method Download PDFInfo
- Publication number
- CN107386971B CN107386971B CN201710720406.0A CN201710720406A CN107386971B CN 107386971 B CN107386971 B CN 107386971B CN 201710720406 A CN201710720406 A CN 201710720406A CN 107386971 B CN107386971 B CN 107386971B
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- China
- Prior art keywords
- coiled tubing
- stepper motor
- well
- motor pump
- computer
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- 238000005553 drilling Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims description 10
- 238000004088 simulation Methods 0.000 title abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 239000011888 foil Substances 0.000 claims description 8
- 238000005273 aeration Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims 1
- 238000005457 optimization Methods 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 241000425571 Trepanes Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/046—Directional drilling horizontal drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
Landscapes
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Geophysics (AREA)
- Pipeline Systems (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of coiled tubing drilling Robot experimental simulation devices, it includes transparent pipe (1), sink (2), coiled tubing (3), weight frame (4) and stepper motor pump (5), transparent pipe (1) is made of sequentially connected horizontal segment and vertical section, coiled tubing (3) is set in transparent pipe (1), pulley (14) are installed on weight frame (4), drawstring (15) are wound on pulley (14), one end of drawstring (15) is hung with multiple weights (16), and the other end of drawstring (15) is fixed on connection ring (13)；It further includes control cabinet (17) and computer (18), and control cabinet (17) is connect with computer (18) signal wire.The beneficial effects of the present invention are: well borer people can be simulated under different impulse waves, well borer people actual motion situation in horizontal well under the conditions of different tractive force and under the conditions of different pressures difference, experimental data foundation is provided for optimization support arm configuration, provides experimental data foundation for optimization hydraulic control system system.
Description
Technical field
The present invention relates to simulation coiled tubing drilling robot motion situation, especially a kind of coiled tubing drilling robots
Ground experiment simulator and method.
Background technique
Coiled tubing drilling has the characteristics that pollution is small, at low cost, the pro-gaze increasingly by oil-gas mining industry.It is logical
Mechanical analysis is crossed it is found that then can increase the extended distance of coiled tubing drilling horizontal segment to coiled tubing progress axial traction, and
Well borer people can implement to draw to coiled tubing, therefore the proposition of coiled tubing drilling robot provides for coiled tubing drilling
One good solution.Due to taking the limitation of rock condition, coiled tubing drilling is mainly used in slim-hole, Microdrilling
Field should equally meet slim-hole, the requirement of the size of Microdrilling, while well borer based on this coiled tubing drilling robot
People should also have large traction feature.
The forward power of well borer people is provided by drilling fluid, send hydraulic pressure signal to well borer human hair by ground, from
And control well borer people.However in actual well drilled operation, can not observe well borer people under different impulse waves, difference leads
Under the conditions of gravitation, under the conditions of different pressures difference, motion conditions of the well borer people in horizontal well.Also well borer can not be analyzed
Stress condition between the support arm of people and the horizontal borehole wall cannot provide data support for the improvement of well borer people's support arm,
Also well borer people consumed drilling fluid during the motion can not be detected, number cannot be provided for the design optimization of hydraulic system
According to support.Therefore it needs that the device of well borer people motion conditions in horizontal well can be simulated.
Summary of the invention
The present invention can simulate well borer people under different impulse waves, under the conditions of different tractive force and different pressures are poor
Under the conditions of well borer people actual motion situation in horizontal well, a kind of low manufacture cost is provided, provides number for optimization support arm
Data foundation is provided according to foundation, for optimization hydraulic system, compact-sized coiled tubing drilling Robot experiment simulation fills
It sets and method.
The purpose of the present invention is achieved through the following technical solutions: a kind of coiled tubing drilling Robot experiment simulation
Device, it includes transparent pipe, sink, coiled tubing, weight frame and stepper motor pump, is equipped with flowmeter in the sink, institute
It states transparent pipe to be made of sequentially connected horizontal segment and vertical section, coiled tubing is set in transparent pipe, the head end of coiled tubing
The outside of vertical section is extended, the end of coiled tubing is pierced by horizontal segment and is inserted into sink, and pressure biography is provided on end
Sensor and throttle valve are also connected with the well borer people positioned at horizontal segment on coiled tubing, set on the support arm of well borer people
It is equipped with foil gauge；The water sucking mouth of the stepper motor pump is connected to through water inlet pipe with sink, is connected at the discharge outlet of stepper motor pump
There is a drainpipe, the head end of drainpipe and coiled tubing is connected through connection ring；The sink, water inlet pipe, stepper motor pump, draining
Pipe, coiled tubing and well borer are humanoid at closed channel；Pulley is installed on the weight frame, is wound with drawstring on pulley,
One end of drawstring is hung with multiple weights, and the other end of drawstring is fixed in connection ring；It further includes control cabinet and computer, control
Case processed is connect with computer by signal wire, the pressure sensor, foil gauge, flowmeter, well borer people and stepping electricity
Pump is connect with control cabinet by signal wire.
Multiple weights are joined end to end by hook ring.
Weight is counterweight.
The right part of the horizontal segment is provided with slide opening bracket, and the end of the coiled tubing is arranged through slide opening bracket.
The method of the described ground experiment simulator simulation well borer people, it the following steps are included:
Water in sink is successively pumped and is drained through water inlet pipe, stepper motor by S1, starting stepper motor pump, stepper motor pump
Tube pump enters in coiled tubing, when stepper motor pump operation for a period of time after, whether have bubble, exclude bubble if observing in closed channel
Avoid the normal work due to aeration well borer people's hydraulic system；
S2, the pressure value for reading out water in coiled tubing from computer in real time adjust the aperture of throttle valve, guarantee closing
Channel inner pressure is in appropriate range；
S3, the revolving speed for changing stepper motor pump, frequency of drawing water change, and pulsed pressure wave is formed in closed channel, bore
Well robot, which receives and passes through differential pressure pickup, identifies pulsed pressure wave；
S4, pulsed pressure wave pass to computer after control cabinet is converted to electric signal, and computer judges well borer people
On whether receive pulsed pressure wave, then identify pulsed pressure wave type, if computer judge well borer people receive
Pulsed pressure wave has been arrived, then has continued to control the revolving speed of stepper motor pump through control cabinet to change the movement speed of well borer people,
Situation of movement of the further observation well borer people in horizontal segment.
The invention has the following advantages that (1) present invention can simulate well borer people under different impulse waves, different tractions
Under the conditions of power and different pressures difference under the conditions of well borer people actual motion situation in horizontal well.(2) present invention is optimization
Support arm provides experimental data foundation, while providing experimental data foundation for optimization hydraulic system.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of weight bracket；
Fig. 3 is work flow diagram of the invention；
In figure, 1- transparent pipe, 2- sink, 3- coiled tubing, 4- weight frame, 5- stepper motor pump, 6- flowmeter, 7- pressure
Sensor, 8- throttle valve, 9- well borer people, 10- foil gauge, 11- water inlet pipe, 12- drainpipe, 13- connection ring, 14- pulley,
15- drawstring, 16- weight, 17- control cabinet, 18- computer, 19- slide opening bracket.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, and protection scope of the present invention is not limited to as described below:
As shown in Figure 1, a kind of coiled tubing drilling Robot experimental simulation device, it include transparent pipe 1, sink 2,
Coiled tubing 3, weight frame 4 and stepper motor pump 5, water are loaded in the sink 2, water is for simulating drilling fluid, peace in sink 2
Equipped with flowmeter 6.The flowmeter 6 can real-time detection water consumption, and flow signal is converted into electric signal and is successively passed to
Control cabinet 17 and computer 18, so that the design optimization for hydraulic system provides experimental data support.
As shown in Figure 1, the transparent pipe 1 is made of sequentially connected horizontal segment and vertical section, coiled tubing 3 is set to
In bright pipe 1, the head end of coiled tubing 3 extends the outside of vertical section, and the end of coiled tubing 3 is pierced by horizontal segment and is inserted into water
It is provided with pressure sensor 7 and throttle valve 8 in slot 2, on end, the trepan positioned at horizontal segment is also connected on coiled tubing 3
Device people 9 is provided with foil gauge 10 on the support arm of well borer people 9.The transparent pipe 1 is transparent material composition, therefore can
The clearly motion conditions of observation well borer people.
As shown in Figure 1, stepper motor pump 5 provides driving force by stepper motor, the water sucking mouth of stepper motor pump 5 pass through into
Water pipe 11 is connected to sink 2, is connected with drainpipe 12, the head of drainpipe 12 and coiled tubing 3 at the discharge outlet of stepper motor pump 5
End is connected through connection ring 13；The sink 2, water inlet pipe 11, stepper motor pump 5, drainpipe 12, coiled tubing 3 and trepan
Device people 9 forms closed channel.
As shown in Fig. 2, being equipped with pulley 14 on the weight frame 4, drawstring 15 is wound on pulley 14, one end of drawstring 15 is outstanding
Multiple weights 16 are hung with, multiple weights 16 are joined end to end by hook ring, and weight 16 is counterweight, and the other end of drawstring 15 is fixed on company
It connects on ring 13.By increasing or decreasing the quantity of weight 16, weight can be changed to the pulling force of drawstring 15, further changed to brill
The tractive force of well robot under the conditions of realizing different tractive force, observes movement and support of the well borer people in horizontal segment
Situation.
As shown in Figure 1, it further includes control cabinet 17 and computer 18, control cabinet 17 and computer 18 are connected by signal wire
It connects, the pressure sensor 7, foil gauge 10, flowmeter 6, well borer people 9 and stepper motor pump 5 are logical with control cabinet 17
Cross signal wire connection.The power that the support arm that the foil gauge 10 can acquire well borer people 9 is contacted with 3 inner wall of coiled tubing is big
It is small, and the pressure signal of foil gauge 10 is converted into electric signal and successively passes to control cabinet 17 and computer 18, it is robot branch
The improvement of brace provides experimental data and supports.
The right part of the horizontal segment is provided with slide opening bracket 19, and slide opening bracket 19 is run through in the end of the coiled tubing 3
Setting.
As shown in figure 3, the method for the described ground experiment simulator simulation well borer people, it the following steps are included:
S1, starting stepper motor pump 5, stepper motor pump 5 is by the water in sink 2 successively through water inlet pipe 11, stepper motor pump 5
It is pumped into coiled tubing 3 with drainpipe 12, arrow direction is water flowing direction, after stepper motor 5 operation a period of time of pump, is seen
Whether closed channel in have bubble, exclude bubble and avoid the normal work due to aeration well borer people's hydraulic system if examining；
S2, the pressure value for reading out water in coiled tubing 3 from computer 18 in real time adjust the aperture of throttle valve 8, guarantee
Pressure is in appropriate range in closed channel；Throttle valve 8 can control pressure in closed channel, and closed channel is formed with annular space
Pressure difference, to provide the hydraulic power source of well borer people；
S3, the revolving speed for changing stepper motor pump 5, frequency of drawing water change, and form pulsed pressure wave in closed channel, bore
Well robot 9 receives and identifies pulsed pressure wave by differential pressure pickup；
S4, pulsed pressure wave pass to computer 18 after control cabinet 17 is converted to electric signal, and computer 18 judges drilling well
Whether pulsed pressure wave is received in robot 9, the type of pulsed pressure wave is then identified, if computer 18 judges trepan
Device people 9 has received pulsed pressure wave, then continues the revolving speed of control stepper motor pump 5 through control cabinet 17 to change well borer people
9 movement speed, it is further to observe well borer people in the situation of movement of horizontal segment.Therefore simulator can simulate drilling well
Robot under different impulse waves, under the conditions of different tractive force and under the conditions of different pressures difference well borer people in horizontal well
Actual motion situation provides advantage for experimental teaching.
Claims (1)
1. a kind of coiled tubing drilling Robot tests analogy method, it is characterised in that: this method using simulator come
Well borer people is simulated, simulator includes transparent pipe (1), sink (2), coiled tubing (3), weight frame (4) and stepper motor
It pumps (5), is equipped with flowmeter (6) in the sink (2), the transparent pipe (1) is by sequentially connected horizontal segment and vertical section group
At coiled tubing (3) is set in transparent pipe (1), and the head end of coiled tubing (3) extends the outside of vertical section, coiled tubing
(3) end is pierced by horizontal segment and is inserted into sink (2), and pressure sensor (7) and throttle valve (8) are provided on end, even
It is also connected with the well borer people (9) positioned at horizontal segment on continuous oil pipe (3), is provided with and answers on the support arm of well borer people (9)
Become piece (10)；The water sucking mouth of the stepper motor pump (5) is connected to through water inlet pipe (11) with sink (2), and stepper motor pumps the row of (5)
It is connected at the mouth of a river drainpipe (12), drainpipe (12) is connect with the head end of coiled tubing (3) through connection ring (13)；The sink
(2), water inlet pipe (11), stepper motor pump (5), drainpipe (12), coiled tubing (3) and well borer people (9) form closing
Channel；It is equipped with pulley (14), is wound on pulley (14) drawstring (15) on the weight frame (4), one end suspension of drawstring (15)
Have multiple weights (16), the other end of drawstring (15) is fixed on connection ring (13)；It further includes control cabinet (17) and computer
(18), control cabinet (17) is connect with computer (18) by signal wire, the pressure sensor (7), foil gauge (10), flowmeter
(6), well borer people (9) and stepper motor pump (5) are connect with control cabinet (17) by signal wire, multiple weights
(16) it is joined end to end by hook ring, weight (16) is counterweight, and the right part of the horizontal segment is provided with slide opening bracket (19), described
The end of coiled tubing (3) is arranged through slide opening bracket (19), it is characterised in that: method includes the following steps:
S1, starting stepper motor pump (5), stepper motor pump (5) for the water in sink (2) successively through water inlet pipe (11), stepping electricity
Pump (5) and drainpipe (12) are pumped into coiled tubing (3), and after stepper motor pump (5) operation a period of time, observation closing is logical
Whether there is bubble in road, excludes bubble and avoid the normal work due to aeration well borer people's hydraulic system；
S2, the pressure value for reading out coiled tubing (3) interior water from computer (18) in real time adjust the aperture of throttle valve (8), protect
Pressure is in appropriate range in card closed channel；
S3, the revolving speed for changing stepper motor pump (5), frequency of drawing water change, and pulsed pressure wave, drilling well are formed in closed channel
Robot (9) receives and identifies pulsed pressure wave by differential pressure pickup；
S4, pulsed pressure wave pass to computer (18) after control cabinet (17) is converted to electric signal, and computer (18) judgement is bored
Whether well robot receives pulsed pressure wave on (9), the type of pulsed pressure wave is then identified, if computer (18) is judged
Well borer people (9) has received pulsed pressure wave, then continues the revolving speed of control stepper motor pump (5) through control cabinet (17) to change
Become the movement speed of well borer people (9), it is further to observe well borer people in the situation of movement of horizontal segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710720406.0A CN107386971B (en) | 2017-08-21 | 2017-08-21 | A kind of coiled tubing drilling Robot experimental simulation device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710720406.0A CN107386971B (en) | 2017-08-21 | 2017-08-21 | A kind of coiled tubing drilling Robot experimental simulation device and method |
Publications (2)
| Publication Number | Publication Date |
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| CN107386971A CN107386971A (en) | 2017-11-24 |
| CN107386971B true CN107386971B (en) | 2019-05-17 |
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| CN201710720406.0A Expired - Fee Related CN107386971B (en) | 2017-08-21 | 2017-08-21 | A kind of coiled tubing drilling Robot experimental simulation device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108519108B (en) * | 2018-04-13 | 2022-08-09 | 国家海洋技术中心 | Simulation test method for navigation performance of underwater glider |
| CN109519164A (en) * | 2018-12-05 | 2019-03-26 | 西南石油大学 | A kind of coiled tubing drilling robot control system of controllable rate of penetration and bit pressure |
| CN109490002B (en) * | 2018-12-20 | 2024-01-26 | 南京管科智能科技有限公司 | Pipeline robot experimental device |
| CN113236233B (en) * | 2021-03-25 | 2022-10-14 | 西南石油大学 | Displacement measuring device for drilling traction robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080041594A1 (en) * | 2006-07-07 | 2008-02-21 | Jeanne Boles | Methods and Systems For Determination of Fluid Invasion In Reservoir Zones |
| CN201924912U (en) * | 2010-12-03 | 2011-08-10 | 长江大学 | Experiment device for stimulation of underground mechanical behaviors of coiled tubing |
| CA2973063C (en) * | 2015-02-13 | 2019-08-27 | Halliburton Energy Services, Inc. | Real-time tracking of bending fatigue in coiled tubing |
| CN105243954B (en) * | 2015-07-23 | 2017-12-22 | 重庆科技学院 | Coiled tubing Electro-hydraulic drive tractor experimental provision |
| CN205654334U (en) * | 2016-01-27 | 2016-10-19 | 中国石油集团川庆钻探工程有限公司长庆井下技术作业公司 | Coiled tubing tests data acquisition system |
| CN206208832U (en) * | 2016-10-11 | 2017-05-31 | 北京航天易联科技发展有限公司 | A kind of coiled tubing on-line measuring device |
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| CN107386971A (en) | 2017-11-24 |
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