CN107478453A - A kind of coiled tubing traction robot ground experiment analogue means - Google Patents
A kind of coiled tubing traction robot ground experiment analogue means Download PDFInfo
- Publication number
- CN107478453A CN107478453A CN201710705983.2A CN201710705983A CN107478453A CN 107478453 A CN107478453 A CN 107478453A CN 201710705983 A CN201710705983 A CN 201710705983A CN 107478453 A CN107478453 A CN 107478453A
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- China
- Prior art keywords
- coiled tubing
- ground
- robot
- experiment
- traction robot
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
Abstract
The present invention relates to a kind of ground experiment analogue means of coiled tubing traction robot.Ground experiment analogue means is made up of ground simulator and coiled tubing traction robot, ground simulator is by ground computing controller, experiment thimble, apply resistance devices and pulling force sensor equipment composition, coiled tubing traction robot rear and front end is provided with wheeled centralizer.It is an object of the invention to provide a kind of coiled tubing traction robot ground experiment analogue means, the motion conditions under different tractive force are changed with time and analyzed available for tractive force, the tractive force for surveying traction robot, the average speed of traction robot motion can also be measured, examine the obstacle climbing ability of traction robot, degree of impairment of the analysis robot to internal surface of sleeve pipe.
Description
Technical field
The invention belongs to coiled tubing oilfield downhole operation application field, is related to a kind of coiled tubing traction Robot
Experimental simulation device.
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, is pumped into conveying, connects
Continuous pipe conveying has that efficiency is low, cost is high when in face of horizontal well, extended reach well, directional well and continuous pipe bending deformation etc. is asked
Topic.Therefore, downhole tractor device people gradually grows up as a kind of new mode of movement.
Downhole tractor device people is underground crawl device, is also underground climbing mechanism, is that one kind can provide tractive force in shaft bottom
A kind of downhole tool.For downhole tractor, can be divided into by different motion modes：Wheeled, telescopic, crawler type, impact
Formula, wherein telescopic downhole tractor has the advantages that obstacle climbing ability is strong, tractive force is big, it is defeated to possess stronger net horizontal section equipment
Send work capacity.
In the later stage nineties, offshore company develops can be in the horizontal well tractor of underground independently working.By sending out for many years
Exhibition, the tractor product for having representative have：The telescopic tractors of MaxTRAC of French Schlumberger companies, Britain
The wheeled tractors of Sondex of Sondex Co., Ltds, the telescopic tractors of SmarTract of the ExproGroup companies of Britain.
For the country, because foreign countries all take strict technical know-how measure, the country is caused to grind downhole tractor
Study carefully the stage also in ground zero.After 2002, the domestic exploration to tractor achieves certain effect.Hereafter, it is Chinese
The domestic universities and colleges such as University of Petroleum, Harbin Institute of Technology, Southwest Petrol University, Xi'an Petroleum University and research institute have also begun to pair
The research of downhole tractor.But the traction robot research to hydraulic-driven is seldom, is more put into without relatively good product
Market.
In this case, an experimental provision based on coiled tubing traction robot is devised, is drawn available for surveying
Tractive force, the tractive force of robot change with time and analyzed the motion conditions under different tractive force, can also measure traction
The average speed of robot motion, examine the obstacle climbing ability of traction robot, degree of impairment of the analysis robot to internal surface of sleeve pipe.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of coiled tubing traction robot ground experiment
Analogue means.This experimental provision the different environment for simulating various pit shafts of material, be able to can be surveyed according to the caliber difference of experiment thimble
The trend that the tractive force of robot changes over time must be drawn, additionally aids analysis and checking downhole tool shadow to caused by pit shaft
Ring.
A kind of coiled tubing traction robot ground experiment analogue means, including ground simulating device and coiled tubing
Robot is drawn, the ground simulating device includes ground computing controller, experiment thimble, along experiment thimble axial direction
The application resistance devices and pulling force sensor equipment of power are provided, described coiled tubing draws robot and filled in ground simulating
Moved in experiment thimble in putting, experiment thimble is fixed on big ground；
Described ground computing controller is drawn robot with coiled tubing by armored cable and is connected, and applies resistance devices and passes through
Hawser is connected with coiled tubing traction robot.
Described hydraulic continuous oil pipe traction robot is stretched including the pipe nipple that worked before and after two, hydraulic control pipe nipple, two
Wheeled centralizer before and after contracting mechanism and two, before being disposed with one from left to right during hydraulic continuous oil pipe draws robot
Afterwards wheeled centralizer, a telescoping mechanism, the pipe nipple that works before and after one, hydraulic control pipe nipple, another telescoping mechanism, another
Front and rear work pipe nipple and another front and rear wheeled centralizer, the front and rear wheeled centralizer in left side are calculated by armored cable and ground
Control is connected.
Described pulling force sensor equipment includes pulling force sensor and sensor display, and pulling force sensor is passed by pulling force
Sensor private cable is connected on sensor display；
The application resistance devices include cement block and movable pulley mechanism, and pulling force sensor equipment includes pulling force sensor and sensing
Device display, the rear wheeled centralizer that hydraulic continuous oil pipe draws on the left of robot are connected to movable pulley mechanism by a hawser
In movable pulley center on, this hawser medium position is provided with pulling force sensor, in the movable pulley of movable pulley mechanism
Another hawser is cased with circumference, one end of the hawser is fixed and the other end is fixed on cement block, and cement block is movably
Place on the ground.
One end away from pulling force sensor equipment in described experiment thimble is provided with sleeve pipe obstacle.
The one end of described experiment thimble away from pulling force sensor equipment is designed as casing diameter variable.
Described experiment thimble can be the sleeve pipe of different-diameter to simulate the pit shaft of different tube diameters, can be different materials
Matter is with coefficient of friction different in simulation wellbore hole.
Described experiment thimble is fixed on big ground by bracket institution.
By adopting the above-described technical solution, the present invention has the advantages that：
（1）Directly using different tube diameters, the experiment thimble of unlike material can simulate the different pit shaft in underground, be coiled tubing
Traction robot carries out traction experiment and provides necessary condition, and obstacle is carried out to experiment thimble and reducing is simulated, it may be determined that even
Whether the obstacle climbing ability of continuous oil pipe traction robot reaches requirement.
（2）It is continuous to simulate by way of two kinds of the kinetic force of friction of movable pulley mechanism and cement block and the earth provides resistance
Kinetic force of friction between oil pipe and pit shaft, and the data that pulling force sensor is gathered can reflect that coiled tubing draws robot
The variation tendency of tractive force, it can more simulate the motion conditions under coiled tubing traction robot difference tractive force.
（3）By observing postrun experiment thimble, the abrasion condition of inside pipe casing is observed, can be had by vessel wall damage
Help determine influence of the coiled tubing traction robot to shaft in wall.
（4）The displacement moved within a period of time by measuring cement block, it can obtain during this period of time, drawing machine
The average speed of people.
Brief description of the drawings
Fig. 1 is the structural representation that sleeve pipe obstacle is provided with experiment thimble termination；
Fig. 2 is the structural representation that casing diameter variable is designed as in experiment thimble termination；
Fig. 3 is movable pulley mechanism；
Fig. 4 is ground simulating flow chart；
Mark is followed successively by accompanying drawing：1- the earth, 2- coiled tubings traction robot, 3- hydraulic control pipe nipples, 4- work pipe nipples, 5-
Telescoping mechanism, 6- supporting mechanisms, the wheeled centralizers of 7-, 8- experiment thimbles, 9- armored cables, 10- pulling force sensors, 11- pulling force
Sensor private cable, 12- sensor displays, 13- movable pulley mechanisms, 14- ground computing controller, 15- hawsers, 16- water
Clod, 17- bracket institutions, 18- sleeve pipe obstacles, 19- casing diameter variables, 20- movable pulleys.
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 figure 1, a kind of ground experiment analogue means of hydraulic telescopic type downhole tractor device people, including ground simulating
Device and coiled tubing traction robot 2, described coiled tubing draw experiment of the robot in ground simulating device
Move in sleeve pipe 8, the ground simulating device includes ground computing controller 14, experiment thimble 8, apply resistance devices and
Pulling force sensor equipment, ground computing controller 14 are drawn robot 2 with coiled tubing by armored cable 9 and are connected, and apply resistance
Power equipment is drawn robot 2 with coiled tubing by hawser 15 and is connected, and the coiled tubing traction robot 2 includes front and rear work
Pipe nipple 3, hydraulic control pipe nipple 4 and front and rear wheeled centralizer 7.The both ends of hydraulic control pipe nipple 4 and work pipe nipple 3 connect respectively, work
Make pipe nipple 3 and be respectively connected to a wheeled centralizer 7, the application resistance devices include cement block 16 and movable pulley mechanism 13, pulling force
Sensor device includes pulling force sensor 10, sensor private cable 11, sensor display 12, pulling force sensor 10 and trailing wheel
Formula centralizer 7 is connected with hawser 15, and sensor display 12 and pulling force sensor 10 are connected with sensor private cable 11, pulling force
Sensor 10 produces relative motion with cement block 16 by movable pulley mechanism 13, and the bracket institution 17 is fixed on the earth 1.
Described coiled tubing traction robot 2 moves in the experiment thimble 8 in ground simulating device.Described
The both ends of hydraulic control pipe nipple 2 and work pipe nipple 3 connect respectively, and work pipe nipple 3 is respectively connected to a wheeled centralizer 7.
The different pit shaft in underground is simulated using the experiment thimble 8 of different tube diameters, unlike material, simulates shaft in wall one
A little obstacles.
Resistance caused by the application resistance devices is the kinetic frictional resistances and movable pulley mechanism two of cement block 16 and ground
Kind mode provides.
In the present embodiment, the described one end of experiment thimble 8 away from pulling force sensor equipment is designed as casing diameter variable 19, real
Test one end away from pulling force sensor equipment in sleeve pipe 8 and be provided with sleeve pipe obstacle 18.
Traction robot is started by armored cable according to face computing controller as shown in Figure 4, afterwards with varying number
Different kinetic force of frictions, allows and draws machine suffered by the running block of cement block and varying number simulation coiled tubing traction robot
People's obstacle-overpass, more reducing casing tube, using the experiment thimble of different tube diameters, observation coiled tubing draws the obstacle detouring effect of robot,
Motion conditions of the coiled tubing traction robot in steel pipe are observed, count the pulling force curve of cyclical fluctuations of pulling force sensor, can be approximate
The tractive force situation of change of coiled tubing traction robot is simulated, moving displacement of the measurement cement block within a period of time, is obtained
To the average speed of traction robot during this period of time, last observation experiment internal surface of sleeve pipe abrasion condition, pass through vessel wall damage
It may determine that influence situation of the coiled tubing traction robot to shaft in wall.
Finally illustrate be described above be merely illustrative of the technical solution of the present invention and unrestricted, those skilled in the art
It should be understood that the present invention is not limited to form disclosed herein, the exclusion to other embodiment is not to be taken as, and can use
In various other combinations, modification and environment, and above-mentioned teaching or association area can be passed through in contemplated scope described herein
Technology or knowledge are modified.And the change and change that those skilled in the art are carried out do 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.
Claims (7)
- A kind of 1. coiled tubing traction robot ground experiment analogue means, it is characterised in that：Including ground simulating device Robot is drawn with coiled tubing（2）, the ground simulating device includes ground computing controller（14）, experiment thimble （8）, along experiment thimble（8）Axial direction provides the application resistance devices and pulling force sensor equipment of power, described coiled tubing Draw robot（2）Experiment thimble in ground simulating device（8）Interior motion, experiment thimble（8）It is fixed on the earth（1） On；Described ground computing controller（14）Pass through armored cable（9）Robot is drawn with coiled tubing（2）Connection, apply resistance Power equipment passes through hawser（15）Robot is drawn with coiled tubing（2）Connection.
- 2. coiled tubing traction robot ground experiment analogue means according to claim 1, it is characterised in that：Described Hydraulic continuous oil pipe draws robot（2）Including two supporting mechanisms（6）, hydraulic control pipe nipple（3）, two telescoping mechanisms（5） With two before and after wheeled centralizer（7）, robot is drawn in hydraulic continuous oil pipe（2）In be disposed with one from left to right before Wheeled centralizer afterwards（7）, a supporting mechanism（6）, a telescoping mechanism（5）, hydraulic control pipe nipple（3）, another support machine Structure（6）, another telescoping mechanism（5）And another front and rear wheeled centralizer（7）, the front and rear wheeled centralizer in left side（7）Pass through Armored cable（9）Calculate and control with ground（14）It is connected.
- 3. coiled tubing traction robot ground experiment analogue means according to claim 2, it is characterised in that：Described Pulling force sensor equipment includes pulling force sensor（10）And sensor display（12）, pulling force sensor（10）Pass through pull sensing Device private cable（11）It is connected to sensor display（12）On；The application resistance devices include cement block（16）And movable pulley mechanism（13）, pulling force sensor equipment includes pull sensing Device（10）And sensor display（12）, hydraulic continuous oil pipe traction robot（2）The rear wheeled centralizer in left side（7）Pass through one Bar hawser（15）It is connected to movable pulley mechanism（13）In movable pulley center on, in this bar hawser（15）Medium position is set There is pulling force sensor（10）, in movable pulley mechanism（13）Movable pulley circumference on be cased with another hawser（15）, the hawser （15）One end fix and the other end is fixed on cement block（16）On, cement block（16）It is movably disposed on ground.
- 4. coiled tubing traction robot ground experiment analogue means according to claim 3, it is characterised in that：Described Experiment thimble（8）One end of interior remote pulling force sensor equipment is provided with sleeve pipe obstacle（18）.
- 5. coiled tubing traction robot ground experiment analogue means according to claim 3, it is characterised in that：Described Experiment thimble（8）One end away from pulling force sensor equipment is designed as casing diameter variable（19）.
- 6. coiled tubing traction robot ground experiment analogue means according to claim 1, it is characterised in that：Described Experiment thimble（8）Can be different-diameter sleeve pipe to simulate the pit shaft of different tube diameters, can be different materials to simulate well Different coefficient of friction in cylinder.
- 7. coiled tubing traction robot ground experiment analogue means according to claim 1, it is characterised in that：Described Experiment thimble（8）Pass through bracket institution（17）It is fixed on the earth（1）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710705983.2A CN107478453A (en) | 2017-08-17 | 2017-08-17 | A kind of coiled tubing traction robot ground experiment analogue means |
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|---|---|---|---|
| CN201710705983.2A CN107478453A (en) | 2017-08-17 | 2017-08-17 | A kind of coiled tubing traction robot ground experiment analogue means |
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| CN107478453A true CN107478453A (en) | 2017-12-15 |
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| CN201710705983.2A Pending CN107478453A (en) | 2017-08-17 | 2017-08-17 | A kind of coiled tubing traction robot ground experiment analogue means |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108223969A (en) * | 2017-12-18 | 2018-06-29 | 中国矿业大学 | The double cable driving steering mechanism of pipe robot and control method |
| CN112014221A (en) * | 2020-09-03 | 2020-12-01 | 西南石油大学 | Well drilling traction robot supporting mechanism testing arrangement |
| CN112284754A (en) * | 2020-10-27 | 2021-01-29 | 徐州海伦哲特种车辆有限公司 | Equipment and method for detecting performance of pipeline conveying system in arm |
| CN112945124A (en) * | 2021-03-26 | 2021-06-11 | 沈阳国仪检测技术有限公司 | Comprehensive detection testing machine for detecting performance of detector in pipeline |
| 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 |
| CN114166382A (en) * | 2021-12-01 | 2022-03-11 | 上海交通大学 | Gastrointestinal tract micro-robot motion mechanics testing system |
| CN112945124B (en) * | 2021-03-26 | 2024-04-30 | 沈阳国仪检测技术有限公司 | Comprehensive detection testing machine for detecting performance of detector in pipeline |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108223969A (en) * | 2017-12-18 | 2018-06-29 | 中国矿业大学 | The double cable driving steering mechanism of pipe robot and control method |
| CN112014221A (en) * | 2020-09-03 | 2020-12-01 | 西南石油大学 | Well drilling traction robot supporting mechanism testing arrangement |
| CN112014221B (en) * | 2020-09-03 | 2022-02-15 | 西南石油大学 | Well drilling traction robot supporting mechanism testing arrangement |
| CN112284754A (en) * | 2020-10-27 | 2021-01-29 | 徐州海伦哲特种车辆有限公司 | Equipment and method for detecting performance of pipeline conveying system in arm |
| CN112945124A (en) * | 2021-03-26 | 2021-06-11 | 沈阳国仪检测技术有限公司 | Comprehensive detection testing machine for detecting performance of detector in pipeline |
| CN112945124B (en) * | 2021-03-26 | 2024-04-30 | 沈阳国仪检测技术有限公司 | Comprehensive detection testing machine for detecting performance of detector in pipeline |
| 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 |
| CN114166382A (en) * | 2021-12-01 | 2022-03-11 | 上海交通大学 | Gastrointestinal tract micro-robot motion mechanics testing system |
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