CN112014093B - System and method for testing friction block of drilling robot - Google Patents
System and method for testing friction block of drilling robot Download PDFInfo
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- CN112014093B CN112014093B CN202010913962.1A CN202010913962A CN112014093B CN 112014093 B CN112014093 B CN 112014093B CN 202010913962 A CN202010913962 A CN 202010913962A CN 112014093 B CN112014093 B CN 112014093B
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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
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/02—Measuring coefficient of friction between materials
Abstract
The invention relates to a system and a method for testing a friction block of a drilling robot. The method comprises the following steps: s1: installing a friction block, connecting a sensor and the like; s2: testing the grasping force, the dragging force and the torque force; s3: calculating an apparent friction coefficient; s4: drawing a contour map of the apparent friction coefficient of dragging, the dragging force and the holding force, drawing a contour map of the apparent friction coefficient of torsion, the twisting force and the holding force, and drawing a four-dimensional chart of the apparent friction coefficient of coupling, the holding force, the dragging force and the torque force. The invention has simple structure and convenient operation. The apparent friction coefficient of the friction block under different friction block structures and different well wall (steel, cement stone and rock) conditions can be tested, and experimental data reference can be provided for the design of the friction block structure of the drilling robot.
Description
Technical Field
The invention relates to the field of underground robots, in particular to a system and a method for testing a friction block of a drilling robot.
Background
In order to improve the comprehensive economic benefit of unconventional oil and gas exploitation such as shale gas, a large-displacement horizontal well is increasingly favored at home and abroad. Therefore, the research on the efficient, safe and rapid well construction technology of long-horizontal-section well drilling is developed, and the method has great strategic significance for relieving the contradiction between energy supply and demand in China and promoting the scientific development of the economy and the society. However, with the increase of the horizontal section displacement of the horizontal well, the friction resistance of the drill string is increased, the drill string is easy to support pressure, so that the abnormal loading of the bit pressure is difficult, the well construction period is obviously increased, the comprehensive economic benefit of oil gas development is reduced, and the long-term development of unconventional oil gas such as shale gas is hindered. The underground robot is used for drawing the drill column, the problem of overlarge friction resistance can be effectively solved, meanwhile, the drill pressure for breaking rock can be provided for the drill bit, and intelligent closed-loop drilling can be realized.
At present, the drilling robot still stays in the aspect of theoretical research, and no field test or application report is seen yet. The reliability and feasibility of key parts of the drilling robot are not effectively broken through. The experimental test is the most important and direct method for improving the reliability and the feasibility of key parts of the drilling robot. In the aspect of a drilling robot test device: the existing experimental device is mainly a drilling robot complete machine experimental device (CN201710705983.2, CN201710720406.0) which is abnormal and complex in structure, and a drilling traction robot integral prototype needs to be processed for carrying out experiments, so that the experiment preparation period is long, the experiment cost is high, and the lack of high-efficiency and low-cost experimental equipment restricts the optimization design and reliability test of key parts of the drilling robot to a certain extent, so that the performance of the drilling robot is difficult to reach the level of practical application. In the structure of the drilling robot, the structure of a friction block directly determines the dragging force of the drilling robot, and the dragging force is one of the most important indexes for evaluating the drilling robot. The existing experimental device can not provide experimental data support for mechanism optimization and grabbing reliability of the friction block, which is an important reason that the existing drilling robot is low in dragging force and the friction block can not effectively grab the well wall. Therefore, the invention is necessary to develop a device for friction block experiments of the drilling robot, simplify the experimental procedures of the friction block experiments of the drilling robot, provide experimental data reference for the optimized design of the friction block structure, further promote the application of the drilling robot and promote the exploitation of unconventional oil and gas such as shale gas.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a friction block testing device of a drilling traction robot.
Well drilling robot clutch blocks test system, it includes frame (1), hydraulic pressure A (13), hydraulic pressure B (3), hydraulic pressure C (2), draws and presses sensor A (12), draws and presses sensor B (7), draws and presses sensor C (8), displacement sensor A (4), displacement sensor B (5), baffle (9), the simulation wall of a well (10), clutch blocks (11), translation mechanism (6) are constituteed,: the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2) are all fixed on the frame (1) by bolts; the following steps: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are connected to the translation mechanism (6) through solid glue, and the translation mechanism (6) is respectively connected to the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2); the following steps: and the displacement sensor A (4) and the displacement sensor B (5) are respectively arranged on the pistons of the hydraulic pressure B (3) and the hydraulic pressure C (2).
The following steps: the translation mechanism consists of a roller (601), a body (602), balls (603), a roller pressing plate (604), a bearing plate (605) and a bolt (606), wherein the roller pressing plate (604) is connected with the body (602) through the bolt.
The following steps: the frame (1) is formed by welding 5 rectangular steel plates, the lower right corner of the frame (1) is welded and fixed with a mounting groove (101) of the simulation well wall (10), and 2 rectangular grooves (102) are arranged on the mounting groove (101).
The following steps: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are S-shaped tension and compression sensors.
The following steps: the simulated well wall (10) is a rectangular block of metal, rock or cement.
The following steps: countersunk holes (6021) are processed at two ends of the body (602), arc grooves (6022) for installing 6-10 rolling shafts (601) are processed at the upper part, installation grooves (6023) of the rolling balls (603) are processed at the left side and the right side, and rectangular bulges (6024) are arranged at two ends of the installation grooves (6023).
The method for testing the friction block of the drilling robot comprises the following steps:
s1: the simulation well wall (10) and the friction block (11) are arranged in the mounting groove (101) and are connected with a hydraulic pipeline, a tension and compression sensor and a displacement sensor circuit; s2: independent test of grip force FGDrag force FDIndependent test of grip force FGTorque force FMCombined test of grip force FGDrag force FDTorque force FM(ii) a S3: calculating the apparent friction coefficient mu of the friction block draggingDCalculating apparent friction coefficient mu of friction block torsionMCalculating the apparent friction coefficient mu of the drag and torsion coupling; s4: plotting the apparent drag coefficient of friction muDDrag force FDGrasping force FGContour plot, plotting apparent coefficient of friction in torsion μMTorsion force FMGrasping force FGContour plot, plot coupled apparent friction systemSeveral mu, holding force FGDrag force FDTorque force FMAnd the four-dimensional plate provides data support for the structural design of the friction block (11).
The following steps: s21: independent test of grip force FGDrag force FDWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic pressure B (4) is pressed, and the displacement sensor A (4) acquires the displacement L of the piston of the hydraulic pressure B (3)1Up to L1Stopping pressing when the thickness is more than 5 mm; the tension and compression sensor B (7) collects the dragging force FDPreservation of FD(ii) a S22: independent test of grip force FGTorque force FMWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic C (2) is pressed, and the displacement sensor B (5) collects the displacement L of the hydraulic C (2) piston in real time2Up to L2Stopping pressing when the thickness is more than 5 mm; collecting torque force F of tension and compression sensor C (8)MPreservation of FM(ii) a S23: joint test grip FGDrag force FDTorque force FMWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and storing the latest FG(ii) a Hydraulic pressure B (3) is pressed to the currently measured drag force FD+100N, pressure maintaining, and storing the latest FD(ii) a The displacement sensor A (4) collects the displacement data L of the hydraulic piston B (3) in real time1And determining L1If the torque force is larger than 5mm, releasing pressure and powering off if the torque force is larger than 5mm, and pressurizing to the current measured torque force F by hydraulic pressure C (2) if the torque force is not larger than 5mmM+1000N, up to L2>5mm or L1>5 mm; acquisition F of tension-compression sensor C (8)MPreservation of FM。
The following steps: the calculation formula of the dragging apparent friction coefficient is as follows: mu.sD＝FD/FG(in the formula:. mu.DIndicating the apparent coefficient of friction, F, to dragDIndicating the drag force, FGRepresenting the grip force); the torsional apparent friction coefficient is calculated by the formula: mu.sM＝FM/FG(in the formula:. mu.MDenotes the apparent coefficient of friction in torsion, FMIndicating buttonTurning force, FGRepresenting the grip force); the calculation formula of the apparent friction coefficient of the drag-torsion coupling is as follows: mu ═ FD^2+FM^2)^0.5/FG(wherein. mu. represents the apparent coefficient of drag-torsion coupling, FDIndicating the drag force, FMIndicates torsional force, FGIndicating a gripping force).
The invention has the following advantages: the invention belongs to a friction block experimental device of a drilling robot, which has simple structure and convenient operation. Based on the experimental device for the friction block of the drilling robot, the apparent friction coefficient of the friction block under the conditions of different friction block structures and different well walls (steel, cement stone and rock) can be tested, experimental data reference can be provided for the design of the friction block structure of the drilling robot, the application of the drilling robot is promoted, and the exploitation of unconventional oil and gas such as shale gas is promoted.
Drawings
FIG. 1 is a schematic structural diagram of a friction block testing system of a drilling robot;
FIG. 2 is an exploded view of the translation mechanism;
FIG. 3 is a schematic view of a frame structure;
FIG. 4 is a schematic view of the body structure of the translation mechanism;
FIG. 5 is a flow chart of a method for testing a friction block of a drilling robot;
FIG. 6 is the apparent drag coefficient of friction μ of FIG. 4DDrag force FDGrasping force FGA detailed flow chart of the test;
FIG. 7 is the apparent coefficient of friction μ in torsion of FIG. 4MTorsion force FMGrasping force FGA detailed flow chart of the test;
FIG. 8 is a graph of the apparent coefficient of friction μ and drag force F of the drag and torsional coupling of FIG. 4DTorsion force FMGrasping force FGA detailed flow chart of the test;
FIG. 9 is a schematic view of the friction block contacting the simulated borehole wall;
FIG. 10 is a schematic view of a single tooth of the friction block contacting the borehole wall.
In the figure: 1-frame, 2-hydraulic pressure C, 3-hydraulic pressure B, 4-displacement sensor A, 5-displacement sensor B, 6-translation mechanism, 7-tension and compression sensor B, 8-tension and compression sensor C, 9-baffle, 10-simulation well wall, 11-friction block, 12-tension and compression sensor A, 13-hydraulic pressure A, 101-installation groove, 102-rectangular groove, 111-friction block tooth, 601-rolling shaft, 602-body, 603-rolling ball, 604-rolling shaft pressing plate, 605-bearing plate, 606-bolt, 6021-countersunk hole, 6022-arc groove, 6023-installation groove and 6024-projection.
Detailed Description
The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:
as shown in FIGS. 1-4: well drilling robot clutch blocks test system, it includes frame (1), hydraulic pressure A (13), hydraulic pressure B (3), hydraulic pressure C (2), draws and presses sensor A (12), draws and presses sensor B (7), draws and presses sensor C (8), displacement sensor A (4), displacement sensor B (5), baffle (9), the simulation wall of a well (10), clutch blocks (11), translation mechanism (6) are constituteed,: the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2) are all fixed on the frame (1) by bolts; the following steps: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are connected to the translation mechanism (6) through solid glue, and the translation mechanism (6) is respectively connected to the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2); the following steps: and the displacement sensor A (4) and the displacement sensor B (5) are respectively arranged on the pistons of the hydraulic pressure B (3) and the hydraulic pressure C (2). The following steps: the translation mechanism consists of a roller (601), a body (602), balls (603), a roller pressing plate (604), a bearing plate (605) and a bolt (606), wherein the roller pressing plate (604) is connected with the body (602) through the bolt. The following steps: the frame (1) is formed by welding 5 rectangular steel plates, the lower right corner of the frame (1) is welded and fixed with a mounting groove (101) of the simulation well wall (10), and 2 rectangular grooves (102) are arranged on the mounting groove (101). The following steps: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are S-shaped tension and compression sensors. The following steps: the simulated well wall (10) is a rectangular block of metal, rock or cement. The following steps: countersunk holes (6021) are processed at two ends of the body (602), arc grooves (6022) for installing 6-10 rolling shafts (601) are processed at the upper part, installation grooves (6023) of the rolling balls (603) are processed at the left side and the right side, and rectangular bulges (6024) are arranged at two ends of the installation grooves (6023).
According to the method for testing the friction block of the drilling robot shown in the figures 5-8, the specific embodiment is as follows:
step 1: the simulation well wall (10) and the friction block (11) are arranged in the mounting groove (101) and connected with a hydraulic pipeline, a tension and compression sensor and a displacement sensor circuit.
Step 2: a) independent test of grip force FGDrag force FDWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic pressure B (4) is pressed, and the displacement sensor A (4) acquires the displacement L of the piston of the hydraulic pressure B (3)1Up to L1Stopping pressing when the thickness is more than 5 mm; the tension and compression sensor B (7) collects the dragging force FDPreservation of FD. Calculating the apparent friction coefficient mu of dragD＝FD/FG(in the formula:. mu.DIndicating the apparent coefficient of friction, F, to dragDIndicating the drag force, FGIndicating a gripping force). Plotting the apparent drag coefficient of friction muDDrag force FDGrasping force FGA contour diagram.
b) Independent test of grip force FGTorque force FMWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic C (2) is pressed, and the displacement sensor B (5) collects the displacement L of the hydraulic C (2) piston in real time2Up to L2Stopping pressing when the thickness is more than 5 mm; collecting torque force F of tension and compression sensor C (8)MPreservation of FM. Calculating the apparent coefficient of friction μM＝FM/FG(in the formula:. mu.MDenotes the apparent coefficient of friction in torsion, FMIndicates torsional force, FGIndicating a gripping force). Plotting apparent coefficient of friction μMTorsion force FMGrasping force FGA contour diagram.
c) Joint test grip FGDrag force FDTorque force FMWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and storing the latest FG(ii) a Hydraulic pressure B (3) is pressed to the currently measured drag force FD+100N, pressure maintaining, and storing the latest FD(ii) a Displacement sensor A (4) real-time acquisition hydraulic pressure B (3) pistonDisplacement data L of1And determining L1If the torque force is larger than 5mm, releasing pressure and powering off if the torque force is larger than 5mm, and pressurizing to the current measured torque force F by hydraulic pressure C (2) if the torque force is not larger than 5mmM+1000N, up to L2>5mm or L1>5 mm; acquisition F of tension-compression sensor C (8)MPreservation of FM. Calculating apparent friction coefficient [ mu ] (F) of drag-torque couplingD^2+FM^2)^0.5/FG(wherein. mu. represents the apparent coefficient of drag-torsion coupling, FDIndicating the drag force, FMIndicates torsional force, FGIndicating a gripping force). Drawing the coupling apparent friction coefficient mu and the clamping force FGDrag force FDTorque force FMAnd (4) a four-dimensional plate.
And step 3: using the data in step 2, combining with the actual working conditions of the drilling robot, such as fig. 9 and 10, the structure of the friction block tooth (111) of the drilling robot (left inclination angle β of the tooth) is determined1Right dip angle beta2Axial included angle alpha, tooth crest width b, tooth height h, tooth number and the like).
Claims (6)
1. Well drilling robot clutch blocks test system, its characterized in that: it includes frame (1), hydraulic pressure A (13), hydraulic pressure B (2), hydraulic pressure C (3), draws and presses sensor A (12), draws and presses sensor B (7), draws and presses sensor C (8), displacement sensor A (4), displacement sensor B (5), baffle (9), the simulation wall of a well (10), clutch blocks (11), translation mechanism (6) to constitute,: the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2) are all fixed on the frame (1) by bolts; the following steps: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are connected to the translation mechanism (6) through solid glue, and the translation mechanism (6) is respectively connected to the hydraulic pressure A (13), the hydraulic pressure B (3) and the hydraulic pressure C (2); the following steps: a displacement sensor A (4) and a displacement sensor B (5) are respectively arranged on pistons of a hydraulic pressure B (3) and a hydraulic pressure C (2);
the translation mechanism consists of a roller (601), a body (602), balls (603), a roller pressing plate (604), a bearing plate (605) and a bolt (606), and the roller pressing plate (604) is connected with the body (602) through the bolt;
countersunk holes (6021) are processed at two ends of the body (602), arc grooves (6022) for installing 6-10 rolling shafts (601) are processed at the upper part, installation grooves (6023) of the rolling balls (603) are processed at the left side and the right side, and rectangular bulges (6024) are arranged at two ends of the installation grooves (6023).
2. The drilling robot pad testing system of claim 1, wherein: the frame (1) is formed by welding 5 rectangular steel plates, the lower right corner of the frame (1) is welded and fixed with a mounting groove (101) of the simulation well wall (10), and 2 rectangular grooves (102) are arranged on the mounting groove (101).
3. The drilling robot pad testing system of claim 1, wherein: the tension and compression sensor A (12), the tension and compression sensor B (7) and the tension and compression sensor C (8) are S-shaped tension and compression sensors.
4. The drilling robot pad testing system of claim 1, wherein: the simulated well wall (10) is a rectangular block of metal, rock or cement.
5. The method for testing the friction block of the drilling robot is characterized by comprising the following steps: the method comprises the following steps:
s1: the simulation well wall (10) and the friction block (11) are arranged in the mounting groove (101) and are connected with a hydraulic pipeline, a tension and compression sensor and a displacement sensor circuit;
s2: independent test of grip force FGDrag force FDIndependent test of grip force FGTorque force FMCombined test of grip force FGDrag force FDTorque force FM；
S21: independent test of grip force FGDrag force FDWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic pressure B (4) is pressurized, the displacement sensor A (4) collects the displacement L1 of the piston of the hydraulic pressure B (3), and the pressurization is stopped until L1 is more than 5 mm; the tension and compression sensor B (7) collects the dragging force FDPreservation of FD；
S22: independent test of grip force FGTorque force FMWhile the hydraulic pressure A (13) is pressurizedUntil the current measured gripping force F of the tension/compression sensor A (12)G+100N, pressure maintaining, and F preservationG(ii) a The hydraulic C (2) is pressed, and the displacement sensor B (5) collects the displacement L2 of the hydraulic C (2) piston in real time until L2 is more than 5mm, and the pressing is stopped; collecting torque force F of tension and compression sensor C (8)MPreservation of FM；
S23: joint test grip FGDrag force FDTorque force FMWhen the hydraulic pressure A (13) is pressed until the current measured clamping force F of the tension and compression sensor A (12)G+100N, pressure maintaining, and storing the latest FG(ii) a Hydraulic pressure B (3) is pressed to the currently measured drag force FD+100N, pressure maintaining, and storing the latest FD(ii) a The displacement sensor A (4) collects displacement data L1 of a piston of the hydraulic pressure B (3) in real time, whether L1 is larger than 5mm or not is judged, if yes, pressure is relieved and power is cut off, and if not, the hydraulic pressure C (2) is pressed to the torque force F measured currentlyM+1000N, up to L2>5mm or L1>5 mm; acquisition F of tension-compression sensor C (8)MPreservation of FM；
S3: calculating the apparent friction coefficient mu of the friction block draggingDCalculating apparent friction coefficient mu of friction block torsionMCalculating the apparent friction coefficient mu of the drag and torsion coupling;
s4: plotting the apparent drag coefficient of friction muDDrag force FDGrasping force FGContour plot, plotting apparent coefficient of friction in torsion μMTorsion force FMGrasping force FGContour plot, plotting coupling apparent friction coefficient mu and grip force FGDrag force FDTorque force FMAnd the four-dimensional plate provides data support for the structural design of the friction block (11).
6. The drilling robot pad testing method of claim 5, wherein: the apparent drag friction coefficient is calculated as follows:
μD＝FD/FG
in the formula: mu.sDIndicating the apparent coefficient of friction, F, to dragDIndicating the drag force, FGRepresenting the grip force;
the torsional apparent friction coefficient is calculated as follows:
μM＝FM/FG
in the formula: mu.sMDenotes the apparent coefficient of friction in torsion, FMIndicates torsional force, FGRepresenting the grip force;
the calculation formula of the apparent friction coefficient of the drag-torsion coupling is as follows:
μ＝(FD^2+FM^2)^0.5/FG
in the formula: μ denotes the apparent coefficient of drag-twist coupling, FDIndicating the drag force, FMIndicates torsional force, FGIndicating the grip force.
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| CN109490100A (en) * | 2018-12-11 | 2019-03-19 | 西安石油大学 | A kind of drill string drag and torque test and experiment device |
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| JP4968008B2 (en) * | 2007-11-16 | 2012-07-04 | 横浜ゴム株式会社 | Method and apparatus for testing dynamic friction of vulcanized rubber |
| CN103063530B (en) * | 2012-08-16 | 2015-03-25 | 南京航空航天大学 | Micro-movement friction and abrasion testing machine |
| CN105758789B (en) * | 2016-03-08 | 2019-04-23 | 西南石油大学 | A kind of rock-metal composite friction of motion experimental provision |
| CN107014747B (en) * | 2017-05-26 | 2019-09-27 | 清华大学 | A kind of rock mass discontinuity dynamic friction experimental system based on shake table |
| CN107631980A (en) * | 2017-08-04 | 2018-01-26 | 江苏亘德科技有限公司 | A kind of friction coefficient measuring apparatus |
| CN109030267B (en) * | 2018-09-07 | 2024-03-29 | 长沙学院 | Friction test device and test method thereof |
| KR102188848B1 (en) * | 2018-11-28 | 2020-12-09 | 한국과학기술원 | Embedded directional drilling robot for shallow drilling and exploration and drilling system |
| CN110220810B (en) * | 2019-06-27 | 2021-11-05 | 西南交通大学 | Reciprocating sliding friction measurement test platform |
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| WO2003048741A1 (en) * | 2001-12-04 | 2003-06-12 | Politecnico Di Milano | Torsion, compression, tensile test machine with tubular body |
| CN109490100A (en) * | 2018-12-11 | 2019-03-19 | 西安石油大学 | A kind of drill string drag and torque test and experiment device |
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