CN113653453A - Downhole reducing environment self-adaptive adjusting device of tractor and control method thereof - Google Patents
Downhole reducing environment self-adaptive adjusting device of tractor and control method thereof Download PDFInfo
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- CN113653453A CN113653453A CN202110949202.0A CN202110949202A CN113653453A CN 113653453 A CN113653453 A CN 113653453A CN 202110949202 A CN202110949202 A CN 202110949202A CN 113653453 A CN113653453 A CN 113653453A
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- 238000010030 laminating Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 4
- 239000000178 monomer Substances 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims 6
- 238000010276 construction Methods 0.000 abstract description 4
- 239000003208 petroleum Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
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- 238000007906 compression Methods 0.000 description 6
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- 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
Abstract
The invention relates to the technical field of petroleum engineering equipment manufacturing, in particular to an underground reducing environment self-adaptive adjusting device of a tractor and a control method thereof. The device comprises a well diameter monitoring sensor, a controller, a plunger pump, a driving arm, a traction arm and a scissor type connecting rod used for connecting a traction wheel set, wherein an oil passing center rod is arranged in a cavity of the driving arm, an energy storage piston capable of axially sliding along the oil passing center rod is sleeved on the oil passing center rod, the cavity is divided into a low-pressure cavity and a high-pressure cavity by the energy storage piston, an energy storage elastic part located in the low-pressure cavity is sleeved on the oil passing center rod, a second high-pressure oil tank is axially arranged in the traction arm, a pushing piston rod is arranged in the second high-pressure oil tank, and a resetting elastic part is arranged on the pushing piston rod. Through a control method combining a circuit and machinery, the tractor can automatically adjust the opening angle of the traction arm according to the change of the well diameter, so that the reducing passing capacity of the tractor is improved, and the construction requirements of various pipe column combination complex wells are met.
Description
Technical Field
The invention relates to the technical field of petroleum engineering equipment manufacturing, in particular to an underground reducing environment self-adaptive adjusting device of a tractor and a control method thereof.
Background
With the continuous development of petroleum engineering technology, the wellbore environment faced by the tractor in operation is increasingly complex. The shaft combined by the casing (oil) pipes with various sizes greatly improves the requirement on the reducing passing capacity of the tractor. The pushing device of the retractor is the main component which expands the driving arm of the retractor to contact the wall of the cannula and applies positive pressure to the cannula, thereby generating traction force.
The conventional tractors that work by hydraulic or mechanical pushing means cannot follow the changes in the size of the responsive wellbore because the hydraulic or mechanical spring force is a constant torque output. When the tractor needs to enter a small-size tubular column from a large-size tubular column, the opening angle of the traction arm needs to be reduced, but the existing traction arm cannot automatically reduce the opening angle, and the tractor can be blocked at the reducing position. When the tractor needs to enter a large-size tubular column from a small-size tubular column, the stretching angle of the traction arm is increased, the support force of the traction arm is insufficient due to the change of the hydraulic space, the traction wheel slips, and the tractor cannot smoothly pass through the reducer section. The above problems may cause an increase in the ineffective work time or a failure in the construction task.
Disclosure of Invention
The invention aims to provide a downhole variable diameter environment self-adaptive adjusting device of a tractor and a control method thereof aiming at the defects of the prior art. Through a control method combining a circuit and machinery, the tractor can automatically adjust the opening angle of the traction arm according to the change of the well diameter, so that the reducing passing capacity of the tractor is improved, and the construction requirements of various pipe column combination complex wells are met.
The invention relates to a downhole variable-diameter environment self-adaptive adjusting device of a tractor, which comprises a well diameter monitoring sensor, a controller, a plunger pump, a driving arm, a traction arm and a scissor type connecting rod for connecting a traction wheel set, wherein one end of the driving arm is fixedly connected with the traction arm, a cavity is axially arranged in the driving arm, an oil passing central rod is arranged in the cavity of the driving arm, an energy storage piston capable of axially sliding along the oil passing central rod is sleeved on the oil passing central rod, the cavity is divided into a low-pressure cavity and a high-pressure cavity by the energy storage piston, an energy storage elastic part positioned in the low-pressure cavity is sleeved on the oil passing central rod, a second high-pressure oil tank is axially arranged in the traction arm, a pushing piston rod is arranged in the second high-pressure oil tank, a resetting elastic part is arranged on the pushing piston rod, the tail part of the pushing piston rod extends out of the traction arm and is fixedly connected with one end of the scissor type connecting rod, the oil-passing center rod is internally provided with an axial through type oil-passing channel communicated with the second high-pressure oil cabin, one end of the oil-passing center rod extends out of the driving arm and is connected with the plunger pump, an oil-passing through hole is radially arranged at the position, corresponding to the high-pressure cavity, of the oil-passing center rod, the data output end of the well diameter monitoring sensor is electrically connected with the data receiving end of the controller, and the control signal output end of the controller is electrically connected with the control signal input end of the plunger pump.
Preferably, the driving arm further comprises a connecting section for connecting the traction arm, the connecting section is provided with a first high-pressure oil tank and a plurality of oil ducts communicated with the first high-pressure oil tank along the axial direction, one end of the first high-pressure oil tank is connected with the end part of the oil passing center rod in a sealing mode, and one end of each oil duct is connected with the second high-pressure oil tank in a sealing mode.
Preferably, the end of the connecting section extends into the casing of the draft arm and is fixedly connected with the inner wall of the casing, and a sealing ring is arranged between the connecting section and the inner wall of the casing of the driving arm.
Preferably, the energy storage elastic member is a disc spring assembly, and the return elastic member is a return spring.
It is comparatively preferred, dish spring subassembly includes along a plurality of dish spring group of axial closely arranged, and adjacent dish spring inter-group is laminated the setting back to back, and every dish spring group all includes first dish spring and second dish spring, first dish spring and second dish spring interfacial and face laminating set up, first dish spring and/or second dish spring include one or more dish spring monomer.
Preferably, when the first disc spring and/or the second disc spring comprise a plurality of disc spring units, the disc spring units are closely arranged in a back-to-face fit manner.
Preferably, a sealing end cover is fixedly arranged at one end, facing the traction wheel set, of the traction arm, a through hole for the pushing piston rod to pass through is formed in the middle of the sealing end cover, an axial protruding portion is arranged on the sealing end cover, and the axial protruding portion extends into the traction arm and is in sealing contact with the inner wall of the second high-pressure oil tank.
The invention provides a control method, which comprises the following steps:
monitoring the inner diameter of a shaft in real time, and sending a current hole diameter value to a controller when the inner diameter of the shaft changes;
the controller calculates the change rate of the well diameter by combining the initial well diameter value according to the current well diameter value;
the controller calculates target hydraulic pressure by combining the initial hydraulic pressure according to the hole diameter change rate;
and the controller controls the plunger pump to pressurize or release pressure until the target hydraulic pressure is reached.
Preferably, the calculating of the hole diameter change rate includes:
calculating the variation of the well diameter according to the current well diameter value and the initial well diameter value;
and calculating the change rate of the well diameter according to the change amount of the well diameter and the initial well diameter value.
Preferably, the calculating of the target hydraulic pressure includes:
calculating a target hydraulic pressure P1 based on the formula P1 ═ P (1+ C);
wherein P is the initial hydraulic pressure and C is the rate of change of the well diameter.
The invention has the beneficial effects that:
1. by monitoring the change of the well diameter, adjusting the target hydraulic pressure according to the change rate of the well diameter and combining the mechanical structure of the device, when the radius of a shaft is changed from large to small, the pressure of a well wall on a traction arm is increased, and under the operation of the pressure of the traction arm and the pressurization of a plunger pump, the pressure of a high-pressure cavity is increased; the left and right side pressures of the energy storage piston are out of balance and move to the left side under the action of high-pressure oil, and the pressure of the low-pressure oil cavity begins to rise and the energy storage elastic part is enabled to store energy; when the radius of the shaft is increased from small to large, the pressure of the shaft wall on the traction arm is reduced, and the pressure of the high-pressure oil cavity is reduced under the pressure of the traction arm and the pressure reduction of the plunger pump; the left and right side pressures of the energy storage piston are out of balance and move to the right side under the action of the low-pressure oil cavity, the pressure of the low-pressure oil cavity begins to be reduced, the energy storage elastic part releases energy, and the reset elastic part stores energy to provide assistance for the subsequent retraction of the traction arm. The device enables the tractor to automatically adjust the stretching angle of the traction arm according to the change of the well diameter by a control method of combining a circuit and a machine, thereby improving the reducing passing capacity of the tractor and meeting the construction requirements of various pipe column combination complex wells.
2. The energy storage elastic part adopts a disc spring, and compared with a common spring, the energy storage section exceeds threshold pressure to generate compression deformation when working, and when the high-pressure oil pressure is less than the threshold pressure, the energy storage part does not generate deformation, so that the pushing wheel can generate stable pushing force on a well wall, and the tractor can reliably move.
3. The elastic component that resets adopts compression spring, compares in all the other elastic components, can guarantee under highly compressed effect, and nimble compression, the spring resets fast when high pressure. The high-voltage power-assisted tractor has sensitive response to high voltage and large resetting force, can ensure thorough resetting, and can effectively provide power assistance for the retraction of the traction arm. Meanwhile, the compression spring has the advantages of linearly adjustable reset force, simple structure, stable performance and long service life.
4. The dish spring adopts a plurality of dish spring group back-to-back laminating setting of following the axial closely range to in every dish spring group, adopt first dish spring and the second dish spring that face and face laminating set up, the improvement deformation space that can be very big has higher energy storage efficiency, further guarantees to push away to produce stable pushing away power to the wall of a well by the wheel, makes the tractor move reliably.
Drawings
FIG. 1 is a schematic axial sectional view of a driving arm according to the present invention;
FIG. 2 is a schematic view of the connection of the drive arm to the draft arm in accordance with the present invention;
FIG. 3 is a schematic view of a draft arm configuration according to the present invention;
FIG. 4 is a schematic view of the disc spring arrangement of the present invention;
FIG. 5 is a flow chart of a control method according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Fig. 1 to 3 are schematic structural diagrams of preferred embodiments of the present application, and for convenience of description, only the portions related to the present embodiments are shown, which are detailed as follows:
a self-adaptive adjusting device for underground reducing environment of a tractor comprises a well diameter monitoring sensor, a controller, a plunger pump, a driving arm 1, a traction arm 2 and a scissor type connecting rod 3 used for connecting a traction wheel set 4, wherein one end of the driving arm 1 is fixedly connected with the traction arm 2, a cavity is axially arranged in the driving arm 1, an oil passing central rod 101 is arranged in the cavity of the driving arm 1, an energy storage piston 102 capable of axially sliding along the oil passing central rod 101 is sleeved on the oil passing central rod 101, the cavity is divided into a low-pressure cavity 103 and a high-pressure cavity 104 by the energy storage piston 102, an energy storage elastic part 105 positioned in the low-pressure cavity 103 is sleeved on the oil passing central rod 101, a second high-pressure oil tank 201 is axially arranged in the traction arm 2, a piston rod 202 is arranged in the second high-pressure oil tank 201, a reset elastic part 203 is arranged on the piston rod 202, the tail part of the piston rod 202 extends out of the traction arm 2 and is fixedly connected with one end of the scissor type connecting rod 3, an axial through type oil passing channel 106 communicated with the second high-pressure oil cabin 201 is arranged in the oil passing center rod 101, one end of the oil passing center rod 101 extends out of the driving arm 1 and is connected with the plunger pump, oil passing through holes 107 are radially arranged at the positions, corresponding to the high-pressure cavities 104, of the oil passing center rod 101, the data output end of the well diameter monitoring sensor is electrically connected with the data receiving end of the controller, and the control signal output end of the controller is electrically connected with the control signal input end of the plunger pump.
The driving arm 1 further comprises a connecting section 108 for connecting the traction arm 2, the connecting section 108 is provided with a first high-pressure oil cabin 1081 and a plurality of oil passages 1082 communicated with the first high-pressure oil cabin 1081 along the axial direction, one end of the first high-pressure oil cabin 1081 is hermetically connected with the end portion of the oil passing central rod 101, and one end of the oil passages 1082 is hermetically connected with the second high-pressure oil cabin 201.
The end of the connecting section 108 extends into the casing of the draft arm 2 and is fixedly connected with the inner wall of the casing, and a sealing ring is arranged between the connecting section 108 and the inner wall of the casing of the driving arm 1.
The energy storage elastic member 105 is a disc spring assembly, and the return elastic member 203 is a return spring.
As shown in fig. 4, the disc spring assembly includes a plurality of disc spring sets 1051 closely arranged in the axial direction, adjacent disc spring sets 1051 are arranged in a back-to-back fit manner, each disc spring set 1051 includes a first disc spring 1052 and a second disc spring 1053, the surface of the first disc spring 1052 and the second disc spring 1053 is arranged in a face-to-face fit manner, and the first disc spring 1052 and/or the second disc spring 1053 includes one or more disc spring units.
When first dish spring 1052 and/or second dish spring 1053 include a plurality of dish spring monomers, adopt the mode of back and face laminating to closely set up between a plurality of dish spring monomers.
One end of the draft arm 2 facing the draft wheel group 4 is fixedly provided with a sealing end cover 204, the middle part of the sealing end cover 204 is provided with a through hole for passing the pushing piston rod 202, the sealing end cover 204 is provided with an axial protrusion 205, and the axial protrusion 205 extends into the draft arm 2 and is in sealing contact with the inner wall of the second high-pressure oil tank 201.
The working principle of the mechanical part of the device is as follows:
the center of the device is provided with an energy storage piston, high-pressure oil is conveyed to a pressure oil cavity on the right side of the energy storage piston from a middle channel of a piston rod, and the left side of the energy storage piston is connected with a low-pressure oil tank. And simultaneously, 20 groups of disc springs are arranged on the left side of the energy storage piston, and the disc springs can be reduced in length under the action of high pressure. When the included angle of the traction arm of the tractor is reduced, pressure is built in the pressure oil cavity to push the energy storage piston to compress the disc spring, the energy storage device stores a certain amount of hydraulic energy, and meanwhile, the return spring is released. When the change of the hole diameter causes the volume of the pressure oil cavity of the hydraulic pushing system to change, the change of the pressure can cause the contraction size of the disc spring to change correspondingly. When the well diameter is reduced, the pressure of the high-pressure part rises due to the pressure of the well wall, the piston moves to the low-pressure part, and the disc spring contracts to provide space for the piston to move. When the hole diameter is reduced, the pressure of the well wall on the pushing arm is reduced, the disc spring is reset, the energy storage piston moves to the high-pressure side, and meanwhile, the reset spring stores energy.
When the radius of the shaft is reduced from large to small, the pressure of the shaft wall on the traction arm is increased, and the pressure of the high-pressure cavity is increased under the pressure operation of the traction arm and the pressurization of the plunger pump; the left and right side pressures of the energy storage piston are out of balance and move to the left side under the action of high-pressure oil, and the pressure of the low-pressure oil cavity begins to rise and the energy storage elastic part is enabled to store energy;
when the radius of the shaft is increased from small to large, the pressure of the shaft wall on the traction arm is reduced, and the pressure of the high-pressure oil cavity is reduced under the pressure of the traction arm and the pressure reduction of the plunger pump; the left and right side pressures of the energy storage piston are out of balance and move to the right side under the action of the low-pressure oil cavity, the pressure of the low-pressure oil cavity begins to be reduced, the energy storage elastic part releases energy, and the reset elastic part stores energy to provide assistance for the subsequent retraction of the traction arm.
In the embodiment, the energy storage elastic part adopts the disc spring, and compared with a common spring, the energy storage section exceeds the threshold pressure to generate compression deformation when working, and when the high-pressure oil pressure is less than the threshold pressure, the energy storage part does not generate deformation, so that the pushing wheel can generate stable pushing force on the well wall, and the tractor can reliably move. The elastic component that resets adopts reset spring, compares in all the other elastic components, can guarantee under highly compressed effect, and nimble compression, the spring resets fast when high pressure. The high-voltage power-assisted tractor has sensitive response to high voltage and large resetting force, can ensure thorough resetting, and can effectively provide power assistance for the retraction of the traction arm.
The dish spring of this embodiment adopts along the setting of laminating back to back of a plurality of dish spring group of axial closely arranged to in every dish spring group, adopt first dish spring and the second dish spring that face and face laminating set up, the improvement deformation space that can be very big has higher energy storage efficiency, further guarantees to push away to produce stable pushing away power to the wall of a well by the wheel, makes the tractor move reliably.
As shown in fig. 5, the control method of the present apparatus has the following flow:
step 1: monitoring the inner diameter of a shaft in real time, and sending a current hole diameter value to a controller when the inner diameter of the shaft changes;
step 2: the controller calculates the borehole diameter change rate C according to the current borehole diameter value CAL1 and by combining with the initial borehole diameter value CAL 0;
and step 3: the controller calculates a target hydraulic pressure P1 according to the hole diameter change rate C and by combining the initial hydraulic pressure P;
and 4, step 4: the controller controls the plunger pump to pressurize or depressurize until the target hydraulic pressure P1 is reached;
when P1 is more than P, the tractor hydraulic control single chip microcomputer controls the plunger pump to be pressurized to P1 and then stops, and when P1 is less than P, the tractor hydraulic control single chip microcomputer controls the electromagnetic valve to be decompressed to P1 and then closes the electromagnetic valve.
The calculation of the rate of change of the hole diameter includes:
step 201: calculating the variation of the well diameter CALx according to the current well diameter value CAL1 and the initial well diameter value CAL0, wherein CALx is CAL0-CAL 1;
step 202: and calculating the hole diameter change rate C according to the hole diameter change amount CALx and the initial hole diameter value CAL0, wherein C is Calx/CAL 0.
The calculation of the target hydraulic pressure includes:
step 401: calculating a target hydraulic pressure P1 based on the formula P1 ═ P (1+ C);
wherein P is the initial hydraulic pressure and C is the rate of change of the well diameter.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The utility model provides a reducing environment self-adaptation adjusting device in pit of tractor which characterized in that: the device comprises a well diameter monitoring sensor, a controller, a plunger pump, a driving arm (1), a traction arm (2) and a scissor type connecting rod (3) used for connecting a traction wheel set (4), wherein one end of the driving arm (1) is fixedly connected with the traction arm (2), a cavity is axially arranged in the driving arm (1), an oil passing central rod (101) is arranged in the cavity of the driving arm (1), an energy storage piston (102) capable of axially sliding along the oil passing central rod (101) is sleeved on the oil passing central rod (101), the cavity is divided into a low-pressure cavity (103) and a high-pressure cavity (104) by the energy storage piston (102), an energy storage elastic part (105) positioned in the low-pressure cavity (103) is sleeved on the oil passing central rod (101), a second high-pressure oil tank (201) is axially arranged in the traction arm (2), a pushing piston rod (202) is arranged in the second high-pressure oil tank (201), the oil-passing central rod (101) is internally provided with an axial through type oil passing channel (106) communicated with the second high-pressure oil tank (201), one end of the oil-passing central rod (101) extends out of the driving arm (1) and is connected with a plunger pump, an oil passing through hole (107) is radially arranged at the position, corresponding to the high-pressure cavity (104), of the oil-passing central rod (101), the data output end of the well diameter monitoring sensor is electrically connected with the data receiving end of the controller, and the control signal output end of the controller is electrically connected with the control signal input end of the plunger pump.
2. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 1, wherein: the driving arm (1) further comprises a connecting section (108) used for being connected with the traction arm (2), the connecting section (108) is provided with a first high-pressure oil cabin (1081) and a plurality of oil passages (1082) communicated with the first high-pressure oil cabin (1081) along the axial direction, one end of the first high-pressure oil cabin (1081) is hermetically connected with the end of the oil passing center rod (101), and one end of each oil passage (1082) is hermetically connected with the second high-pressure oil cabin (201).
3. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 2, wherein: the end of the connecting section (108) extends into the shell of the traction arm (2) and is fixedly connected with the inner wall of the shell, and a sealing ring is arranged between the connecting section (108) and the inner wall of the shell of the driving arm (1).
4. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 1, wherein: the energy storage elastic part (105) is a disc spring assembly, and the reset elastic part (203) is a reset spring.
5. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 4, wherein: dish spring subassembly includes a plurality of dish spring group (1051) along axial closely arranged, and adjacent dish spring group (1051) is back-to-back laminating setting, and every dish spring group (1051) all includes first dish spring (1052) and second dish spring (1053), first dish spring (1052) and second dish spring (1053) interfacial and face laminating setting, first dish spring (1052) and/or second dish spring (1053) include one or more dish spring monomer.
6. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 5, wherein: when the first disc spring (1052) and/or the second disc spring (1053) comprise a plurality of disc spring single bodies, the disc spring single bodies are tightly arranged in a back-to-face fit mode.
7. The downhole variable diameter environment adaptive adjustment device of the tractor of claim 1, wherein: one end, facing the traction wheel set (4), of the traction arm (2) is fixedly provided with a sealing end cover (204), the middle of the sealing end cover (204) is provided with a through hole for pushing the piston rod (202) to pass through, the sealing end cover (204) is provided with an axial protruding portion (205), and the axial protruding portion (205) extends into the traction arm (2) and is in sealing contact with the inner wall of the second high-pressure oil tank (201).
8. A method of controlling the apparatus of claim 1, comprising:
monitoring the inner diameter of a shaft in real time, and sending a current hole diameter value to a controller when the inner diameter of the shaft changes;
the controller calculates the change rate of the well diameter by combining the initial well diameter value according to the current well diameter value;
the controller calculates target hydraulic pressure by combining the initial hydraulic pressure according to the hole diameter change rate;
and the controller controls the plunger pump to pressurize or release pressure until the target hydraulic pressure is reached.
9. The control method of claim 8, wherein the calculation of the rate of change of the hole diameter comprises:
calculating the variation of the well diameter according to the current well diameter value and the initial well diameter value;
and calculating the change rate of the well diameter according to the change amount of the well diameter and the initial well diameter value.
10. The control method according to claim 8, wherein the calculation of the target hydraulic pressure includes:
calculating a target hydraulic pressure P1 based on the formula P1 ═ P (1+ C);
wherein P is the initial hydraulic pressure and C is the rate of change of the well diameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110949202.0A CN113653453A (en) | 2021-08-18 | 2021-08-18 | Downhole reducing environment self-adaptive adjusting device of tractor and control method thereof |
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| CN202110949202.0A CN113653453A (en) | 2021-08-18 | 2021-08-18 | Downhole reducing environment self-adaptive adjusting device of tractor and control method thereof |
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| CN216406746U (en) * | 2021-08-18 | 2022-04-29 | 中石化石油工程技术服务有限公司 | Downhole reducing environment self-adaptive adjusting device of tractor |
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