CN114046395A

CN114046395A - Modularization crawler

Info

Publication number: CN114046395A
Application number: CN202111376573.0A
Authority: CN
Inventors: 王群杰; 金为武; 李英波; 王启明; 董圣群; 李晓云; 马刊创; 马阔
Original assignee: Hebei Huanding Petroleum Equipment Co ltd; BEIJING HUANDING ENERGY SERVICES
Current assignee: Hebei Huanding Petroleum Equipment Co ltd; BEIJING HUANDING ENERGY SERVICES
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2022-02-15
Anticipated expiration: 2041-11-19
Also published as: CN114046395B

Abstract

The invention provides a modularized crawler which comprises a hydraulic module and a crawling module, wherein a driving gear is arranged in the crawling module and used for providing power for the crawling module, the driving gear is meshed with a crawling wheel, the hydraulic module is connected with a crawling arm of the crawling module through a pushing device and used for controlling the opening and closing of the crawling arm, and the hydraulic module is electrically and hydraulically connected with the crawling module. Through the transmission mode that adopts machinery and hydraulic pressure to combine, increase the power of crawling when simplifying crawl ware inner structure, improve crawl speed and drive power to can select the quantity of installation module of crawling according to the use scene.

Description

Modularization crawler

Technical Field

The invention belongs to the technical field of conveying tools of logging instruments, and particularly relates to a modular crawler.

Background

In oil and gas development, the number of horizontal wells is increasing, and particularly shale gas and shale oil are almost all exploited by horizontal well fracturing. The crawler is used for conveying the logging instrument and the perforating gun to carry out logging and perforating operation in a horizontal well, and the crawler is widely applied.

The wheel crawlers are mainly used at present and are divided into a full-mechanical mode and a full-hydraulic mode according to a driving mode.

The full-mechanical creeper is generally only provided with 2 pairs of crawling arms and 4 crawling wheels due to the complex structure, and is driven by 1 motor. Because the climbing wheels are fewer, the driving force generated by the wheels is smaller. Meanwhile, because a single motor is adopted, the power of the motor is smaller and far smaller than the total power provided by the cable due to the limitation of the outer diameter of the instrument.

In the full-hydraulic crawler, 1 motor drives a hydraulic pump to generate high-pressure oil to drive a hydraulic motor in a crawling wheel, a plurality of crawling wheels can be combined, and the full-hydraulic crawler has the defects that the power of a single motor is limited, the efficiency of a hydraulic system is low, the maintenance is complex, and the manufacturing and using cost is high.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The invention aims to provide a modular crawler, which simplifies the internal structure of the crawler, increases the crawling power, improves the crawling speed and driving force and can select the number of crawling modules according to the use scene by adopting a transmission mode combining machinery and hydraulic pressure.

In order to achieve the technical purpose, the invention provides the following technical scheme:

the invention provides a modularized crawler which comprises a hydraulic module and a crawling module, wherein a driving gear is arranged in the crawling module and used for providing power for the crawling module, the driving gear is meshed with a crawling wheel, the hydraulic module is connected with a crawling arm of the crawling module through a connecting rod on a pushing device and used for controlling the opening and closing of the crawling arm, and the hydraulic module is electrically and hydraulically connected with the crawling module.

The prior art is divided into a full-mechanical mode and a full-hydraulic mode according to a driving mode, and a full-mechanical crawler can only be provided with 2 pairs of crawling arms and 4 crawling wheels in total due to a complex structure and is driven by 1 motor. Because the climbing wheels are fewer, the driving force generated by the wheels is smaller. Meanwhile, because a single motor is adopted, the power of the motor is smaller and far smaller than the total power provided by the cable due to the limitation of the outer diameter of the instrument; in the full-hydraulic crawler, 1 motor drives a hydraulic pump to generate high-pressure oil to drive a hydraulic motor in a crawling wheel, a plurality of crawling wheels can be combined, and the full-hydraulic crawler has the defects that the power of a single motor is limited, the efficiency of a hydraulic system is low, the maintenance is complex, and the manufacturing and using cost is high.

In the invention, a mechanical and hydraulic combined transmission mode is adopted, wherein a mechanical driving mode is adopted in the crawling module, a driving motor transmits power to a driving gear through a transmission shaft, and the driving gear drives the crawling wheel to rotate by meshing with the crawling wheel. The crawling wheel is arranged at the end of the crawling arm, the crawling arm is controlled to be opened and closed by the hydraulic module, and the hydraulic module controls the opening and closing of the crawling arm through the pushing device. When the hydraulic module pressurizes, push away the connecting rod jack-up arm of crawling on the device, when the crawl wheel can laminate the pipeline inner wall, the hydraulic module stops to continue the pressurization and keeps pressure stable, and the crawl wheel can crawl at the pipeline inner wall and drive the crawl device and move ahead. When the crawler is not sufficiently operational, a crawling module may be added as appropriate to improve crawling capabilities. The crawling module is electrically and hydraulically connected with the hydraulic module, and one hydraulic module can simultaneously control the opening and closing of the crawling modules.

Preferably, a return spring is arranged in the pushing device to push the pushing device to reciprocate. After the hydraulic module is decompressed, the connecting rod can be retracted by the reset spring, and the crawling arm is slowly closed.

Preferably, a hydraulic pump is arranged inside the hydraulic module and used for outputting hydraulic oil to the pushing device. The inside of hydraulic module is provided with hydraulic motor, and hydraulic motor drives the hydraulic pump, turns into hydraulic energy with the electric energy, still installs the relief valve in the hydraulic module, prevents that pressure in the hydraulic module from surpassing safe value. The back of the safety valve is connected with a one-way valve to prevent the hydraulic oil from reversely flowing back to the hydraulic pump. The hydraulic module is also provided with a pressure sensor which transmits the pushing pressure to the electronic module. When the pressure reaches the required value, the hydraulic pump stops working, and the system maintains the pressure. When the electromagnetic valve is powered off, the pressure loop is communicated with the oil tank module to realize pressure relief, and the crawling arm is folded under the action of the reset spring.

Preferably, the hydraulic control system further comprises an oil tank module, and the oil tank module is connected with the hydraulic module and used for providing hydraulic oil for the hydraulic module. The oil tank module has the main functions of providing hydraulic oil for a hydraulic pump of the hydraulic module and providing space for expansion of the hydraulic oil caused by oil temperature rise underground.

Preferably, a driving motor is arranged in the crawling module and used for providing power for the driving gear.

Preferably, a transmission shaft is disposed between the driving gear and the driving motor to transmit power of the driving motor to the driving gear.

Preferably, a speed reducer is arranged between the driving motor and the transmission shaft and used for matching the rotating speed and the transmission torque between the driving motor and the transmission shaft.

The crawling module is the core module of crawler, mainly is the module that provides drive power, and every module of crawling has 2 crawl arms of relative arrangement, compresses reset spring when pushing away the device and outwards moving, drives 2 connecting rods simultaneously and opens 2 crawl arms respectively to opposite direction, until crawling wheel contact pipeline inner wall, the pressure of hydraulic module risees, and when reaching the required value, the hydraulic pump stop work, and hydraulic module maintains stable pressure. The electric energy is converted into mechanical energy through the driving motor on the crawling module to drive the driving gear to rotate, so that the crawling wheel is driven to rotate to crawl in the pipeline. The crawler can move forward and backward by changing the rotation direction of the driving motor.

Preferably, the pressure stabilizing device further comprises a pressure stabilizing module used for stabilizing the pressure, and the pressure stabilizing module is arranged at the lower end of the crawling module. The pressure stabilizing module is arranged at the lower end of the last crawling module, and when the diameter of a pipeline changes to cause the crawling arm to swing or the temperature of hydraulic oil changes, the pressure of the hydraulic oil of the hydraulic module is kept basically stable. The piston mainly comprises a shell, a piston, a belleville spring group and the like.

Preferably, the hydraulic control system further comprises an electronic module, and the electronic module is connected with the crawling module and the hydraulic module through a CAN bus. The electronic module has several functions: firstly, selecting a function, and selecting one device of a crawler and a logging instrument to work through different power supply modes; and then, the communication function is realized, the communication is realized between the logging cable and a ground controller, the ground computer instruction is received, and the working state data of the crawler such as pushing pressure or motor rotating speed is uploaded. The CAN bus is communicated with the driving circuit of each crawling module, the state data of each driving motor is collected, the processing is carried out, and a control command is issued to enable all the driving motors to work synchronously.

Preferably, a pressure sensor is arranged in the hydraulic module, the pressure sensor is connected with an electronic module, and when the pressure reaches a required value, the hydraulic module changes from pressurization to pressure maintaining

Compared with the prior art, the invention has the beneficial effects that:

(1) the modular structure combination mode is adopted, the modules are electrically and hydraulically connected, a complex mechanical transmission mode is replaced, and the structure is simplified; the multi-module combination mode, the crawl wheel is in large quantity, the pressure of the crawl wheel to the pipeline wall is increased, and larger crawling force can be generated.

(2) The mode that 1 motor drives 1 pair of crawl wheels is adopted, the power of a single motor is small and CAN not be limited by the size of the crawler, the sum of the power of a plurality of motors CAN completely exert the maximum power transmitted by a cable, and meanwhile, a driving circuit controls the driving motors to work and is communicated with a central processing unit of an electronic module through a CAN bus, so that the synchronous work of a plurality of driving motors is realized, and the efficiency is improved.

(3) The hydraulic pressure stabilizing section is configured, and when the oil temperature or the well diameter changes, the pressure of high-pressure oil is kept basically stable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a modular crawler according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a crawling module according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a hydraulic module according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a tank module according to an embodiment of the invention;

fig. 5 is a schematic structural diagram of a voltage stabilizing module according to an embodiment of the present invention.

Wherein:

10. a crawling module; 11. A drive circuit;

12. a drive motor; 13. A speed reducer;

14. a drive shaft; 15. A crawling arm;

16. a drive gear; 17. A crawling wheel;

18. a backup device; 19. A connecting rod;

181. a return spring; 20. A hydraulic module;

21. a hydraulic motor; 22. A pressure sensor;

23. a hydraulic return spring; 24. A hydraulic pump;

25. a safety valve; 26. A one-way valve;

27. an electromagnetic valve; 30. An oil tank module;

31. an oil tank return spring; 32. A tank piston;

33. a hydraulic oil chamber; 40. A voltage stabilization module;

41. a balance piston; 42. A balance disc spring;

50. an electronic module.

Detailed Description

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In order to more clearly illustrate the technical solution of the present invention, the following description is made in the form of specific embodiments.

Examples

Referring to fig. 1, a schematic structural diagram of a modular crawler according to an embodiment of the present invention is shown, wherein a downhole portion of the crawler is composed of an electronic module 50, an oil tank module 30, a hydraulic module 20, a crawling module 10, and a voltage stabilizing module 40. The pressure stabilizing module 40 may be connected below a conveyed tool or perforating gun. The number of the crawling modules 10 is even, and 2 crawling modules 10 are selected in the embodiment.

Referring to fig. 2, which is a schematic structural diagram of the crawling module 10 according to an embodiment of the present invention, the crawling module 10 is a core module of a crawler, two crawling modules 10 are assembled together, and 2 crawling arms 15 are oppositely arranged and open and close outwards. When the pushing device 18 moves outwards, the return spring 181 is compressed, and at the same time, the 2 connecting rods 19 are driven to open the 2 crawling arms 15 in opposite directions until the crawling wheels 17 contact the inner wall of the pipeline. At this time, the pressure of the hydraulic module 20 rises, and the hydraulic pump 24 stops operating after the required value is reached, and the hydraulic module 20 maintains the pressure. The driving motor 12 on the crawling module 10 converts the electric energy into mechanical energy after passing through the speed reducer 13 and the transmission shaft 14 and transmits the mechanical energy to the driving gear 16, and the crawling wheel 17 rotates to drive the crawling device to crawl in the pipeline because the driving gear 16 is meshed with the crawling wheel 17. By changing the rotational direction of the drive motor 12, the crawler can advance and retreat.

Referring to fig. 3, which is a schematic structural diagram of a hydraulic module 20 according to an embodiment of the present invention, the hydraulic module 20 is electrically and hydraulically connected to the crawling module 10, the hydraulic module 20 provides hydraulic oil to the pushing device 18, when the hydraulic oil is introduced into the pushing device, the return spring 181 is compressed, and the connecting rod 19 drives the crawling arm 15 to open. To accomplish this, the solenoid valve 27 is first energized, and the hydraulic pump 24 outputs hydraulic oil to the feed advancing means through the check valve 26 under the driving of the hydraulic motor 21. A safety valve 25 is connected to the rear side of the check valve 26 in the hydraulic module 20 to prevent the pressure in the hydraulic module 20 from exceeding a safety value. The hydraulic module 20 also houses a pressure sensor 22 that transmits pressure to the electronic module 50. When the pressure reaches the required value, the hydraulic pump 24 stops operating and the system maintains the pressure. When the electromagnetic valve 27 is powered off, the pressure loop is communicated with the oil tank module 30 to realize pressure relief, and the crawling arm 15 is folded under the action of the return spring 181. The hydraulic return spring 23 is connected with a hydraulic pump 24 to return the hydraulic pump 24 to a normal state.

Referring to fig. 4, which is a schematic structural diagram of the tank module 30 according to the embodiment of the present invention, the tank module 30 is connected to the hydraulic module 20 to provide hydraulic oil for the hydraulic module 20, and provide a space for expansion of the hydraulic oil caused by temperature rise in the downhole. The tank module 30 is mainly composed of a tank return spring 31, a tank piston 32, and a hydraulic oil chamber 33.

Referring to fig. 5, which is a schematic structural diagram of a pressure stabilizing module 40 according to an embodiment of the present invention, the pressure stabilizing module 40 is further disposed below the crawling module 10, and when the inner diameter of the pipeline changes to cause the crawling arm 15 to swing or the temperature of the hydraulic oil changes, the pressure of the hydraulic module 20 is kept substantially stable. It is mainly composed of a shell, a balance piston 41 and a balance disc spring 42 group.

The crawling module 10, the hydraulic module 20 and the voltage stabilizing module 40 are all connected through the electronic module 50, and the electronic module 50 can select one of the crawling device and the logging tool to work according to different power supply modes. The electronic module 50 also has a communication function, and is communicated with a ground controller through a logging cable, receives a ground computer instruction, and uploads working state data of the crawler, such as pushing pressure, motor rotating speed and the like. The CAN bus is communicated with the driving circuit 11 of each crawling module 10, the state data of each driving motor 12 is collected and processed, and a control command is issued to enable all the driving motors 12 to work synchronously. Finally, the electronic module 50 also has the function of collecting information, collecting hydraulic oil pressure, temperature and cable tension signals of a matched device CCL (casing coupling), processing and uploading to a ground computer.

The invention adopts a combination mode of a modular structure, and the modules are electrically and hydraulically connected, thereby replacing a complex mechanical transmission mode, simplifying the structure and realizing the combination of 6 modules at present.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a modularization crawl device, its characterized in that includes hydraulic module and a plurality of module of crawling, the inside drive gear that is provided with of module of crawling is used for the module of crawling provides power, the drive gear meshing has the wheel of crawling, hydraulic module connects through the connecting rod that pushes away on the device the arm of crawling of module of crawling is used for control opening and shutting of the arm of crawling, hydraulic module with the connected mode between the module of crawling is electric and hydraulic connection.

2. The creeper of claim 1, wherein a return spring is disposed inside the pushing device to push the pushing device to reciprocate.

3. The crawler according to claim 2, wherein a hydraulic pump is disposed inside the hydraulic module for outputting hydraulic oil to the pushing device.

4. The crawler of claim 1, further comprising a tank module coupled to the hydraulic module for providing hydraulic oil to the hydraulic module.

5. The crawler of claim 1, wherein a drive motor is disposed within the crawler module to power the drive gear.

6. The creeper of claim 5, wherein a transmission shaft is disposed between the drive gear and the drive motor to transmit power of the drive motor to the drive gear.

7. The creeper of claim 6, wherein a speed reducer is provided between the drive motor and the drive shaft to match the rotational speed and the transfer torque between the drive motor and the drive shaft.

8. The crawler according to claim 1, further comprising a pressure stabilizing module to stabilize pressure, the pressure stabilizing module being disposed at a lower end of the crawler module.

9. The crawler according to claim 1, further comprising an electronics module, said electronics module connected to said crawler module and said hydraulic module via a CAN bus.

10. The creeper of claim 9, wherein a pressure sensor is provided inside the hydraulic module, and an electronic module is connected to the pressure sensor, and when the pressure reaches a required value, the hydraulic module changes from pressurization to dwell.