CN114857119B - Underground traction robot hydraulic control decoding and reversing system - Google Patents
Underground traction robot hydraulic control decoding and reversing system Download PDFInfo
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- CN114857119B CN114857119B CN202210605577.XA CN202210605577A CN114857119B CN 114857119 B CN114857119 B CN 114857119B CN 202210605577 A CN202210605577 A CN 202210605577A CN 114857119 B CN114857119 B CN 114857119B
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- 230000008093 supporting effect Effects 0.000 claims description 27
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 7
- 239000003921 oil Substances 0.000 description 136
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 210000002445 nipple Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/021—Valves for interconnecting the fluid chambers of an actuator
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing or removing tools, packers or the like in boreholes or wells
- E21B23/001—Self-propelling systems or apparatus, e.g. for moving tools within the horizontal portion of a borehole
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- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a hydraulic control decoding and reversing system of an underground traction robot. The hydraulic control decoding and reversing system of the underground traction robot can decode an underground hydraulic control signal through the movement of the piston and the valve core, and the decoding process is simple and quick, so that the underground traction robot is controlled skillfully.
Description
Technical Field
The invention relates to an underground long-distance hydraulic control decoding and reversing system, in particular to a hydraulic control decoding and reversing system applied to an underground traction robot for controlling traction force and traction speed, and belongs to the field of petroleum and natural gas exploitation equipment.
Background
The method for towing the continuous oil pipe by the underground robot can effectively solve the two bottleneck problems of serious supporting pressure of a drill string and difficult extension of a horizontal section in long horizontal section drilling. In order to meet the function of underground traction, the underground traction robot adopting a hydraulic control mode is structurally provided with two supporting cylinders and two telescopic cylinders, so that the four-way valve and the two electric proportional overflow valves are required to reasonably control the movement of the traction robot.
For example, in chinese patent publication No. CN107477306a, an electrohydraulic control system of a coiled tubing traction robot is disclosed, the publication date is 2017, 12 and 15, and the electrohydraulic control system comprises an oil tank, a micro motor, a micro hydraulic pump, a valve assembly and an electric control assembly of the valve assembly, the motor is powered by the ground through an armored cable, the motor is connected with the hydraulic pump, the oil tank is supplied with hydraulic oil, the hydraulic pump is communicated with the valve assembly, wherein the liquid outlet of the hydraulic pump is communicated with four check valves, the check valves are respectively communicated with four three-position four-way electromagnetic reversing valves, and the four three-position four-way electromagnetic reversing valves are respectively communicated with a front-back telescopic cylinder and a front-back support cylinder.
When the underground traction robot drags the coiled tubing, the stability of the underground traction robot control system is an important reason for influencing the stable running of the traction operation, and the reason for the fault of the underground traction robot control system is complex and can be roughly divided into the following ways:
(1) The high temperature and high pressure environment at the bottom of the well erodes the sealing part of the control system, thereby destroying the control system of the downhole robot and causing the downhole robot to malfunction.
(2) The high temperature environment at the bottom of the well causes high temperature of a chip part in the control system, and the control system cannot effectively dissipate heat, so that the control system fails, and the normal movement of the underground traction robot is damaged.
(3) The underground control system is controlled by a cable line, the depth of thousands of meters is high, and the traction robot is in motion, so that electric leakage and wire breakage can be caused.
To sum up, the existing downhole robot traction coiled tubing technology has the following main problems: 1. the four-way valves adopted in the electrohydraulic control system of the traction robot are more, so that the radial size of the traction robot is larger, the traction robot cannot be applied to a well section with smaller well diameter, and the application of the traction robot has larger limitation. 2. The multi-gear reversing control of the hydraulic control pipelines and the valve bodies on the supporting cylinders and the telescopic cylinders is realized, so that the traction speed and traction control of the traction robot are realized, the structural space of the underground robot is increased, the cost is increased, and the control reliability is lower. 3. The problem of coiled tubing buckling easily occurs, the downhole working condition cannot be self-adapted, and the downhole closed-loop traction coiled tubing cannot be formed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a hydraulic control decoding and reversing system of a downhole traction robot. The hydraulic control decoding and reversing system of the underground traction robot can decode an underground hydraulic control signal through the movement of the piston and the valve core, and the decoding process is simple and quick, so that the underground traction robot is controlled skillfully.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The utility model provides a traction robot liquid accuse decoding and switching-over system which characterized in that in pit: the valve comprises a valve body, a valve core, a piston, a valve body end cover, a valve core end cover, a large spring, a small spring and a reversing device;
the right end of the inner cavity of the valve body is a closed end, the left end of the inner cavity of the valve body is an open end, the open end of the valve body is fixedly connected with a valve body end cover in a sealing way, an upper cavity is formed in the outer wall of the upper end of the valve body, and the inner cavity is formed in the valve body;
The valve core is arranged in the inner cavity, and the outer wall of the valve core is in sliding sealing fit with the inner cavity; the right end of the inner cavity of the valve core is a closed end, the left end of the inner cavity of the valve core is an open end, and the open end of the valve core is fixedly connected with a valve core end cover in a sealing manner; one end of the large spring is connected with the right end of the valve core, and the other end of the large spring is fixedly connected with the inner cavity; the piston is arranged in the inner cavity of the valve core, one end of the small spring is fixedly connected with the valve core end cover, and the other end of the small spring is fixedly connected with the piston;
the reversing device comprises a reversing valve body, a reversing spring, a reversing valve body cover plate and a reversing channel, wherein the reversing valve body is positioned in an upper cavity of the valve body, the upper cavity is closed by the reversing valve body cover plate, the reversing valve body is fixedly connected with one end of the reversing spring, and the other end of the reversing spring is fixedly connected in the upper cavity;
The reversing valve body cover plate is provided with an oil return pipeline, a pipeline A and a pipeline B, the upper surface of the reversing valve body is provided with two groups of reversing valve body pipeline ports, each group of reversing valve body pipeline ports is three, when the reversing valve body is in an initial state, the three reversing valve body pipeline ports of the first group are respectively communicated with the corresponding oil return pipeline, pipeline A and pipeline B, the reversing valve body pipeline ports corresponding to the pipeline A are communicated with the valve body oil outlet channel, and the other two reversing valve body pipeline ports are communicated through channels in the reversing valve body; when the reversing valve body is in a reversing working state, the pipeline ports of the reversing valve body of the second group are respectively communicated with the corresponding oil return pipeline, the pipeline A and the pipeline B, the pipeline port of the reversing valve body corresponding to the pipeline A is communicated with the valve body oil outlet channel, and the pipeline port of the reversing valve body corresponding to the pipeline A is also communicated with the pipeline port of the reversing valve body communicated with the oil return pipeline through the channel in the reversing valve body;
the upper end of the valve body is provided with a valve body oil outlet channel and a reversing channel of the reversing device, an inner cavity of the valve body is communicated with an upper cavity of the reversing device through the valve body oil outlet channel, and the reversing channel is communicated with the upper cavity at the left end of the reversing valve body; the lower end of the valve body is provided with a right oil inlet channel and a left oil inlet channel which are communicated with the inner cavity;
The lower end of the valve core is provided with a valve core right channel and a valve core left channel which are respectively matched with the right oil inlet channel and the left oil inlet channel, and the upper end of the valve core is provided with a valve core oil outlet channel which is matched with the valve body oil outlet channel.
The left oil inlet channel is connected to a pipeline 1 of the ground hydraulic signal generating system through a hydraulic control pipeline, the right oil inlet channel is connected to a pipeline 2 of the ground hydraulic signal generating system through a hydraulic control pipeline, the oil return pipeline is connected to a pipeline 3 of the ground hydraulic signal generating system through a hydraulic control pipeline, the reversing channel is connected to a pipeline 4 of the ground hydraulic signal generating system through a hydraulic control pipeline, and the pipeline A and the pipeline B are connected to a supporting cylinder or a telescopic cylinder of the underground traction robot through hydraulic control pipelines.
When the valve core is in an initial state, the small spring is in a natural extension state, the large spring is in a compression state, and the valve core is positioned at the leftmost end position of the cavity in the valve body.
When the piston is in an initial state, the piston is not completely overlapped with the left valve core channel, and part of the left valve core channel is communicated with a cavity at the left end of the piston; the left valve core channel is not completely overlapped with the left oil inlet channel, and is communicated with part of the left oil inlet channel; the valve core oil outlet channel is communicated with the valve core right channel, and the valve core oil outlet channel is not communicated with the valve body oil outlet channel.
Two reversing valve baffles are arranged in the upper chamber of the valve body, the reversing valve baffles are arranged at the right end of the upper chamber, and the two reversing valve baffles are symmetrically arranged.
The left oil inlet channel is connected with a left oil inlet pipeline, and the left oil inlet pipeline is connected to a first pipeline of the ground hydraulic signal generating system through a hydraulic control pipeline; the right oil inlet channel is connected with a right oil inlet pipeline, and the right oil inlet pipeline is connected to a second pipeline of the ground hydraulic signal generating system through a hydraulic control pipeline.
The first group of reversing valve body pipeline ports comprise a reversing valve body pipeline port D, a reversing valve body pipeline port E and a reversing valve body pipeline port F, and the reversing valve body pipeline port E and the reversing valve body pipeline port F are communicated through a channel in the reversing valve body; when the reversing valve body is in an initial state, the reversing valve body is positioned at the leftmost end of the upper cavity, the upper end of the pipeline opening D of the reversing valve body is communicated with the pipeline A, the lower end of the pipeline opening D of the reversing valve body is communicated with the oil outlet channel of the valve body, the pipeline opening E of the reversing valve body is communicated with the oil return pipeline, and the pipeline opening F of the reversing valve body is communicated with the pipeline B.
The second group of reversing valve body pipeline ports comprise a reversing valve body pipeline port A, a reversing valve body pipeline port B and a reversing valve body pipeline port C, and the reversing valve body pipeline port A and the reversing valve body pipeline port B are communicated through a channel in the reversing valve body; when the reversing valve body is in a reversing working state, the reversing valve body moves rightwards under the hydraulic force action of the reversing channel, the reversing spring is in a compressed state, the upper end of a pipeline opening A of the reversing valve body is communicated with the pipeline A, the lower end of the pipeline opening A of the reversing valve body is communicated with the oil outlet channel of the valve body, the pipeline opening B of the reversing valve body is communicated with the oil return pipeline, the pipeline opening C of the reversing valve body is communicated with the pipeline B, and the right end of the reversing valve body is limited by the reversing valve baffle plate.
The reversing valve body cover plate is provided with three reversing cover plate oil outlet channels in a penetrating mode, and the oil return pipeline, the pipeline A and the pipeline B are respectively connected to the three cover plate oil outlet channels.
When the hydraulic control decoding and reversing system is in a decoding state, the reversing valve body is positioned at the leftmost end of the upper cavity of the valve body, the valve core is positioned at the right end of the inner cavity of the valve body, the large spring and the small spring are in compression states, the piston and the left channel of the valve core are in complete superposition states, the oil outlet channel of the valve core is communicated with the oil outlet channel of the valve body, the right channel of the valve core is communicated with the right oil inlet channel, and a hydraulic medium sequentially passes through the right oil inlet channel, the right channel of the valve core, the inner cavity of the valve core, the oil outlet channel of the valve body, the oil outlet channel of the reversing cover plate, the pipeline A and the hydraulic control pipeline enter a supporting cylinder or a telescopic cylinder of the underground traction robot.
The invention has the advantages that:
(1) The invention can decode the hydraulic control signal on the well through the movement of the piston and the valve core, and the decoding process is simple and quick, thereby skillfully realizing the control of the underground traction robot.
(2) The reversing function is performed after the hydraulic control signal is decoded, so that the volume of the reversing valve body can be reduced, the underground space is saved, and the installation of other underground tools is facilitated.
(3) The hydraulic control decoding valve body component and the reversing valve body component are ingeniously and integrally installed, so that the stability and reliability of the device are improved while the space is saved.
(4) The hydraulic control decoding and reversing principle is skillfully utilized to realize the motion control of the underground traction robot in a hydraulic control mode, so that the influence of a high-temperature and high-pressure environment at the bottom of the well on the traditional electric control mode is avoided, and the control stability is improved.
(5) The hydraulic signal is generated by the ground hydraulic signal generating system, the hydraulic signal is subjected to hydraulic control decoding and reversing system of the underground traction robot and then used for controlling the movement of the traction robot, the traction force measuring device is used for measuring relevant information such as the stress of the traction robot in real time and transmitting the information to the ground hydraulic signal generating system in real time, and then the control system is used for adjusting the hydraulic force to adjust the traction force and speed of the traction robot, so that the optimal movement mode of the traction robot is realized, and the problem of the buckling of the continuous oil pipe is solved.
(6) The scheme can adapt to the working condition of the well bottom to form a downhole closed-loop traction coiled tubing, and the intelligent continuous traction coiled tubing is stable, safe and reliable in control.
In conclusion, the invention realizes multi-gear and reversing control on a plurality of supporting cylinders and telescopic cylinders by using a small number of hydraulic control pipelines and a small number of valve bodies, saves the structural space of the underground robot, saves the cost, improves the working efficiency and the reliability, and effectively solves the influence of the high-temperature and high-pressure environment at the bottom of the well on the control system of the underground traction robot. The method realizes the decoding and reversing control of the telescopic cylinder and the supporting cylinder of the underground traction robot by a pure hydraulic method, and can realize the efficient and stable motion control of the underground traction robot, thereby realizing the stable and continuous traction of the underground traction robot for advancing the coiled tubing.
Drawings
FIG. 1 is a cross-sectional view of an initial position of a hydraulic control decoding and reversing system of a downhole traction robot;
FIG. 2 is a top view of a downhole tractor robot hydraulically controlled decoding and reversing system;
FIG. 3 is a perspective view of a downhole tractor robot hydraulically controlled decoding and reversing system;
Fig. 4 is a front view of the reversing valve body and its corresponding cross-sectional view;
FIG. 4A is a cross-sectional view taken along the direction A-A in FIG. 4;
FIG. 4B is a cross-sectional view taken along the direction B-B in FIG. 4;
FIG. 4C is a cross-sectional view taken along the direction C-C in FIG. 4;
FIG. 4D is a cross-sectional view taken along the direction D-D in FIG. 4;
FIG. 5 is a perspective view of the valve body;
FIG. 6 is a perspective view of the valve cartridge;
FIG. 7 is a cross-sectional view of the end position of the downhole tractor robot pilot operated decoding and reversing system;
FIG. 8 is a schematic drawing of a traction robot;
fig. 9 is a surface hydraulic signal generation system and lines.
In the figure: 1. right oil inlet channel, 2, left oil inlet channel, 3, valve core right channel, 4, valve core left channel, 5, valve core, 6, piston, 7, valve body end cover, 8, valve core end cover, 9, small spring, 10, reversing valve body, 11, reversing channel, 12, reversing pipe, 13, pipe B,14, pipe a,15, reversing valve body cover plate, 16, reversing spring, 17, large spring, 18, valve body, 19, right oil inlet pipe, 20 left oil inlet pipe, 21, return oil pipe, 22, reversing valve body pipe mouth a,22A, reversing valve body pipe mouth upper end, 22B, reversing valve body pipe mouth lower end, 23, reversing valve body pipe mouth B,24, reversing valve body pipe mouth C,25, reversing valve body pipe mouth E,26, reversing valve body pipe mouth F, 27, a reversing valve body pipeline port D, 28, a reversing valve baffle, 29, a valve core oil outlet channel, 30, a valve body oil outlet channel, 31, a reversing valve body oil outlet channel a,32, a reversing cover plate oil outlet channel a,33, a channel a,34, a channel B,35, a channel C,36, a channel D,37, a left support cylinder, 38, a left support arm, 39 left telescopic cylinder, 40, a control nipple, 41, a right telescopic cylinder, 42, a right support arm, 43, a right telescopic cylinder, 44, a pipeline a,45, a pipeline B,46, a pipeline C,47, a pipeline D,48, a pipeline E,49, a pipeline F,50, a pipeline G,51, a pipeline H,52, a traction force measuring device, 53, a ground hydraulic signal generating system, 53A, a pipeline 1, 53B, a pipeline 2, 53C, a pipeline 3, 53D, and a pipeline 4.
Detailed Description
Example 1
The invention is further described below with reference to the accompanying drawings.
According to the hydraulic control decoding and reversing system of the novel underground traction robot shown in fig. 1, 2 and 3, the outermost layer of the hydraulic control decoding and reversing system of the novel underground traction robot is a valve body 18 and a valve body end cover 7, the valve body 18 is provided with a right oil inlet channel 1 and a left oil inlet channel 2 at the lower end, the right oil inlet channel 1 and the left oil inlet channel 2 are communicated with a cavity of the valve body 18, and the upper end of the valve body 18 is provided with a reversing channel 11 and a valve body oil outlet channel 30; a right oil inlet pipeline 19 and a left oil inlet pipeline 20 are connected with the right oil inlet channel 1 and the left oil inlet channel 2 at the lower end of the valve body 18, and a reversing pipeline 12 is connected with the reversing channel 11 at the upper end of the valve body 18; the reversing valve body cover plate 15 is provided with a reversing cover plate oil outlet channel A32, the reversing valve body cover plate 15 is welded with a pipeline B13, a pipeline A14 and an oil return pipeline 21, and the pipeline B13 and the pipeline A14 are connected with an oil inlet and outlet pipeline of a supporting cylinder or a telescopic cylinder of the traction robot through hydraulic control pipelines.
The valve core end cover 8 is arranged at the left end of the valve core 5, the valve core end cover 8 is fixedly connected with the left end of the small spring 9, the right end of the small spring 9 is fixedly connected with the piston 6, and the piston 6 can move left and right in an inner cavity channel of the valve core 5; the right end of the valve core 5 is fixedly connected with the left end of the large spring 17, the right end of the large spring 17 is fixedly connected with a groove at the right end of the inner cavity of the valve body 18, and the valve core 5 can move left and right in the inner cavity of the valve body 18; in the initial state, the small spring 9 is in a natural extension state, the large spring 17 is in a compression state, and the valve core 5 is at the leftmost position of the inner chamber of the valve body 18; the valve core 5 is provided with a valve core right channel 3 and a valve core left channel 4 at the lower end thereof, and the valve core 5 is provided with a valve core oil outlet channel 29 at the upper end thereof; in the initial state, the piston 6 is not completely overlapped with the left valve core channel 4, the left end of the left valve core channel 4 is still partially communicated with a cavity at the left end of the piston 6, the left valve core channel 4 is not completely overlapped with the left oil inlet channel 2 of the valve body, the left end of the left valve core channel 4 is partially communicated with the left end of the left oil inlet channel 2 of the valve body, the left valve core oil outlet channel 29 is communicated with the right valve core channel 3, and the left valve core oil outlet channel 29 is completely staggered with the left valve body oil outlet channel 30.
Alternatively, the stiffness coefficients and diameters of the small spring 9 and the large spring 17 are selected according to the hydraulic forces applied to the two ends of the piston 6, the two ends of the valve core 5 and the two ends of the reversing valve body 10, so that the decoding function can be reliably realized.
In the scheme, the reversing device formed by the reversing valve body 10, the reversing spring 16, the reversing valve body cover plate 15 and the reversing channel of the chamber on the valve body 18 can realize the hydraulic control reversing function on the basis of realizing hydraulic control decoding by utilizing the valve body and the valve core, thereby reducing the volume of the hydraulic control reversing valve and saving the underground space.
Alternatively, the pipelines in the hydraulic control reversing valve body 10 should be divided into a left group and a right group, the pipelines in the right group are in an un-reversing state when being communicated, and the pipelines in the left group are in a reversing state when being communicated, so that the reversing valve body can be manufactured by segment splicing for convenience in processing.
As shown in fig. 4, the first set of diverter valve body pipeline ports includes diverter valve body pipeline port D27, diverter valve body pipeline port E25 and diverter valve body pipeline port F26, and diverter valve body pipeline port E25 and diverter valve body pipeline port F26 are communicated through channel a34 in the diverter valve body; when the reversing valve body is in an initial state, the reversing valve body 10 is positioned at the leftmost end of the upper chamber, the pipeline opening D27 of the reversing valve body is communicated with the pipeline A14 through the upper end of the channel B33 in the reversing valve body 10, the lower end of the pipeline opening D is communicated with the valve body oil outlet channel 30, the upper end of the pipeline opening E25 of the reversing valve body is communicated with the oil return pipeline 21, and the lower end of the pipeline opening F26 of the reversing valve body is communicated with the pipeline B13. The second group of reversing valve pipeline ports comprise a reversing valve pipeline port A22 (comprising a reversing valve pipeline port upper end 22A and a reversing valve pipeline port A lower end 22B, wherein the upper and lower ends (22A and 22B) of the reversing valve pipeline port A are identical in position and not communicated with each other in the upper and lower plane of the reversing valve), a reversing valve pipeline port B23 and a reversing valve pipeline port C24, and the reversing valve pipeline port A upper end 22A and the reversing valve pipeline port B23 are communicated through a channel C35 in the reversing valve body; the lower end 22B of the reversing valve body pipeline opening A is communicated with the reversing valve body pipeline opening C24 through a channel D36 in the reversing valve body; when the reversing valve body is in a reversing working state, the reversing valve body 10 moves rightwards under the hydraulic force of the reversing channel 11, the reversing spring 16 is in a compressed state, the upper end 22A of the pipeline opening A of the reversing valve body is communicated with the pipeline A14, the lower end 22B of the pipeline opening A of the reversing valve body is communicated with the oil outlet channel 30 of the valve body, the pipeline opening B23 of the reversing valve body is communicated with the oil return channel 21, the pipeline opening C24 of the reversing valve body is communicated with the pipeline B13, and the right end of the reversing valve body 10 is limited by the reversing valve baffle 28.
According to fig. 5 and 6, a reversing valve body 10, a reversing spring 16 and a reversing valve baffle 28 are arranged in an inner cavity formed by the upper end of a valve body 18 and a reversing valve body cover plate 15; the right end of the reversing valve body 10 is fixedly connected with the left end of the reversing spring 16, and the right end of the reversing spring 16 is fixedly connected with the right end of the upper chamber of the valve body 18; the right end of the reversing channel 11 is communicated with a cavity on the valve body 18; the reversing valve baffle 28 is mounted at the right end of the upper chamber of the valve body 18 and the two reversing valve baffles 28 are arranged in pairs; the upper surface of the reversing valve body is provided with a reversing valve body pipeline opening A22, a reversing valve body pipeline opening B23, a reversing valve body pipeline opening C24, a reversing valve body pipeline opening E25, a reversing valve body pipeline opening F26 and a reversing valve body pipeline opening D27; the reversing valve body pipeline opening A22, the reversing valve body pipeline opening B23, the reversing valve body pipeline opening C24, the reversing valve body pipeline opening E25, the reversing valve body pipeline opening F26 and the reversing valve body pipeline opening D27 are six outlets on the upper surface of the channel of the reversing valve body 10; when the reversing valve body 10 is in an original state, the reversing valve body 10 is positioned at the leftmost end of the upper cavity of the valve body 18, the reversing valve body pipeline port D27 is communicated with the pipeline A14, the lower end of the reversing valve body pipeline port D27 is communicated with the valve body oil outlet channel 30, the reversing valve body pipeline port E25 is communicated with the oil return pipeline 21, and the reversing valve body pipeline port F26 is communicated with the pipeline B13; when the reversing valve is in a reversing working state, the reversing valve body 10 moves rightwards under the hydraulic force action of the reversing channel 11, the reversing spring 16 is in a compressed state, at the moment, the reversing valve body pipeline port A22 is communicated with the pipeline A14, the reversing valve body pipeline port B23 is communicated with the oil return pipeline 21, the reversing valve body pipeline port C24 is communicated with the pipeline B13, the right end of the reversing valve body 10 is blocked by the reversing valve baffle 28, and a pipe orifice right below the reversing valve body pipeline port A22 is communicated with the valve body oil outlet channel 30.
According to the illustration in fig. 7, when the hydraulic control decoding and reversing system of the novel underground traction robot is in the final decoding state, the valve core 5 is at the right end position of the inner cavity of the valve body 18, the big spring 17 and the small spring 9 are in compression states, the piston 6 and the left valve core channel 4 are in complete superposition states, so that the left valve core channel 4 is blocked, the oil outlet channel 29 of the valve core is communicated with the oil outlet channel 30 of the valve body, the right valve core channel 3 is communicated with the right oil inlet channel 1, hydraulic medium is filled into the inner cavities of the valve core 5 and the piston 6 through the right oil inlet pipeline 19, and the hydraulic medium flows into the supporting cylinder and the telescopic cylinder of the underground traction robot through the oil outlet channel 29 of the valve core and the oil outlet channel 30 of the valve body 10 to control the movement of the underground traction robot. The control principle for realizing different gears is as follows: when the hydraulic medium is in a certain pressure range, the support cylinder and the telescopic cylinder of the underground traction robot can enter a certain gear, at the moment, the support force under the gear can be applied to the well wall, and the telescopic cylinder can also apply the dragging force under the gear to the continuous oil pipe; when the hydraulic medium is in another pressure range, the hydraulic control decoding and reversing system of the underground traction robot can enter another gear, and the hydraulic medium with different pressures is applied to realize the motion control of different gears of the support cylinder and the telescopic cylinder of the underground traction robot.
In the hydraulic control decoding and reversing system of the underground traction robot, taking a certain gear decoding and reversing process of a supporting cylinder and a telescopic cylinder of the traction robot as an example, firstly, hydraulic pressure is added to a left oil inlet channel 2 of a valve body through a left oil inlet pipeline 20, a hydraulic medium can enter a left end cavity of a piston 6 through a left valve core channel 4, the middle of an end cover of a valve core 5 is hollow, the valve core 5 moves rightwards under the action of hydraulic pressure, the piston 6 can properly move rightwards under the action of the hydraulic pressure, when the valve core 5 moves to a certain position, the valve core 5 stops moving under the action of the spring force of a large spring 17, the piston 6 stops moving under the action of the force of a small spring 9, when the valve core 5 is at the position, a right valve core channel 3 just starts to be communicated, at the moment, an oil outlet channel 29 of the valve body is still staggered with an oil outlet channel 30 of the valve body, the left oil inlet pipeline 20 is kept to apply hydraulic pressure, the valve core 5 and the piston 6 are kept motionless, then, hydraulic pressure is applied to the right oil inlet pipeline 19, the right end chamber of the piston 6 is in a pressure holding state because the valve core oil outlet channel 29 is not communicated, when the pressure reaches a certain time, the piston 6 moves leftwards because the valve core left channel 4 is still in a pressure holding state, the piston 6 moves leftwards, chamber hydraulic medium at the left end of the piston 6 is further compressed, the valve core 5 moves rightwards again, when the valve core 5 is stopped after being blocked by the right end step of the chamber right in the valve body 18, the valve core left channel 4 is blocked by the piston 6, the left end chamber of the piston 6 is in the pressure holding state, the piston 6 does not move leftwards and rightwards any more, the valve core 5 moves to a right end limiting position, the right oil inlet pipeline 19, the right oil inlet channel 1 and the valve core right channel 3 are completely communicated, the valve core oil outlet channel 29 is completely communicated with the valve body oil outlet channel 30, hydraulic pressure is continuously applied to the right oil inlet pipeline 19, the hydraulic medium can enter the reversing valve body 10 through the valve element oil outlet channel 29, and the valve body oil outlet channel 30, if reversing control is not performed at this time, the hydraulic medium can directly control the gear of the underground traction robot supporting cylinder and the telescopic cylinder through the valve element oil outlet channel 29, the valve body oil outlet channel 30, the reversing valve body oil outlet channel A31, the reversing cover plate oil outlet channel A32 and the pipeline A14, and different supporting forces and traction forces can be applied to the well wall and the continuous oil pipe by applying different levels of hydraulic force;
If the reversing control is needed on the basis of decoding, hydraulic pressure is applied to the reversing pipeline 12, the reversing valve body 10 moves rightwards under the hydraulic pressure action of the reversing channel 11, the reversing spring 16 is in a compressed state, at the moment, the reversing valve body pipeline port A22 is communicated with the pipeline A14, the reversing valve body pipeline port B23 is communicated with the oil return pipeline 21, the reversing valve body pipeline port C24 is communicated with the pipeline B13, the right end of the reversing valve body 10 is blocked by the reversing valve baffle 28, the pipe orifice right below the reversing valve body pipeline port A22 is communicated with the valve body oil outlet channel 30, at the moment, the hydraulic medium flowing out of the valve body oil outlet channel 30 flows into the underground traction robot supporting cylinder and the telescopic cylinder from the pipeline B13, and then flows back to the oil return pipeline 21 through the reversing valve body pipeline port A22 and the reversing valve body pipeline port B23, so that the reversing control of the underground traction robot supporting cylinder and the telescopic cylinder is realized, and the resetting of the underground traction robot supporting mechanism and the telescopic mechanism is realized.
Example 2
The embodiment is used for describing the hydraulic control decoding and reversing method of the underground traction robot by combining the drawings.
According to the method for hydraulic control decoding and reversing of the novel underground traction robot, which is shown in fig. 1-9, the method comprises a ground hydraulic signal generating system 53, a hydraulic control pipeline, a traction robot hydraulic control decoding and reversing system, a traction force measuring device 52 and an underground traction robot, wherein the ground hydraulic signal generating system 53 is connected with a left oil inlet pipeline 20, a right oil inlet pipeline 19, a reversing pipeline 12 and an oil return pipeline 21 of the traction robot hydraulic control decoding and reversing system through the hydraulic control pipeline, and a pipeline A14 and a pipeline B13 of the traction robot hydraulic control decoding and reversing system are respectively connected with a pipeline A44, a pipeline B45 or a pipeline C46 and a pipeline D47 of a traction robot supporting cylinder and a telescopic cylinder, and the front end of a continuous oil pipe is connected with the traction force measuring device 52 at the left end of the traction robot. The traction robot takes hydraulic pressure as a power source, and the ground hydraulic signal generation system 53 controls the start and stop of the traction robot through a hydraulic signal. Line E48, line F49, line G50 and line H51 are connected in the same manner to another set of downhole tractor robot pilot-controlled decoding and reversing systems.
The traction force measuring device 52 is internally provided with a tension sensor, a data transmitter and the like, and the traction speed and the traction force of the traction robot can be controlled in real time by monitoring the stress of the traction robot in real time and transmitting the stress to the ground hydraulic signal generating system 53 in real time.
As shown in fig. 1-9, a method of controlling the traction force and the traction speed of a downhole traction robot, comprising the steps of:
S1, a ground hydraulic signal generating system 53 sends out a hydraulic control signal to start a traction robot;
s2, the traction robot pulls the coiled tubing to advance;
S3, in the process of towing the coiled tubing, the towing force measuring device 52 measures the towing force and the well wall surface characteristic information in real time, and transmits the information to the ground hydraulic signal generating system 53 in real time;
s4, the ground hydraulic signal generation system 53 controls the underground traction robot to pull the coiled tubing to advance at the optimal speed according to the traction force measured by the traction force measuring device 52 and the well wall surface characteristic information;
s5, stopping the traction robot from pulling the continuous oil pipe to advance.
The step S2 specifically comprises the following steps:
S21: the traction robot judges factors influencing the traction of the coiled tubing by the traction robot, such as the depth, the tension and the surface characteristics of the well wall, and transmits the information to the ground hydraulic signal generation system 53;
s22: the ground hydraulic signal generation system 53 adjusts the pressure magnitude and sequence of different hydraulic control pipelines according to the signals, and hydraulic information controls the traction robot supporting cylinders (37, 43) and the telescopic cylinders (39, 41) to move through the underground traction robot hydraulic control decoding and reversing system, so that the optimal traction speed of the traction robot and the traction force for traction of the coiled tubing are realized.
The step S4 specifically comprises the following steps:
s41: the traction robot measures the traction force and the well wall characteristics according to the traction force measuring device 52, calculates and analyzes the results of the bending degree of the continuous oil pipe, the roughness degree of the well wall and the like, and transmits the results to the ground hydraulic signal generating system 53 in real time;
s42: the ground hydraulic signal generating system 53 calculates the pressure and the sequence of the pressures needed to be provided for different hydraulic pipelines according to the information, and then controls the hydraulic control decoding and reversing system of the underground traction robot in real time, so as to control the traction speed and the traction force of the traction robot in real time.
As shown in fig. 8, the traction robot is composed of a left support cylinder 37, a left support arm 38, a left telescopic cylinder 39, a control nipple 40, a right telescopic cylinder 41, a right support arm 42, a right support cylinder 43, and a hydraulic control line. The left supporting cylinder 37, the left telescopic cylinder 39, the right telescopic cylinder 41 and the right supporting cylinder 43 respectively correspond to a set of hydraulic control decoding and reversing system of the underground traction robot.
The underground traction robot hydraulic control decoding and reversing system is arranged in the control pup joint 40, the control pup joint 40 controls the traction robot supporting cylinder and the telescopic cylinder, and the basic working process of the traction robot comprises 6 movement processes and 7 movement states.
State a: the right telescopic cylinder 41 pulls the whole robot rightwards, and the left telescopic cylinder 39 drives the left supporting cylinder 37 to move rightwards;
state b: the left support arm 38 performs a supporting action by using the left support cylinder 37;
state c: the right support arm 42 and the right telescopic cylinder 43 contract and move rightward;
state d: the right telescopic cylinder 41 pulls the whole robot to move rightwards;
state e: the right support arm 42 performs a supporting action together with the right support cylinder 43;
state f: the left support arm 38 and the right telescopic cylinder 41 contract and move rightward;
state g: repeating steps a-f.
Taking the example of the downhole traction robot hydraulic control decoding and reversing system controlling the traction force of the downhole traction robot as shown in fig. 1-9, initially (as shown in fig. 1), the pipeline 1 of the ground hydraulic signal generating system 53 (53A in the figure) is connected with the left oil inlet pipeline 20 through a hydraulic pipeline, the pipeline 2 of the ground hydraulic signal generating system 53 (53B in the figure) is connected with the right oil inlet pipeline 19 through a hydraulic pipeline, the pipeline 3 of the ground hydraulic signal generating system 53 (53C in the figure) is connected with the oil return pipeline 21 through a hydraulic pipeline, the reversing pipeline 4 of the ground hydraulic signal generating system 53 (53D in the figure) is connected with the reversing pipeline 12 through a hydraulic pipeline, the pipeline a14 is connected with the pipeline a44 through a hydraulic pipeline, and the pipeline B13 is connected with the pipeline B45 through a hydraulic pipeline.
Firstly, a pipeline 1 (53A in the figure) of a ground hydraulic signal generation system 53 provides hydraulic pressure with a certain size, hydraulic medium enters a hydraulic control decoding and reversing system of the underground traction robot through a left oil inlet pipeline 20, a valve core 5 and a piston 6 move rightwards under the action of hydraulic pressure, when a valve core right channel 3 is communicated with a right oil inlet channel 1, the valve core 5 and the piston 6 stop moving rightwards (at the moment, the piston 6 and a valve core oil outlet channel 29 are in an overlapped state), while the pipeline 1 (53A in the figure) is kept to be supplied with pressure, a pipeline 2 (53B in the figure) of the ground hydraulic signal generation system 53 starts to provide hydraulic pressure with a certain size, the hydraulic pressure enters the hydraulic control decoding and reversing system of the underground traction robot through a right oil inlet pipeline 19, the piston 6 moves leftwards under the action of the hydraulic pressure of the pipeline 2 (53B in the figure), when a certain hydraulic pressure is reached, the valve core 5 moves to the right end limit position and is blocked (as shown in fig. 7), the hydraulic pressure valve core 5 of the pipeline is increased and is not moved rightwards any more, at the moment, the valve oil outlet channel 29 is communicated with the valve body oil outlet channel 30 and the right oil outlet channel 1, the piston 6 is overlapped with the valve core left channel 4, at the moment, whether the pipeline 1 (marked 53A in the figure) is supplied with pressure or not does not act on a hydraulic control decoding and reversing system of the underground traction robot, the pipeline 2 (marked 53B in the figure) is continuously supplied with pressure, the hydraulic medium sequentially passes through the right oil inlet channel 19, the right oil outlet channel 1, the valve core right channel 3, the valve oil outlet channel 29, the valve body oil outlet channel 30, the reversing valve body oil outlet channel A31, the reversing cover oil outlet channel 32 and the pipeline A44 to enter a left cavity of the left supporting cylinder 37, the piston of the left support cylinder 37 moves rightwards under the action of hydraulic pressure force, so that the left support arm 38 supports the well wall, different supporting forces can be provided for the well wall by providing different pressures for the pipeline 2 (marked 53B in the figure), different pulling forces are applied to the continuous oil pipe by the traction robot, the ground hydraulic signal generation system 53 can change the traction force of the traction robot by changing the hydraulic pressure of the pipeline 2 (marked 53B in the figure) in real time according to the information monitored by the traction force measurement device 52, the retraction of the support arm can be realized through the reversing pipeline 4 (marked 53D in the figure), when the traction robot is blocked by rocks, the traction force measurement device 52 transmits the information to the ground hydraulic signal generation system 53, and then the ground hydraulic signal generation system 53 controls the left support arm 38 and the right support arm 42 to retract, so that the recovery of the traction robot is facilitated.
In accordance with the illustrations of fig. 1-9, the downhole tractor control system is used to control the speed of the downhole tractor, as exemplified by the downhole tractor hydraulic control decoding and reversing system, under which conditions the pipeline 2 (53B in the figures) is continuously pressurized and the left support arm 38 supports the borehole wall. At this time, the left oil inlet pipeline 20 of the other underground traction robot hydraulic control decoding and reversing system is connected with the pipeline 1 (53A in the figure) of the ground hydraulic signal generation system 53 through a hydraulic pipeline, the pipeline 2 (53B in the figure) of the ground hydraulic signal generation system 53 is connected with the right oil inlet pipeline 19 through a hydraulic pipeline, the pipeline 3 (53C in the figure) of the ground hydraulic signal generation system 53 is connected with the oil return pipeline 21 through a hydraulic pipeline, the reversing pipeline 4 (53D in the figure) of the ground hydraulic signal generation system 53 is connected with the reversing pipeline 12 through a hydraulic pipeline, the pipeline A14 is connected with the pipeline C46 through a hydraulic pipeline, and the pipeline B13 is connected with the pipeline D47 through a hydraulic pipeline. Similarly, according to the traction control method for controlling the traction robot, the ground hydraulic signal generating system 53 provides hydraulic pressure for the hydraulic control decoding and reversing system of the underground traction robot, the left telescopic cylinder can move rightwards, the traction speed of the traction robot can be controlled by changing the hydraulic pressure provided by the hydraulic control decoding and reversing system of the underground traction robot, the traction force and the traction speed of the underground traction robot can be controlled in a hydraulic control mode by the hydraulic control decoding and reversing system of the underground traction robot, the motion information of the traction robot is transmitted to the ground hydraulic signal generating system 53 in real time through the traction force measuring device 52, and the hydraulic pressure of different pipelines and the sequence of the applied hydraulic pressure are adjusted in real time through the ground hydraulic signal generating system 53, so that the traction force and the traction speed of the traction robot are controlled in a closed loop mode.
The foregoing is illustrative of the present invention and is not to be construed as limiting the scope of the invention. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention, and are intended to be within the scope of this invention.
Claims (4)
1. The utility model provides a traction robot liquid accuse decoding and switching-over system which characterized in that in pit: the valve comprises a valve body (18), a valve core (5), a piston (6), a valve body end cover (7), a valve core end cover (8), a large spring (17), a small spring (9) and a reversing device;
the right end of the inner cavity of the valve body (18) is a closed end, the left end of the inner cavity is an open end, the open end of the valve body (18) is fixedly connected with the valve body end cover (7) in a sealing way, an upper cavity is formed in the outer wall of the upper end of the valve body (18), and the inner cavity is formed in the valve body (18);
The valve core (5) is arranged in the inner cavity, and the outer wall of the valve core (5) is in sliding sealing fit with the inner cavity; the right end of the inner cavity of the valve core (5) is a closed end, the left end is an open end, and the open end of the valve core (5) is fixedly connected with a valve core end cover (8) in a sealing way; one end of the big spring (17) is connected with the right end of the valve core (5), and the other end is fixedly connected with the inner cavity; the piston (6) is arranged in the inner cavity of the valve core (5), one end of the small spring (9) is fixedly connected with the valve core end cover (8), and the other end of the small spring is fixedly connected with the piston (6);
The reversing device comprises a reversing valve body (10), a reversing spring (16), a reversing valve body cover plate (15) and a reversing channel (11), wherein the reversing valve body (10) is positioned in an upper cavity of the valve body (18), the upper cavity is closed through the reversing valve body cover plate (15), the reversing valve body (10) is fixedly connected with one end of the reversing spring (16), and the other end of the reversing spring (16) is fixedly connected in the upper cavity;
an oil return pipeline (21), a pipeline A (14) and a pipeline B (13) are arranged on a reversing valve body cover plate (15), two groups of reversing valve body pipeline openings are arranged on the upper surface of the reversing valve body (10), three reversing valve body pipeline openings are arranged in each group, when the reversing valve body (10) is in an initial state, the three reversing valve body pipeline openings of the first group are respectively communicated with the corresponding oil return pipeline (21), pipeline A (14) and pipeline B (13), the reversing valve body pipeline opening corresponding to the pipeline A (14) is communicated with the valve body oil outlet channel, and the other two reversing valve body pipeline openings are communicated with the channels in the reversing valve body (10); when the reversing valve body (10) is in a reversing working state, the pipeline ports of the reversing valve body of the second group are respectively communicated with the corresponding oil return pipeline (21), the pipeline A (14) and the pipeline B, the pipeline port of the reversing valve body corresponding to the pipeline A is communicated with the valve body oil outlet channel, and the pipeline port of the reversing valve body corresponding to the pipeline A is also communicated with the pipeline port of the reversing valve body communicated with the oil return pipeline (21) through the channel in the reversing valve body (10);
the upper end of the valve body (18) is provided with a valve body oil outlet channel and a reversing channel of the reversing device, an inner cavity of the valve body (18) is communicated with an upper cavity of the reversing valve body (10) through the valve body oil outlet channel, and the reversing channel is communicated with the upper cavity of the left end of the reversing valve body; the lower end of the valve body (18) is provided with a right oil inlet channel and a left oil inlet channel which are communicated with the inner cavity;
The lower end of the valve core (5) is provided with a valve core right channel and a valve core left channel which are respectively matched with the right oil inlet channel and the left oil inlet channel, and the upper end of the valve core (5) is provided with a valve core oil outlet channel which is matched with the valve body oil outlet channel;
The left oil inlet channel (2) is connected to a pipeline 1 (53A) of the ground hydraulic signal generation system (53) through a hydraulic control pipeline, the right oil inlet channel (1) is connected to a pipeline 2 (53B) of the ground hydraulic signal generation system (53) through a hydraulic control pipeline, the oil return pipeline (21) is connected to a pipeline 3 (53C) of the ground hydraulic signal generation system (53) through a hydraulic control pipeline, the reversing channel (11) is connected to a pipeline 4 (53D) of the ground hydraulic signal generation system (53) through a hydraulic control pipeline, and the pipeline A (14) and the pipeline B (13) are connected to a supporting cylinder or a telescopic cylinder of the underground traction robot through hydraulic control pipelines;
When the valve core is in an initial state, the small spring (9) is in a natural extension state, the large spring (17) is in a compression state, and the valve core (5) is positioned at the leftmost end position of the inner chamber of the valve body (18);
When the piston (6) is in an initial state, the piston (6) is not completely overlapped with the valve core left channel (4), and part of the valve core left channel (4) is communicated with a cavity at the left end of the piston (6); the valve core left channel (4) is not completely overlapped with the left oil inlet channel (2), and the valve core left channel (4) is communicated with part of the left oil inlet channel (2); the valve core oil outlet channel (29) is communicated with the valve core right channel 3, and the valve core oil outlet channel (29) is not communicated with the valve body oil outlet channel;
The first group of reversing valve body pipeline ports comprise a reversing valve body pipeline port D (27), a reversing valve body pipeline port E (25) and a reversing valve body pipeline port F (26), and the reversing valve body pipeline port E (25) and the reversing valve body pipeline port F (26) are communicated through a channel in the reversing valve body; when the reversing valve body is in an initial state, the reversing valve body (10) is positioned at the leftmost end of the upper chamber, the upper end of a reversing valve body pipeline port D (27) is communicated with the pipeline A (14), the lower end of the reversing valve body pipeline port D is communicated with the valve body oil outlet channel (30), the reversing valve body pipeline port E (25) is communicated with the oil return pipeline (21), and the reversing valve body pipeline port F (26) is communicated with the pipeline B (13);
The second group of reversing valve body pipeline ports comprise a reversing valve body pipeline port A (22), a reversing valve body pipeline port B (23) and a reversing valve body pipeline port C (24), and the reversing valve body pipeline port A (22) and the reversing valve body pipeline port B (23) are communicated through a channel in the reversing valve body; when the reversing valve body is in a reversing working state, the reversing valve body (10) moves rightwards under the hydraulic force action of the reversing channel (11), the reversing spring (16) is in a compressed state, the upper end of the reversing valve body pipeline A (22) is communicated with the pipeline A (14), the lower end of the reversing valve body pipeline A is communicated with the valve body oil outlet channel (30), the reversing valve body pipeline B (23) is communicated with the oil return pipeline (21), the reversing valve body pipeline C (24) is communicated with the pipeline B (13), and the right end of the reversing valve body (10) is limited by the reversing valve baffle (28);
when the hydraulic control decoding and reversing system is in a decoding state, a reversing valve body (10) is positioned at the leftmost end of a cavity on a valve body (18), a valve core (5) is positioned at the right end of an inner cavity of the valve body (18), a large spring (17) and a small spring (9) are positioned in a compression state, a piston (6) and a valve core left channel (4) are in a complete superposition state, a valve core oil outlet channel (29) is communicated with a valve body oil outlet channel (30), a valve core right channel (3) is communicated with a right oil inlet channel 1, a hydraulic medium sequentially passes through the right oil inlet channel (19), the right oil inlet channel 1, the valve core right channel (3), the inner cavity of the valve core (5), the valve core oil outlet channel (29), the valve body oil outlet channel (30), a reversing valve body oil outlet channel (31), a reversing cover plate oil outlet channel (32), a pipeline A (14) and a hydraulic control pipeline enter a supporting cylinder or a telescopic cylinder of a downhole traction robot.
2. The downhole traction robot pilot-operated decoding and reversing system of claim 1, wherein: two reversing valve baffles (28) are arranged in the upper chamber of the valve body, the reversing valve baffles (28) are arranged at the right end of the upper chamber, and the two reversing valve baffles (28) are arranged in pairs.
3. The downhole traction robot pilot-operated decoding and reversing system of claim 2, wherein: the left oil inlet channel is connected with a left oil inlet pipeline (20), and the left oil inlet pipeline (20) is connected to a first pipeline of the ground hydraulic signal generation system through a hydraulic control pipeline; the right oil inlet channel is connected with a right oil inlet pipeline (19), and the right oil inlet pipeline (19) is connected to a second pipeline of the ground hydraulic signal generation system through a hydraulic control pipeline.
4. A downhole traction robot pilot-operated decoding and reversing system according to claim 3, wherein: three reversing cover plate oil outlet channels (32) are arranged on the reversing valve body cover plate (15) in a penetrating mode, and an oil return pipeline (21), a pipeline A (14) and a pipeline B (13) are respectively connected to the three cover plate oil outlet channels (32).
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| CN108868603A (en) * | 2018-05-21 | 2018-11-23 | 西南石油大学 | Extended horizontal well coiled tubing drilling robot |
| CN113882833A (en) * | 2021-12-06 | 2022-01-04 | 东营市福利德石油科技开发有限责任公司 | Underground multi-layer control decoding device |
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- 2022-05-31 CN CN202210605577.XA patent/CN114857119B/en active Active
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| US6092610A (en) * | 1998-02-05 | 2000-07-25 | Schlumberger Technology Corporation | Actively controlled rotary steerable system and method for drilling wells |
| CN106286440A (en) * | 2016-09-30 | 2017-01-04 | 西南石油大学 | A kind of control system of telescopic downhole tractor based on hydraulic control |
| CN107477306A (en) * | 2017-08-17 | 2017-12-15 | 西南石油大学 | A kind of electrohydraulic control system of coiled tubing traction robot |
| CN108868603A (en) * | 2018-05-21 | 2018-11-23 | 西南石油大学 | Extended horizontal well coiled tubing drilling robot |
| CN113882833A (en) * | 2021-12-06 | 2022-01-04 | 东营市福利德石油科技开发有限责任公司 | Underground multi-layer control decoding device |
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