CN202788704U - Electrically-controlled hydraulic-driven coiled tubing downhole tractor - Google Patents

Electrically-controlled hydraulic-driven coiled tubing downhole tractor Download PDF

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Publication number
CN202788704U
CN202788704U CN 201220404293 CN201220404293U CN202788704U CN 202788704 U CN202788704 U CN 202788704U CN 201220404293 CN201220404293 CN 201220404293 CN 201220404293 U CN201220404293 U CN 201220404293U CN 202788704 U CN202788704 U CN 202788704U
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CN
China
Prior art keywords
slips
fluid cylinder
cylinder
traction
slip pipe
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Expired - Fee Related
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CN 201220404293
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Chinese (zh)
Inventor
侯学军
高德利
沈忠厚
谭春飞
房军
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China University of Petroleum Beijing CUPB
Chongqing University of Science and Technology
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China University of Petroleum Beijing CUPB
Chongqing University of Science and Technology
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Priority to CN 201220404293 priority Critical patent/CN202788704U/en
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Abstract

The utility model belongs to the field of oil and gas exploration and particularly relates to an electrically-controlled hydraulic-driven coiled tubing downhole tractor. The electrically-controlled hydraulic-driven coiled tubing downhole tractor comprises an upper slips support and traction system, a central sliding pipe assembly, a control system and a lower slips support system. The upper slips support and traction system is sleeved on the upper portion of the central sliding pipe assembly and can slide up and down along the central sliding pipe assembly. The control system and the lower slips support system are fixed on the lower portion of the central sliding pipe assembly. The electrically-controlled hydraulic-driven coiled tubing downhole tractor is good in control flexibility and suitable for downhole traction operation in a slim hole, can ensure normal downhole liquid circulation in the traction process, is strong in flexible bending adaptive capacity and good in stability in the traction process, and can achieve bi-directional traction. Most of tractors in the country can only achieve one-way traction movement. Moreover, the electrically-controlled hydraulic-driven coiled tubing downhole tractor can smoothly pull a pipe column to carry out taking-out operation and inserting operation, is good in flexibility, and can achieve effective power-off protection.

Description

A kind of Electro-hydraulic drive coiled tubing downhole tractor
Technical field
The utility model belongs to the oil and gas development field, particularly, relate to a kind of Electro-hydraulic drive coiled tubing downhole tractor, be used for the multiple underground work engineerings such as coiled tubing drilling, completion, well logging, well workover, help coiled tubing in the down-hole, especially in slim-hole, extended reach well, horizontal well, can be lowered to smoothly and take out the coiled tubing of longer distance.
Background technology
Because the coiled tubing purposes is very extensive: can be used to clean pipeline, the flushing sand plug, wax removal, selective acidizing, product is asked in gaslift, the squeeze method shutoff, kill-job, underbalance perforating, well testing, the displacement drilling fluid, high-angle borehole logging, horizontal wellbore logging, completion, salvage, remove and set the expansion type dispenser, bore plug, the grinding fish, permanent installation is as producing pipe, the shaft bottom shooting, little experience drilling well, secondary drilling well and intensification drilling well, casing window sidetracking, oil pipe subsidies etc. can be carried out horizontal well drilling, the cased hole drilling well, the open hole well drilling well, deepen drilling well, slimhole drilling, the Microdrilling drilling well, old well window sidetracking, under balance pressure drilling and well workover, the operations such as completion; The characteristics such as coiled tubing drilling has low cost, low energy consumption, safety and environmental protection, have wide range of applications, can improve the difficulties such as old filed, " low pressure, hypotonic, low yield " three low oil-gas reservoirs and employ the development benefit of oil-gas reservoir, especially aspect the exploration and development of unconventional gas reservoir, tight gas, shale gas and the coal bed gas etc. of China, have a wide range of applications.But coiled tubing underground work technology exists urgent problem: coiled tubing does not rotate in well when one, drilling well, transfers to be hampered seriously, and the pressure of the drill applies difficulty.Two, the coiled tubing down-hole is hampered, and extends the well length limited, and especially when boring high angle hole, directional well, horizontal well, deep-well, the slide problem that is hampered of coiled tubing down-hole is even more serious.For addressing these problems, the petroleum drilling and mining industry has designed multiple downhole tractor,
Downhole tractor is the down-hole crawl device, also is down-hole climbing mechanism, underground tractor, downhole tractor device people, downhole hydraulic pressurizer, downhole drill bit propeller etc., is a kind of a kind of downhole tool that tractive force can be provided in the shaft bottom.Downhole tractor can be divided into roller creeping-type, crawler belt creeping-type (track-mounted) and grab three kinds of arm rest telescopic slide formulas (step-by-step movement) by its motion principle, wherein wheeled appearance the earliest, telescopic taking second place, crawler type is the latest.The traction crawl device can be divided into hybrid three kinds of continuous pipe type (Coiled Tubing Tractor), cable type (Wireline Tractor) and continuous-tube cable by its energy source.Wherein continuous pipe type traction crawl device is connected with continuous-tube at its afterbody, and ground pumps into highly pressurised liquid by continuous-tube, and the inner turbine mechanism of high pressure liquid drives traction crawl device is for whole traction crawling device provides energy.Cable type traction climbing mechanism then is to obtain energy by being connected to its tail cable from ground.Continuous-tube cable mixed traction climbing mechanism then both can pump into highly pressurised liquid by ground provides energy drives, can drive by the cable transfer electric energy again.
In the later stage nineties 20th century, external many companies have developed in succession can be at the horizontal well draw-gear (namely cable puller) of down-hole independently working.Through development for many years, up to the present, representational tractor product mainly comprises: the wheeled tractor of the Well Tractor of Denmark Welltec company, the wheeled tractor of Sondex of Britain Sondex Co., Ltd, the wheeled tractor of PowerTrac Advance of Norway Maritime Well Service (MWS) company, PowerTrac INVADER crawler type tractor, the telescopic tractor of SmarTract of Britain ExproGroup company, the telescopic tractor of MaxTRAC of France Schlumberger company, the telescopic tractor of Microhole Drilling Tractor of U.S. Western Well Tool company.Wherein the telescopic tractor of Microhole Drilling Tractor of U.S. Western Well Tool company be the coiled tubing formula by ground cleaner for high-pressure drilling fluid tractor that drive, that can be used for slim-hole, the ground circulation of drilling fluid of can remaining valid during work; Remaining tractor mostly is wheeled or crawler type, and Outside Dimensions is larger, is only applicable to large hole, connects with cable or wire rope, and electricity drives, and tractive force is less, can not carry out effective circulation of drilling fluid during work, the application of the industry that is generally limited to log well.
But no matter be the sort of tractor, for domestic, all taked strict technical know-how measure abroad, cause domestic research to downhole tractor also to be in the infancy: from August, 2002, Tarim Oilfield is by the mode of technological cooperation, adopt the downhole tractor technology to carry out the exploration of horizontal well industry profile logging, obtained certain effect.After this, domestic minority scientific research institutions have also carried out the research of downhole tractor in succession, mainly contain China University Of Petroleum Beijing, Harbin Institute of Technology, Southwest Petroleum Institute, Daqing Petroleum Institute, Xi'an Petroleum University etc., also applied for the patent of some tractors, but some shortcomings of these tractors existence more or less, and mostly be confined to utilize circulation fluid to compress into row and drive control, directly do not carry out with servo step motor that tractor drives with control, can not satisfy preferably the requirement of underground work.
The people such as the Gao Jinwei of China University Of Petroleum Beijing, Liu Meng are at document (Gao Jinwei, Liu Meng, Yan Xiangzhen. wheeled self-adapting pipe crawl device under the Horizontal Well: the structural concept that has proposed a kind of wheeled drag device China), and applied for utility model patent (200520008070.8.2006-08-16, puller reducing draught device of horizontal borehole of quill); Harbin Institute of Technology also developed the wheeled drag device of a cable (Tang Dewei, Wang Xinjie, Deng Zongquan. Driver of horizontal oil well detecting instruments. the journal .2007 of Harbin Institute of Technology, 39 (9): 1395-1397), and carried out ground experiment; The Zhu Lin of Xi'an Petroleum University, the flat designed, designed of Wu Song a kind of wheeled tractor (Zhu Lin, Wu Songping. the design of horizontal wellbore logging instrument traction crawl device. New Technologies, 2007, (12): 32-34); Liaohe Petroleum Exploration Bureau has proposed to have the wheeled tractor (200720190260.5 of independent intellectual property right, puller reducing draught device of horizontal borehole of quill), and the underground trials that probing Logging Company in Great Wall in 2008 has carried out the tractor of its development at the four-hole horizontal well of Liaohe Oil Field, also some other scientific research institutions has also carried out the research of wheeled tractor related fields, but these tractors have some common ground: all be wheeled tractor, all be that cable connects without circulation, it all is well logging, the little underground work of the tractive force such as well workover tractor, therefore there are a lot of defectives, major defect is as follows: (one) wheeled tractor overall structure is not compact, outside dimension is large, be only applicable to large hole, can not be applicable to towage under the slim hole well, it is limited in one's ability to adapt to caliber; (2) electricity that relies on cable or wire rope to connect drives, and can not effectively connect coiled tubing and drive and realize effective circulation of drilling fluid by ground hydraulic; (3) tractive force is less, is only applicable to draw logging cable or wire rope etc.; (4) major part can not realize bi-directional drive.
Shao of Daqing Petroleum Institute keeps monarch, Chang Yulian proposed a kind of lock piston type walking of rising telescopic drag device (Shao Shoujun. based on the oil well fault-finding robot research of virtual prototype. the Master's thesis .2007:5 of Daqing Petroleum Institute~7) mainly by electric component, hydraulic package, upper support walking assembly, lower support walking assembly and probe assembly form, by solenoid operated directional valve four hydraulic cylinders are controlled, make, lower support walking assembly is realized alternately stretching or withdrawal on request, stretch out and indentation, thereby realize independently advancing, but there is very large defective in this tractor: (one) tractive force is less, theoretical maximum is 5000N only, be only applicable to draw logging cable or wire rope etc., can't realize drawing coiled tubing carries out underground work; (2) power drive motors to make hydraulic mechanism carry out work with stube cable to electric component, the circulation of drilling fluid passage is not provided in the tractor, can't realize the Efficient Cycle of down-hole liquid and ground in the operation process; (3) support system and directive wheel partly adopt linkage, so that structure is not compact, the tractor external diameter is larger, the borehole diameter that can be suitable for be limited in scope (Φ 90-Φ 130mm).
Effect China is wished by Southwest Petrol University, Hu Zhiqiang, (201110081197.2 of the application such as Shi Changshuai, continuous oil pipe crawler and the method for creeping thereof) continuous oil pipe crawler and the method for creeping thereof be by front crawling device, controller and rear crawling device form, although be to adopt coiled tubing to connect, utilize the ground hydraulic device to drive, but the obvious Shortcomings part of this patent: two traction fluid cylinders carried out traction drive and control about (one) traction element adopted, so that traction element is long, supporting mechanism adopts single fluid cylinder to drive and spring reverse motion, so that the tractor fluid pressure line is complicated, minimum applicable borehole diameter is larger, is not suitable for drawing in slim-hole and advances; (2) because coiled tubing underground work makes the interior cyclic pressure dissipation of coiled tubing larger, adopt pure hydraulic-driven and control, tractor inside and outside differential pressure minimum value there is certain requirement, could drive the tractor normal operation after only having the ground pump pressure to reach certain value, so that this tractor is larger to the ground pressure dependence, traction control is dumb; (3) just propose to drive control concept with hydraulic pressure, but do not provide the pipeline embodiment of concrete hydraulic-driven and control; (4) supporting mechanism pole structure so that the minimum applicable borehole diameter of tractor is larger, is not suitable in slim-hole or towage in the Microdrilling;
Along with downhole tractor is used increasingly extensive, the petroleum drilling and mining industry has been introduced multiple downhole tractor product and has been carried out underground work from external, although domestic research to tractor is started late, and only limit to the research of the single drivings such as the wheeled downhole tractor of motor, hydraulic-driven continuous-tube downhole tractor, pure mechanical cam formula downhole tractor, and all there is a defective, do not have ripe product to move towards market, can not satisfy preferably the requirement of underground work.Main cause by:
(1) the downhole tractor technology has been taked strict technical know-how measure abroad, so that the research of domestic tractor is in the independent research state fully;
(2) domestic tractor research is limited to the research of the single drivings such as the wheeled downhole tractor of motor, hydraulic-driven continuous-tube downhole tractor, pure mechanical cam formula downhole tractor;
(3) research of domestic tractor is limited to well logging usefulness, and other underground work tractors researchs such as drilling well are less, is applied to that the tractor of slim-hole or the towage of Microdrilling down-hole is domestic also not to be had;
(4) domestic tractor: the valve of single hydraulic-driven control usefulness is more, and structure is complicated, and poor stability presses dependence larger to the ground front pump;
(5) the tractor braced structures adopts pole structure, and applicable minimum outer diameter is large, can not adapt to slim-hole or Microdrilling job requirements;
(6) tractor adopts a plurality of fluid cylinder traction drive simultaneously, makes minimum length grow, can not satisfy down-hole flexible job requirement;
(7) tractor can only realize that unidirectional downward traction enters well, can not bivector traction;
(8) the tractor support system adopts two-way fluid cylinder to drive, and has increased difficulty and the complexity of hydraulic valve control;
(9) tractor of hydraulic-driven control just provides concept, does not have the embodiment of concrete hydraulic-driven and control, does not have experimental prototype, does not also have matured product;
(10) mostly lay particular emphasis on trailing cable, wire rope or other downhole tools, do not have the circulation pipe passage, can not carry out ground and down-hole liquid Efficient Cycle during operation.
The utility model content
For overcoming the defective of prior art, the purpose of this utility model provides a kind of Electro-hydraulic drive coiled tubing downhole tractor, it utilizes electronic control module control servomotor to make two five position-5 way valves accurately control hydraulic circuit, and other valves of cooperation control, realize that effective hydraulic-driven tractor is lowered to smoothly and takes out at down-hole traction Coiled Tubing, solved because of coiled tubing larger at the down-hole frictional resistance, be lowered to and take out difficulty, the pressure of the drill and the technical barrier such as be difficult to apply, it is longer that coiled tubing can be extended in the down-hole.
In order to achieve the above object, the utility model adopts following scheme:
A kind of Electro-hydraulic drive coiled tubing downhole tractor comprises upper slips support and trailer system, center slip pipe assembly, control system, lower slips support system; It is characterized in that: upper slips supports the top that slides over center slip pipe assembly with trailer system, can slide up and down along center slip pipe assembly; Control system, lower slips support system are fixed on the bottom of center slip pipe assembly.
Preferably, above-mentioned center slip pipe assembly comprises center slip pipe, circulation fluid filtration device, lower center slip pipe; Upper center slip pipe is processed with respectively the first upper slips fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping along tube wall; Be processed with the traction liquid cylinder piston on the slip pipe of upper center, the upper outlet of upper traction fluid cylinder pressure piping and lower traction fluid cylinder pressure piping lays respectively at the up and down both sides of traction liquid cylinder piston, and two traction fluid cylinder piston seals, a traction fluid cylinder piston displacement sensor, a traction fluid cylinder differential pressure pickup are installed on the traction liquid cylinder piston; Slip pipe lower end, upper center is processed with the external screw thread that is tightly connected, lower end surface is provided with the circular orientation flange;
The upper end end face of lower center slip pipe is provided with the circular orientation flange, is processed with external screw thread near the upper end of lower center slip pipe, is processed with lower slips fluid cylinder pressure piping in the slip pipe tube wall of lower center;
There is the circular orientation groove at the up and down two ends of circulation fluid filtration device, circulation fluid filtration device upper end is tightly connected with upper center slip pipe by circular orientation groove and two circulation fluid filtration device sealings, and circulation fluid filtration device lower end is tightly connected with lower center slip pipe by circular orientation groove and two circulation fluid filtration device sealings.
Preferably, above-mentioned upper slips supports with trailer system and comprises upper slips bearing, upper slips, upper slips support set, upper slips fluid cylinder lid, upper slips return spring holder, upper slips back-moving spring, upper fluid cylinder housing, traction fluid cylinder cap.
Preferably, above-mentioned upper slips bearing slides on the slip pipe of upper center by the cylinder endoporus, between upper slips bearing and the upper center slip pipe upper slips bearing scraper is installed; Upper slips bearing lower end excircle is to uniform three cover slips Fixed latches groove and pin holes;
Upper fluid cylinder housing slides on the slip pipe of upper center by the through hole at middle part, forms superposed upper slips fluid cylinder and the traction fluid cylinder that is positioned at the bottom between upper fluid cylinder housing and the upper center slip pipe; The external diameter of upper slips fluid cylinder housing external diameter little, the traction fluid cylinder housing is large; Seal by the housing seal of two upper slips fluid cylinders between upper fluid cylinder housing and the upper center slip pipe; Upper fluid cylinder housing middle part is along excircle to uniform three cover slips Fixed latches groove and pin holes; The upper end of upper slips fluid cylinder housing is processed with internal thread; The lower end of traction fluid cylinder housing is processed with internal thread;
Upper slips is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is triangular ramp the centre, and there is parallel pin hole at two ends; The upper end of three upper slipses is fixed in the cover slips Fixed latches groove of three on the upper slips bearing and the pin hole by three cover upper slips steady pins, and the lower end of three upper slipses is fixed on the upper fluid cylinder housing by three cover upper slips steady pins;
Upper slips fluid cylinder lid lower end is provided with the closed type external screw thread, and upper slips fluid cylinder lid slides on the cylinder of upper slips support set core by intermediate throughholes, and the sealing of two upper slips lids is installed between the core cylinder of upper slips fluid cylinder lid and upper slips support set; Upper fluid cylinder housing upper end is threaded with upper slips fluid cylinder lid;
Slips support set core is cylinder, and the upper slips support set slides on the slip pipe of upper center by the core cylinder, and upper slips support set lower end is processed with the upper slips liquid cylinder piston, and the upper slips liquid cylinder piston places in the upper slips fluid cylinder; On the cylinder top of upper slips support set along three panes with triangular ramp of the uniform welding of excircle direction, triangular ramp is radially outside, and match with triangular ramp on three upper slipses, a upper slips liquid cylinder piston displacement transducer and four upper slips liquid cylinder pistons sealings are installed on the upper slips liquid cylinder piston;
The upper slips return spring holder is the middle thin-walled cup type cylinder that through hole is arranged, the cup end, upwards is resisted against the upper slips fluid cylinder and covers, the upper slips back-moving spring is helical spring, upper slips back-moving spring seating is interior aerial the upper slips return spring holder, upper slips back-moving spring upper end withstands on the bottom surface, upper end of upper slips return spring holder, upper slips back-moving spring lower end withstands on the end face of upper slips liquid cylinder piston, and upper slips back-moving spring and upper slips return spring holder slide on the cylinder of upper slips support set core together;
Traction liquid cylinder piston on the slip pipe of upper center is positioned at the traction fluid cylinder, and will draw fluid cylinder and be divided into traction fluid cylinder and lower traction fluid cylinder; The traction fluid cylinder cap is the middle heavy wall short cylinder that through hole is arranged, and the traction fluid cylinder cap slides over the bottom of upper center slip pipe by intermediate throughholes, and the upper end is provided with the closed type external screw thread, and traction fluid cylinder housing lower end and traction fluid cylinder cap upper end are threaded connection; Seal by two traction fluid cylinder cap sealings between traction fluid cylinder cap and the upper center slip pipe.
Preferably, above-mentioned control system comprises control system housing, motor module, fluid pressure line module, electronic control module.
Preferably, above-mentioned control system housing is the cylinder that internal cavities is arranged, the upper end of control system housing has internal thread, lower end and all has internal thread, control system housing upper end is connected with external screw thread on the slip pipe of upper center by internal thread, and control system housing lower end is connected with external screw thread on the slip pipe of lower center by internal thread; Motor module, fluid pressure line module, electronic control module are installed in the control system housing cavity from top to bottom successively.
Preferably, above-mentioned lower slips support system comprises lower slips bearing, lower slips, lower slips support set, lower slips fluid cylinder lid, lower slips return spring holder, lower slips back-moving spring, lower slips fluid cylinder housing.
Preferably, above-mentioned lower slips bearing slides on the slip pipe of lower center by through hole, between lower slips bearing and the lower center slip pipe lower slips bearing scraper is installed; Outside, lower slips bearing upper end three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference;
Lower slips fluid cylinder housing slides on the slip pipe of lower center by manhole, be provided with the housing seal of two upper slips fluid cylinders between lower slips fluid cylinder housing and the lower center slip pipe, seal by the housing seal of two upper slips fluid cylinders in the middle of lower slips fluid cylinder housing and the lower center slip pipe; Lower slips fluid cylinder housing upper end inner headed face has internal thread, and lower slips fluid cylinder housing links to each other with lower center slip pipe by internal thread; Lower slips fluid cylinder housing intermediary outside three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference;
Lower slips is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is the triangular pyramidal inclined-plane centre, and there is parallel pin hole at two ends; Three lower slips lower ends circumferentially are fixed on the lower slips bearing by three groups of lower slips steady pins in uniform way; The upper end of three lower slipses is fixed in the slips Fixed latches groove and pin hole of lower slips fluid cylinder housing by three cover lower slips steady pins respectively;
Lower slips support set core is cylinder, three panes that the triangular pyramidal inclined-plane is arranged of uniform welding along the circumferential direction in the cylinder bottom, and the triangular pyramidal inclined-plane is radially outside, and matches with each triangular pyramidal inclined-plane on three lower slipses; Lower slips support set upper end is processed with the lower slips liquid cylinder piston, and the lower slips liquid cylinder piston places in the lower slips fluid cylinder; A lower slips liquid cylinder piston displacement transducer and four lower slips liquid cylinder piston sealings are installed on the lower slips liquid cylinder piston, and the lower slips support set is that cylinder slides on the slip pipe of lower center by core; The lower slips liquid cylinder piston can promote the lower slips support set and do at lower center slip pipe and endwisely slip under the fluid cylinder thrust;
Lower slips fluid cylinder lid slides on the cylinder of lower slips support set core by intermediate throughholes, and the sealing of two lower slips lids is installed between the core cylinder of lower slips fluid cylinder lid and lower slips support set; The lower slips fluid cylinder covers end the closed type external screw thread;
The lower slips return spring holder abutted against the lower slips fluid cylinder downwards and covers for the middle cup type cylinder that through hole is arranged, the cup end, and lower slips back-moving spring seating slides on the cylinder of lower slips support set core in the lower slips return spring holder together; Lower slips back-moving spring lower end seating is on the lower slips return spring holder, and lower slips back-moving spring upper end is resisted against the bottom surface of lower slips liquid cylinder piston.
Preferably, above-mentioned control system housing lower end surface is provided with annular seal groove; There is annular seal groove lower slips fluid cylinder housing upper surface, and lower slips fluid cylinder housing upper end end face is tightly connected by sealing ring and control system housing lower end surface.
Preferably, above-mentioned lower slips fluid cylinder pressure piping upper end links to each other with electronic control module, and the lower end links to each other with lower traction fluid cylinder; Lower slips fluid cylinder pressure piping is used for to lower slips fluid cylinder input and output liquid; The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, traction fluid cylinder pressure piping, the lower end outlet of traction fluid cylinder pressure piping is all at the lower end periphery of upper center slip pipe, and is connected with the fluid pressure line module respectively.
The utility model compared with prior art, the advantage that has has:
(1) flexibility of tractor control is better: the tractor of domestic research mainly stresses hydraulically powered wheeled and telescopic, and is higher to the hydraulic pressure dependence, the drive system more complicated; The utility model tractor adopts hydraulic-driven, the method that cooperates electronic control module, the integrated control of servomotor, reduce the complexity of the pipeline of pure hydraulic control, no matter surface pump is pressed with much, as long as have pressure reduction and energising inside and outside the downhole tractor, just can start tractor work, simultaneously, the liquid in-out valve adopts five-way five position switching valves, can accurately control spool position by servo step motor, adjust the terminal valve size, the control flow, reach the purpose of flexible control hauling speed, the flexibility of control is better.
(2) tractor is applicable to towage under the slim hole well: the support system of domestic a lot of tractors adopts link supports structure or pipe wheeled construction, so that minimum applicable borehole diameter is larger, is not suitable for the small diameter borehole towage; The support system that the utility model tractor adopts is inclined-plane slip extrapolation slips expansion type structure, and support section is compact, has effectively reduced the minimum applicable borehole diameter of tractor, makes tractor can be applicable to the down-hole towage of slim-hole even Microdrilling.
(3) can guarantee normal down-hole liquid circulation in the distraction procedure: the most domestic tractor is the well logging tractor, can not guarantee the circulation of normal drilling fluid or flushing fluid in the work; The utility model tractor is reserved inner cycle channel, can effectively guarantee Fluid Circulation in the underground work process.
(4) flexible bending is adaptable in the distraction procedure: most domestic hydraulic-driven tractor adopts biliquid cylinder bi-directional drive, and the tractor entire length is longer; The utility model tractor list fluid cylinder bivector traction drives, and the tractor entire length shortens greatly, has strengthened the flexible bending adaptive capacity of tractor in the operation of down-hole.
(5) tractor good stability: the most domestic tractor does not have outage or the automatic safety device during without hydraulic pressure, and support system often adopts two support arms to support, easily upset; The utility model tractor support system adopts unidirectional single fluid cylinder to drive and spring reverse motion, can rely on acting force of the spring automatic drawing back slips in outage or in without the situation of pump pressure, reduces the generation of the complex situations such as tractor down-hole bit freezing; Promptly slips one-tenth is axially uniform three in each support system, makes tractor be not easy upset, good stability.
(6) tractor can be realized bivector traction: the most domestic tractor can only be realized unidirectional pulling motion; The utility model tractor can draw smoothly tubing string and take out and be lowered to operation, and flexibility is good.
(7) tractor can be realized effectively power-off protection: the most domestic tractor can not be realized effective power-off protection; The utility model tractor makes the lower slips can automatic drawing back under action of reset spring in the time of cutting off the power supply in the down-hole, the rear slips that effectively prevents from cutting off the power supply supports the generation of the down hole problems such as bit freezing of the borehole wall.
Description of drawings
Fig. 1 is that Electro-hydraulic drive coiled tubing downhole tractor master looks schematic diagram;
Fig. 2 is Electro-hydraulic drive coiled tubing downhole tractor schematic top plan view;
Fig. 3 a be Electro-hydraulic drive coiled tubing downhole tractor upper slips when opening the first half along A-A generalized section among Fig. 2;
The first half was along A-A generalized section among Fig. 2 when Fig. 3 b was Electro-hydraulic drive coiled tubing downhole tractor upper slips closure;
Fig. 4 a be Electro-hydraulic drive coiled tubing downhole tractor upper slips when opening the latter half along A-A generalized section among Fig. 2;
The latter half was along A-A generalized section among Fig. 2 when Fig. 4 b was Electro-hydraulic drive coiled tubing downhole tractor upper slips closure;
Fig. 5 is that Electro-hydraulic drive coiled tubing downhole tractor is along B-B generalized section among Fig. 4 a;
Fig. 6 (descends) slips spider and the main schematic diagram of looking on the Electro-hydraulic drive coiled tubing downhole tractor;
Fig. 7 is that upper (descending) slips spider of Electro-hydraulic drive coiled tubing downhole tractor is along C-C generalized section among Fig. 6;
Fig. 8 is that Electro-hydraulic drive coiled tubing downhole tractor upper slips and lower slips master look schematic diagram;
Fig. 9 is Electro-hydraulic drive coiled tubing downhole tractor upper slips and lower slips schematic top plan view;
Original state schematic diagram when Figure 10 a is the work of Electro-hydraulic drive coiled tubing downhole tractor;
Figure 10 b is that Electro-hydraulic drive coiled tubing downhole tractor upper slips closure is left borehole wall schematic diagram;
Figure 10 c is Electro-hydraulic drive coiled tubing downhole tractor upper slips and the whole traction downwards of traction fluid cylinder schematic diagram;
Figure 10 d is that Electro-hydraulic drive coiled tubing downhole tractor upper slips opens promptly borehole wall schematic diagram;
Figure 10 e is that Electro-hydraulic drive coiled tubing downhole tractor lower slips closure is left borehole wall schematic diagram;
Figure 10 f is that Electro-hydraulic drive coiled tubing downhole tractor center slip pipe and lower slips integral body move down schematic diagram;
Figure 10 g is that Electro-hydraulic drive coiled tubing downhole tractor lower slips opens promptly borehole wall schematic diagram;
Among the figure: 1, upper slips support system, 2, center slip pipe assembly, 3, control system, 4, the lower slips support system; 21, traction fluid cylinder housing, 22a, external screw thread, 23b, internal thread, 23, the traction fluid cylinder cap, 24, the sealing of traction fluid cylinder cap; 31, control system housing, 32, motor module, 33, the fluid pressure line module, 34, electronic control module, 35, sealing ring, 36, the circulation fluid filtration device, 37, the sealing of circulation fluid filtration device, 38a, external screw thread, 38b, internal thread; 111, upper center slip pipe, 112, traction fluid cylinder pressure piping, 113, traction liquid cylinder piston, 114, traction fluid cylinder pressure piping, 115, traction fluid cylinder piston seal, 116, traction fluid cylinder piston displacement sensor, 117, traction fluid cylinder differential pressure pickup, 118, the first upper slips fluid cylinder pressure piping, the 119, second upper slips fluid cylinder pressure piping; 121, upper slips bearing, 122, upper slips bearing scraper, 123a, upper slips Fixed latches groove and pin hole, 123b, upper slips steady pin, 124, upper slips, 125, the upper slips support set; 131, upper slips fluid cylinder lid, 132, the sealing of upper slips lid, 133a, external screw thread, 133b, internal thread, 134, the upper slips return spring holder, 135, the upper slips back-moving spring; 141, upper slips liquid cylinder piston, 142, upper slips liquid cylinder piston displacement transducer, 143, the sealing of upper slips liquid cylinder piston, 144, the upper slips fluid cylinder, 145, upper fluid cylinder housing, 146, the housing seal of upper slips fluid cylinder; 411, lower center slip pipe, 412, lower slips fluid cylinder pressure piping, 413a, external screw thread, 413b, internal thread; 421, lower slips bearing, 422, lower slips bearing scraper, 423a, upper slips Fixed latches groove and pin hole, 423b, lower slips steady pin, 424, lower slips, 425, the lower slips support set; 431, lower slips fluid cylinder lid, 432, the sealing of lower slips lid, 433a, external screw thread, 433b, internal thread, 434, the lower slips return spring holder, 435, the lower slips back-moving spring; 441, lower slips liquid cylinder piston, 442, lower slips liquid cylinder piston displacement transducer, 443, the sealing of lower slips liquid cylinder piston, 444, the lower slips fluid cylinder, 445, lower slips fluid cylinder housing, 446, the housing seal of lower slips fluid cylinder.
The specific embodiment
As shown in Figure 1, Electro-hydraulic drive coiled tubing downhole tractor comprises that upper slips supports and trailer system 1, center slip pipe assembly 2, control system 3, lower slips support system 4.Upper slips supports the top that slides over center slip pipe assembly 2 with trailer system 1, can slide up and down along center slip pipe assembly 2; Control system 3, lower slips support system 4 are fixed on the bottom of center slip pipe assembly 2.The Main Function that upper slips supports with trailer system 1 is: promptly the borehole wall supports tractor and produces axial friction provides reaction force for the tractive force of tractor.The Main Function of control system 3 is by receiving ground signal, control downhole tractor working.The Main Function of lower slips support system 4 is: promptly the borehole wall supports tractor and produces axial friction provides reaction force for the tractive force of tractor.
Such as Fig. 1-2,3a, 3b, 4a, shown in the 4b, center slip pipe assembly 2 comprises: upper center slip pipe 111, circulation fluid filtration device 36, lower center slip pipe 411.
Such as Fig. 1-2,3a, shown in the 3b, upper center slip pipe 111 is a Circular Pipe, and upper center slip pipe 111 is processed with respectively the first upper slips fluid cylinder pressure piping 118, the second upper slips fluid cylinder pressure piping 119, upper traction fluid cylinder pressure piping 112, lower traction fluid cylinder pressure piping 114 along tube wall; Be processed with the larger traction liquid cylinder piston 113 of diameter on the upper center slip pipe 111, the upper outlet of upper traction fluid cylinder pressure piping 112 and lower traction fluid cylinder pressure piping 114 lays respectively at the up and down both sides of traction liquid cylinder piston 113, and two traction fluid cylinder piston seals 115, a traction fluid cylinder piston displacement sensor 116, a traction fluid cylinder differential pressure pickup 117 are installed on the traction liquid cylinder piston 113; Slip pipe 111 lower ends, upper center are processed with the external screw thread 38a that is tightly connected, lower end surface is provided with the circular orientation flange.
Such as Fig. 1,4a, shown in the 4b, lower center slip pipe 411 is the large stairstepping Circular Pipe of the little lower end of upper end external diameter external diameter, the upper end end face of lower center slip pipe 411 is provided with the circular orientation flange, near the upper end of lower center slip pipe 411, be processed with external screw thread 413a, be processed with lower slips fluid cylinder pressure piping 412 in slip pipe 411 tube walls of lower center.
Such as Fig. 1,3a, 3b, 4a, shown in the 4b, circulation fluid filtration device 36 is for having the cylinder of oblique sieve aperture; There is the circular orientation groove at the up and down two ends of circulation fluid filtration device 36, circulation fluid filtration device 36 upper ends are tightly connected with upper center slip pipe 111 by circular orientation groove and two circulation fluid filtration device sealings 37, and circulation fluid filtration device 36 lower ends are tightly connected with lower center slip pipe 411 by circular orientation groove and two circulation fluid filtration device sealings 37.The Main Function of circulation fluid filtration device 36 is to filter out the larger particle of diameter in the drilling well circulation fluid, prevents the clogging hydraulic pipeline.
Such as Fig. 3 a, shown in the 3b, upper slips supports with trailer system 1 and comprises upper slips bearing 121, upper slips 124, upper slips support set 125, upper slips fluid cylinder lid 131, upper slips return spring holder 134, upper slips back-moving spring 135, upper fluid cylinder housing 145, traction fluid cylinder cap 23.
Such as 2,3a, 3b, shown in 5, upper slips bearing 121 is the heavy wall short cylinder, upper slips bearing 121 slides on the upper center slip pipe 111 by the cylinder endoporus, between upper slips bearing 121 and the upper center slip pipe 111 upper slips bearing scraper 122 is installed; Upper slips bearing 121 lower end excircles are to uniform three cover slips Fixed latches groove and pin hole 123a.
Such as Fig. 3 a, shown in the 3b, upper fluid cylinder housing 145 slides on the upper center slip pipe 111 by the through hole at middle part, and upper fluid cylinder housing 145 top internal diameters are little, and the middle part internal diameter is minimum, and the bottom internal diameter is maximum; Form superposed upper slips fluid cylinder 144 and the traction fluid cylinder 147 that is positioned at the bottom between upper fluid cylinder housing and the upper center slip pipe; The external diameter of upper slips fluid cylinder housing 144 external diameter little, traction fluid cylinder housing 21 is large; Seal by two upper slips fluid cylinders housing seal 146 between upper fluid cylinder housing 145 and the upper center slip pipe 111; Upper fluid cylinder housing 145 middle parts are along excircle to uniform three cover slips Fixed latches groove and pin holes.The upper end of upper slips fluid cylinder housing 144 is processed with internal thread 133b; The lower end of traction fluid cylinder housing 21 is processed with internal thread 22b.
Such as Fig. 3 a, 3b, shown in 8,9, upper slips 124 is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is triangular ramp the centre, and there is parallel pin hole at two ends.The upper end of three upper slipses 124 is fixed among the cover slips Fixed latches groove of three on the upper slips bearing 121 and the pin hole 123a by three cover upper slips steady pin 123b, and the lower end of three upper slipses 124 is fixed on the upper fluid cylinder housing 145 by three cover upper slips steady pins.
Such as Fig. 3 a, shown in the 3b, upper slips fluid cylinder lid 131 is the middle heavy wall short cylinder that through hole is arranged, the lower end is provided with closed type external screw thread 133a, upper slips fluid cylinder lid 131 slides on the cylinder of upper slips support set 125 cores by intermediate throughholes, and two upper slipses lids sealing 132 is installed between the core cylinder of upper slips fluid cylinder lid 131 and upper slips support set 125.Upper fluid cylinder housing 145 upper ends are threaded with upper slips fluid cylinder lid 131.
Such as Fig. 3 a, shown in the 3b, upper slips support set 125 cores are cylinder, and upper slips support set 125 slides on the upper center slip pipe 111 by the core cylinder, upper slips support set 125 lower ends are processed with upper slips liquid cylinder piston 141, and upper slips liquid cylinder piston 141 places in the upper slips fluid cylinder 147; On the cylinder top of upper slips support set 125 along three panes with triangular ramp of the uniform welding of excircle direction, triangular ramp is radially outside, and match with triangular ramp on three upper slipses 124, a upper slips liquid cylinder piston displacement transducer 142 and four upper slips liquid cylinder pistons sealings 143 are installed on the upper slips liquid cylinder piston 141.Upper slips liquid cylinder piston 141 can promote upper slips support set 125 vertically slip on upper center slip pipe 111 under the fluid cylinder thrust: during when upward sliding, upper slips support set 125 is pushed three upper slipses 124 open by the triangle inclined-plane and is promptly supported the borehole wall.
Such as Fig. 3 a, shown in the 3b, upper slips return spring holder 134 is the middle thin-walled cup type cylinder that through hole is arranged, the cup end, upwards be resisted against on the upper slips fluid cylinder lid 131, upper slips back-moving spring 135 is helical springs, upper slips back-moving spring 135 seatings are interior aerial upper slips return spring holder 134, upper slips back-moving spring 135 upper ends withstand on the bottom surface, upper end of upper slips return spring holder 134, upper slips back-moving spring 135 lower ends withstand on the end face of upper slips liquid cylinder piston 141, and upper slips back-moving spring 135 and upper slips return spring holder 134 slide on the cylinder of upper slips support set 125 cores together.The Main Function of upper slips back-moving spring 135 is when upper slips fluid cylinder 144 pressure are removed, downward thrust is provided for upper slips liquid cylinder piston 141, make upper slips support set 125 down slidings, on the upper slips support set 125 on triangle inclined-plane and the upper slips 124 the triangle inclined-plane unclamp, guarantee that upper slips 124 can automatic drawing back in extrapolability elimination situation; When upper slips support set 125 was regained the triangle inclined-plane extrapolation expansion force that makes upper slips 124 and removed, three upper slipses 124 can rely on self elasticity and borehole wall backup effect to regain and leave the borehole wall.The Main Function of upper slips return spring holder 134 be limit triangular aslant on the upper slips support set 125 be moved beyond facing up occur behind the triangle inclined-plane peak on the upper slips 124 locked: upper slips return spring holder 134 lower ends are the moving limit position that the upper side of upper slips liquid cylinder piston 141 makes progress, when the triangular aslant on the upper slips support set 125 facing up during the mobile triangle inclined-plane peak that reaches on the upper slips 124, the lower end of upper slips return spring holder 134 just withstands on the upper side of upper slips liquid cylinder piston 141, make slips liquid cylinder piston 141 and upper slips support set 125 can not continue upward sliding, stop upper slips 124 and upper slips support set 125 locked.
Such as Fig. 3 a, shown in the 3b, the traction liquid cylinder piston 113 on the upper center slip pipe 111 is positioned at the traction fluid cylinder, and will draw fluid cylinder 147 and be divided into traction fluid cylinder and lower traction fluid cylinder.Traction fluid cylinder cap 23 is the middle heavy wall short cylinder that through hole is arranged, traction fluid cylinder cap 23 slides over the bottom of upper center slip pipe 111 by intermediate throughholes, the upper end is provided with closed type external screw thread 22a, and traction fluid cylinder housing 21 lower ends and traction fluid cylinder cap 23 upper ends are threaded connection; Seal by two traction fluid cylinder cap sealings 24 between traction fluid cylinder cap 23 and the upper center slip pipe 111.
Such as Fig. 4 a, shown in the 4b, control system 3 comprises control system housing 31, motor module 32, fluid pressure line module 33, electronic control module 34.Control system housing 31 is for there being the cylinder of internal cavities, and control system housing 31 lower end surfaces are provided with annular seal groove.The upper end of control system housing 31 has internal thread 38b, lower end and all has internal thread 413b, control system housing 31 upper ends are connected with external screw thread 38a on the upper center slip pipe 111 by internal thread 38b, and control system housing 31 lower ends are passed through internal thread 413b and are connected with external screw thread 413a on the lower center slip pipe 411.Motor module 32, fluid pressure line module 33, electronic control module 34 are installed in control system housing 31 cavitys from top to bottom successively.31 effects of control system housing have 2 points: assembling and support motor module 32, fluid pressure line module 33, electronic control module 34; Center slip pipe 111 and lower center slip pipe 411 in the connection.The Main Function of fluid pressure line module 33 provides upper slips fluid cylinder 144, lower slips fluid cylinder 444, the input of traction fluid cylinder 147 and the control hydraulic circuit of output pipe, and controls, and realizes the normal operation of tractor.The effect of electronic control module 34 is to receive ground signal, sending controling instruction.
Such as Fig. 4 a, shown in the 4b, motor module 32 comprises that the control fluid pressure line disconnects and many small-sized servo step motors of the spool position of the multidigit multiple-way valve of connection, and the effect of servo step motor is mainly used in driving the valve core movement of each pipe valve to pipeline connection and disconnection accurate location.
Such as Fig. 4 a, shown in the 4b, fluid pressure line module 33 comprises control lower slips fluid cylinder pressure piping 412, the first upper slips fluid cylinder pressure piping 118, the connection of the second upper slips fluid cylinder pressure piping 119 and the valve of disconnection, center slip pipe assembly 2 inner high voltage circulation fluid high pressure hydrophthalmia connecting line and valves, bore hole annulus low pressure recycle liquid connecting line and valve.
Such as Fig. 1,4a, shown in the 4b, lower slips support system 4 comprises: lower slips bearing 421, lower slips 424, lower slips support set 425, lower slips fluid cylinder lid 431, lower slips return spring holder 434, lower slips back-moving spring 435, lower slips fluid cylinder housing 445.
Such as Fig. 2,4a, 4b, shown in 5, lower slips bearing 421 is the middle cylinder that through hole is arranged, lower slips bearing 421 slides on the lower center slip pipe 411 by through hole, and lower slips bearing scraper 422 is installed between lower slips bearing 421 and the lower center slip pipe 411; Outside, lower slips bearing 421 upper end three cover slips Fixed latches groove and the pin hole 423a that are uniformly distributed along the circumference.
Such as Fig. 2,4a, 4b, shown in 5, lower slips fluid cylinder housing 445 has the cylindrical shell of manhole for upper coarse and lower fine centre, lower slips fluid cylinder housing 445 slides on the lower center slip pipe 411 by manhole, is provided with two upper slips fluid cylinders housing seal 446 between lower slips fluid cylinder housing 445 and the lower center slip pipe 411, seals by two upper slips fluid cylinders housing seal 446 in the middle of lower slips fluid cylinder housing 445 and the lower center slip pipe 411; Lower slips fluid cylinder housing 445 upper end inner headed faces have internal thread 413b, and lower slips fluid cylinder housing 445 links to each other with lower center slip pipe 411 by internal thread 413b.There is annular seal groove lower slips fluid cylinder housing 445 upper surfaces, and lower slips fluid cylinder housing 445 upper end end faces are tightly connected by sealing ring 35 and control system housing 31 lower end surfaces.Lower slips fluid cylinder housing 445 intermediary outside three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference.
Such as Fig. 4 a, 4b, 5,8, shown in 9, lower slips 424 is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is the triangular pyramidal inclined-plane centre, and there is parallel pin hole at two ends.Three lower slips 424 lower ends circumferentially are fixed on the lower slips bearing 421 by three groups of lower slips steady pin 423b in uniform way; The upper end of three lower slipses 424 is fixed in the slips Fixed latches groove and pin hole of lower slips fluid cylinder housing 445 by three cover lower slips steady pins respectively.Three lower slipses 424 can open under 425 effects of lower slips support set, can rely on self elasticity and borehole wall extruding force closure after external force is removed.
Such as Fig. 4 a, 4b, 5,6, shown in 7, lower slips support set 425 cores are cylinder, three panes that the triangular pyramidal inclined-plane is arranged of uniform welding along the circumferential direction in the cylinder bottom, the triangular pyramidal inclined-plane is radially outside, and matches with each triangular pyramidal inclined-plane on three lower slipses 424, can under thrust, do relative sliding, to open three lower slipses 424; Lower slips support set 425 upper ends are processed with lower slips liquid cylinder piston 441, and lower slips liquid cylinder piston 441 places in the lower slips fluid cylinder 444; A lower slips liquid cylinder piston displacement transducer 442 and four lower slips liquid cylinder piston sealings 443 are installed on the lower slips liquid cylinder piston 441, and lower slips support set 425 is that cylinder slides on the lower center slip pipe 411 by core.Lower slips liquid cylinder piston 441 can promote lower slips support set 425 and do at lower center slip pipe 411 and endwisely slip under the fluid cylinder thrust, when down sliding, lower slips support set 425 opens three lower slipses 424 and promptly supports the borehole wall by chasing after the inclined-plane.
Such as Fig. 4 a, shown in the 4b, lower slips fluid cylinder lid 431 is the middle short cylinder that through hole is arranged, lower slips fluid cylinder lid 431 slides on the cylinder of lower slips support set 425 cores by intermediate throughholes, and two lower slipses lids sealing 432 is installed between the core cylinder of lower slips fluid cylinder lid 431 and lower slips support set 425; The lower slips fluid cylinder covers 431 upper ends closed type external screw thread 433a; 431 pairs of lower slips fluid cylinder housings 445 of lower slips fluid cylinder lid play a supportive role.
Such as Fig. 4 a, shown in the 4b, lower slips return spring holder 434 abutted against downwards on the lower slips fluid cylinder lid 431 for the middle cup type cylinder that through hole is arranged, the cup end, and lower slips back-moving spring 435 seatings slide on the cylinder of lower slips support set 425 cores in lower slips return spring holder 434 together.Lower slips back-moving spring 435 lower end seatings are on lower slips return spring holder 434, and lower slips back-moving spring 435 upper ends are resisted against the bottom surface of lower slips liquid cylinder piston 441.Lower slips return spring holder 434 upper ends are the downward moving limit position of the lower slips liquid cylinder piston 441 on the lower slips support set 425, guarantee on the lower slips support set 425 that the triangle inclined-plane can reach maximum on the triangle inclined-plane and lower slips 424 and open fixed point, but can not slip over locked; When lower slips back-moving spring 435 disappears at lower slips fluid cylinder housing 445 pressure, rely on spring force to promote lower slips support set 425 and upwards regain.When upward sliding, lower slips support set 425 is regained, and removes at extrapolability, and three lower slipses 424 can rely on self elasticity and borehole wall backup effect to regain and leave the borehole wall.
Such as Fig. 3 a, 3b, 4a, shown in the 4b, lower slips fluid cylinder pressure piping 412 upper ends link to each other with electronic control module 34, and the lower end links to each other with lower traction fluid cylinder; Lower slips fluid cylinder pressure piping 412 is used for to lower slips fluid cylinder 444 input and output liquid.The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping 118, the lower end outlet of the second upper slips fluid cylinder pressure piping 119, traction fluid cylinder pressure piping 112, the lower end outlet of traction fluid cylinder pressure piping 114 is all at the lower end periphery of upper center slip pipe 111, and is connected with fluid pressure line module 33 respectively; Fluid pressure line module 33 is according to the position of upper slips fluid cylinder 144, control respectively connection or the disconnection of 118 disconnections of the first upper slips fluid cylinder pressure piping or connection, the second upper slips fluid cylinder pressure piping 119, realize the circulating fluid that inputs or outputs to upper slips fluid cylinder 144; Fluid pressure line module 33 control traction fluid cylinder pressure pipings 112 input or output circulating fluid for upper traction fluid cylinder, draw simultaneously fluid cylinder pressure piping 114 to lower traction fluid cylinder output or input circulating fluid, and it is mobile downward or upward to promote traction liquid cylinder piston 113.
Increase along with the continuous oil pipe operation degree of depth, especially at extended reach well, horizontal well etc., only depend on the injected system on ground can not make downhole tool continue to be lowered to or to trip out, must utilize the ground drilling pump to provide hydraulic energy to circulation fluid, and send instructions by ground to control system 3, make tractor open normal operation, shown in Figure 10 a: three upper slipses 124 of the upper slips support system 1 of tractor all open the promptly borehole wall with three lower slipses 424 of lower slips support system 4, and traction liquid cylinder piston 113 is moved down near the traction fluid cylinder cap 23.The state of tractor divides following 6 steps as follows as its workflow of job initiation state in Figure 10 a:
The first step, shown in Figure 10 b: after control system 3 receives ground signal, send instruction to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, the first upper slips fluid cylinder pressure piping 118 is communicated with circulation fluid backflow bore hole annulus, the second upper slips fluid cylinder pressure piping 119 is closed, 144 pressure releases of upper slips fluid cylinder, upper slips liquid cylinder piston 141 moves down under the effect of upper slips back-moving spring 135, driving upper slips support set 125 regains, upper slips 124 is after the expansion force effect that loses upper slips support set 125, by well effect and the elasticity automatic drawing back of self, upper slips 124 disappears with the grasp of the borehole wall, when upper slips liquid cylinder piston 141 reset to bottom, the upper slips liquid cylinder piston displacement transducer 142 on the upper slips liquid cylinder piston 141 produced the displacement Stopping signal, and sends to control system 3.
Second step, shown in Figure 10 c: after the electronic control module 34 of control system 3 receives signal, send instruction, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, the first upper slips fluid cylinder pressure piping 118 and the second upper slips fluid cylinder pressure piping 119 are all closed; Fluid cylinder is communicated with circulation fluid backflow bore hole annulus in the traction, and the circulating fluid in the traction in the fluid cylinder is to bore hole annulus; The upper fluid cylinder of traction is communicated with bore hole annulus mesolow circulating fluid by the traction fluid cylinder pressure piping 112 on the upper center slip pipe 111, the output of low pressure recycle liquid, the lower fluid cylinder of traction is communicated with center slip pipe hydrophthalmia mesohigh circulating fluid by the traction fluid cylinder pressure piping 114 on the upper center slip pipe 111, input cycle of higher pressure liquid, promote to move on the traction liquid cylinder piston 113, prop up the reaction force that 424 frictional force of firmly grasping the borehole wall provide tractive force at lower slips, traction upper slips support system 1 integral body moves down, the traction fluid cylinder piston displacement sensor 116 and the traction fluid cylinder differential pressure pickup 117 that draw simultaneously on the liquid cylinder piston 113 produce live signal, and send to the electronic control module 34 of control system 3.
The 3rd step, shown in Figure 10 d: after the electronic control module 34 of control system 3 receives traction fluid cylinder piston displacement sensor 116 and traction fluid cylinder differential pressure pickup 117 signals, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, the traction fluid cylinder pressure piping 112 of the upper fluid cylinder of traction and the traction fluid cylinder pressure piping 114 of the lower fluid cylinder of traction are closed in the pass, the first upper slips fluid cylinder pressure piping 118 is closed, the second upper slips fluid cylinder pressure piping 119 is communicated with cycle of higher pressure liquid entrance cavity, cycle of higher pressure hydraulic pressure enters, promote the active force that upper slips liquid cylinder piston 141 overcomes upper slips back-moving spring 135, the upper slips 124 that promotion upper slips support set 125 makes opens the promptly borehole wall, after pressure and displacement reached predetermined value, upper slips liquid cylinder piston displacement transducer 142 produced signals and sends to the electronic control module 34 of control system 3.
The 4th step, shown in Figure 10 e: after the electronic control module 34 of control system 3 receives the signal of upper slips liquid cylinder piston displacement transducer 142, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, close the second upper slips fluid cylinder pressure piping 119, keep the first upper slips fluid cylinder pressure piping 118 closed conditions, make its upper slips 124 keep the promptly holding state of the borehole wall; Lower slips fluid cylinder 444 is communicated with circulation fluid backflow bore hole annulus by lower slips fluid cylinder pressure piping 412, under the effect of lower slips back-moving spring 435, circulation fluid in the lower slips fluid cylinder 444 flows out, lower slips support set 425 and lower slips liquid cylinder piston 441 move up under 435 effects of lower slips back-moving spring, lower slips 424 shrinks under borehole wall extruding and self elastic reaction and leaves the borehole wall, when moving on to the precalculated position on the lower slips liquid cylinder piston 441, lower slips liquid cylinder piston displacement transducer 442 produces and sends prearranged signals equally to the electronic control module 34 of control system 3.
The 5th step, shown in Figure 10 f: after the electronic control module 34 of control system 3 receives the signal of lower slips liquid cylinder piston displacement transducer 442, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, lower slips fluid cylinder pressure piping 412 is closed; The lower fluid cylinder of traction is communicated with circulation fluid backflow bore hole annulus by traction fluid cylinder pressure piping 114, and the circulating fluid in the lower fluid cylinder of traction is to bore hole annulus; Simultaneously the upper fluid cylinder of traction by traction fluid cylinder pressure piping 112 with connect the circulation fluid entrance cavity and be communicated with, and input cycle of higher pressure liquid, make so the lower fluid cylinder smaller volume of traction, the fluid cylinder volume becomes large in the traction, traction liquid cylinder piston 113 moves down, firmly grasp the frictional force that the borehole wall produces by upper slips support system 1, center slip pipe 111 and lower center slip pipe assembly 41 move down with lower slips support system 4 integral body in the traction, the traction fluid cylinder piston displacement sensor 116 and the traction fluid cylinder differential pressure pickup 117 that draw simultaneously on the liquid cylinder piston 113 produce live signal, and send to the electronic control system 34 of control system 3.
The 6th step, shown in Figure 10 g: after the electronic control module 34 of control system 3 receives the traction fluid cylinder piston displacement sensor 116 on the traction liquid cylinder piston 113 and draws fluid cylinder differential pressure pickup 117 and produces live signals, send instruction and pass to electronic control module 34, electronic control module 34 changes into the motor movement instruction, impel motor module 32 control fluid pressure line modules 33, close the traction fluid cylinder pressure piping 112 of the upper fluid cylinder of traction and the traction fluid cylinder pressure piping 114 of the lower fluid cylinder of traction, make simultaneously lower slips fluid cylinder pressure piping 412 and connect cycle of higher pressure liquid entrance cavity and be communicated with, liquid enters, promote lower slips liquid cylinder piston 441, overcome lower slips back-moving spring 435 active forces, promoting lower slips support set 425 moves down, extrapolation makes lower slips 424 open the promptly borehole wall, after pressure and displacement reach reservation, whole tractor returns to again initial state as shown in figure 10, and lower slips liquid cylinder piston displacement transducer 442 produces signal and sends to the electronic control module 34 of control system 3.
If the order by " → two → three → four → five → six → " constantly repeats above-mentioned action, make tractor draw the function of creeping downwards in the down-hole; On the contrary, if press the operation in tandem of " six → five → four → three → two → → six ", can realize that then tractor draws the function of creeping at down hole reverse.

Claims (10)

1. an Electro-hydraulic drive coiled tubing downhole tractor comprises upper slips support and trailer system, center slip pipe assembly, control system, lower slips support system; It is characterized in that: upper slips supports the top that slides over center slip pipe assembly with trailer system, can slide up and down along center slip pipe assembly; Control system, lower slips support system are fixed on the bottom of center slip pipe assembly.
2. Electro-hydraulic drive coiled tubing downhole tractor according to claim 1, it is characterized in that: center slip pipe assembly comprises center slip pipe, circulation fluid filtration device, lower center slip pipe; Upper center slip pipe is processed with respectively the first upper slips fluid cylinder pressure piping, the second upper slips fluid cylinder pressure piping, upper traction fluid cylinder pressure piping, lower traction fluid cylinder pressure piping along tube wall; Be processed with the traction liquid cylinder piston on the slip pipe of upper center, the upper outlet of upper traction fluid cylinder pressure piping and lower traction fluid cylinder pressure piping lays respectively at the up and down both sides of traction liquid cylinder piston, and two traction fluid cylinder piston seals, a traction fluid cylinder piston displacement sensor, a traction fluid cylinder differential pressure pickup are installed on the traction liquid cylinder piston; Slip pipe lower end, upper center is processed with the external screw thread that is tightly connected, lower end surface is provided with the circular orientation flange;
The upper end end face of lower center slip pipe is provided with the circular orientation flange, is processed with external screw thread near the upper end of lower center slip pipe, is processed with lower slips fluid cylinder pressure piping in the slip pipe tube wall of lower center;
There is the circular orientation groove at the up and down two ends of circulation fluid filtration device, circulation fluid filtration device upper end is tightly connected with upper center slip pipe by circular orientation groove and two circulation fluid filtration device sealings, and circulation fluid filtration device lower end is tightly connected with lower center slip pipe by circular orientation groove and two circulation fluid filtration device sealings.
3. Electro-hydraulic drive coiled tubing downhole tractor according to claim 1 is characterized in that: upper slips supports with trailer system and comprises upper slips bearing, upper slips, upper slips support set, upper slips fluid cylinder lid, upper slips return spring holder, upper slips back-moving spring, upper fluid cylinder housing, traction fluid cylinder cap.
4. Electro-hydraulic drive coiled tubing downhole tractor according to claim 3 is characterized in that:
The upper slips bearing slides on the slip pipe of upper center by the cylinder endoporus, between upper slips bearing and the upper center slip pipe upper slips bearing scraper is installed; Upper slips bearing lower end excircle is to uniform three cover slips Fixed latches groove and pin holes;
Upper fluid cylinder housing slides on the slip pipe of upper center by the through hole at middle part, forms superposed upper slips fluid cylinder and the traction fluid cylinder that is positioned at the bottom between upper fluid cylinder housing and the upper center slip pipe; The external diameter of upper slips fluid cylinder housing external diameter little, the traction fluid cylinder housing is large; Seal by the housing seal of two upper slips fluid cylinders between upper fluid cylinder housing and the upper center slip pipe; Upper fluid cylinder housing middle part is along excircle to uniform three cover slips Fixed latches groove and pin holes; The upper end of upper slips fluid cylinder housing is processed with internal thread; The lower end of traction fluid cylinder housing is processed with internal thread;
Upper slips is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is triangular ramp the centre, and there is parallel pin hole at two ends; The upper end of three upper slipses is fixed in the cover slips Fixed latches groove of three on the upper slips bearing and the pin hole by three cover upper slips steady pins, and the lower end of three upper slipses is fixed on the upper fluid cylinder housing by three cover upper slips steady pins;
Upper slips fluid cylinder lid lower end is provided with the closed type external screw thread, and upper slips fluid cylinder lid slides on the cylinder of upper slips support set core by intermediate throughholes, and the sealing of two upper slips lids is installed between the core cylinder of upper slips fluid cylinder lid and upper slips support set; Upper fluid cylinder housing upper end is threaded with upper slips fluid cylinder lid;
Slips support set core is cylinder, and the upper slips support set slides on the slip pipe of upper center by the core cylinder, and upper slips support set lower end is processed with the upper slips liquid cylinder piston, and the upper slips liquid cylinder piston places in the upper slips fluid cylinder; On the cylinder top of upper slips support set along three panes with triangular ramp of the uniform welding of excircle direction, triangular ramp is radially outside, and match with triangular ramp on three upper slipses, a upper slips liquid cylinder piston displacement transducer and four upper slips liquid cylinder pistons sealings are installed on the upper slips liquid cylinder piston;
The upper slips return spring holder is the middle thin-walled cup type cylinder that through hole is arranged, the cup end, upwards is resisted against the upper slips fluid cylinder and covers, the upper slips back-moving spring is helical spring, upper slips back-moving spring seating is interior aerial the upper slips return spring holder, upper slips back-moving spring upper end withstands on the bottom surface, upper end of upper slips return spring holder, upper slips back-moving spring lower end withstands on the end face of upper slips liquid cylinder piston, and upper slips back-moving spring and upper slips return spring holder slide on the cylinder of upper slips support set core together;
Traction liquid cylinder piston on the slip pipe of upper center is positioned at the traction fluid cylinder, and will draw fluid cylinder and be divided into traction fluid cylinder and lower traction fluid cylinder; The traction fluid cylinder cap is the middle heavy wall short cylinder that through hole is arranged, and the traction fluid cylinder cap slides over the bottom of upper center slip pipe by intermediate throughholes, and the upper end is provided with the closed type external screw thread, and traction fluid cylinder housing lower end and traction fluid cylinder cap upper end are threaded connection; Seal by two traction fluid cylinder cap sealings between traction fluid cylinder cap and the upper center slip pipe.
5. Electro-hydraulic drive coiled tubing downhole tractor according to claim 1, it is characterized in that: control system comprises control system housing, motor module, fluid pressure line module, electronic control module.
6. Electro-hydraulic drive coiled tubing downhole tractor according to claim 5, it is characterized in that: the control system housing is the cylinder that internal cavities is arranged, the upper end of control system housing has internal thread, lower end and all has internal thread, control system housing upper end is connected with external screw thread on the slip pipe of upper center by internal thread, and control system housing lower end is connected with external screw thread on the slip pipe of lower center by internal thread; Motor module, fluid pressure line module, electronic control module are installed in the control system housing cavity from top to bottom successively.
7. Electro-hydraulic drive coiled tubing downhole tractor according to claim 1, it is characterized in that: the lower slips support system comprises lower slips bearing, lower slips, lower slips support set, lower slips fluid cylinder lid, lower slips return spring holder, lower slips back-moving spring, lower slips fluid cylinder housing.
8. Electro-hydraulic drive coiled tubing downhole tractor according to claim 7 is characterized in that:
The lower slips bearing slides on the slip pipe of lower center by through hole, between lower slips bearing and the lower center slip pipe lower slips bearing scraper is installed; Outside, lower slips bearing upper end three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference;
Lower slips fluid cylinder housing slides on the slip pipe of lower center by manhole, be provided with the housing seal of two upper slips fluid cylinders between lower slips fluid cylinder housing and the lower center slip pipe, seal by the housing seal of two upper slips fluid cylinders in the middle of lower slips fluid cylinder housing and the lower center slip pipe; Lower slips fluid cylinder housing upper end inner headed face has internal thread, and lower slips fluid cylinder housing links to each other with lower center slip pipe by internal thread; Lower slips fluid cylinder housing intermediary outside three cover slips Fixed latches groove and the pin holes that are uniformly distributed along the circumference;
Lower slips is the axially elastic steel sheet of symmetry of the narrow long strip type in middle wide two, and radially there is the triangular pyramidal inclined-plane centre, and there is parallel pin hole at two ends; Three lower slips lower ends circumferentially are fixed on the lower slips bearing by three groups of lower slips steady pins in uniform way; The upper end of three lower slipses is fixed in the slips Fixed latches groove and pin hole of lower slips fluid cylinder housing by three cover lower slips steady pins respectively;
Lower slips support set core is cylinder, three panes that the triangular pyramidal inclined-plane is arranged of uniform welding along the circumferential direction in the cylinder bottom, and the triangular pyramidal inclined-plane is radially outside, and matches with each triangular pyramidal inclined-plane on three lower slipses; Lower slips support set upper end is processed with the lower slips liquid cylinder piston, and the lower slips liquid cylinder piston places in the lower slips fluid cylinder; A lower slips liquid cylinder piston displacement transducer and four lower slips liquid cylinder piston sealings are installed on the lower slips liquid cylinder piston, and the lower slips support set is that cylinder slides on the slip pipe of lower center by core; The lower slips liquid cylinder piston can promote the lower slips support set and do at lower center slip pipe and endwisely slip under the fluid cylinder thrust;
Lower slips fluid cylinder lid slides on the cylinder of lower slips support set core by intermediate throughholes, and the sealing of two lower slips lids is installed between the core cylinder of lower slips fluid cylinder lid and lower slips support set; The lower slips fluid cylinder covers end the closed type external screw thread;
The lower slips return spring holder abutted against the lower slips fluid cylinder downwards and covers for the middle cup type cylinder that through hole is arranged, the cup end, and lower slips back-moving spring seating slides on the cylinder of lower slips support set core in the lower slips return spring holder together; Lower slips back-moving spring lower end seating is on the lower slips return spring holder, and lower slips back-moving spring upper end is resisted against the bottom surface of lower slips liquid cylinder piston.
9. Electro-hydraulic drive coiled tubing downhole tractor according to claim 5, it is characterized in that: control system housing lower end surface is provided with annular seal groove; There is annular seal groove lower slips fluid cylinder housing upper surface, and lower slips fluid cylinder housing upper end end face is tightly connected by sealing ring and control system housing lower end surface.
10. Electro-hydraulic drive coiled tubing downhole tractor according to claim 9 is characterized in that:
Lower slips fluid cylinder pressure piping upper end links to each other with electronic control module, and the lower end links to each other with lower traction fluid cylinder; Lower slips fluid cylinder pressure piping is used for to lower slips fluid cylinder input and output liquid; The lower end outlet of the lower end outlet of the first upper slips fluid cylinder pressure piping, the lower end outlet of the second upper slips fluid cylinder pressure piping, traction fluid cylinder pressure piping, the lower end outlet of traction fluid cylinder pressure piping is all at the lower end periphery of upper center slip pipe, and is connected with the fluid pressure line module respectively.
CN 201220404293 2012-08-16 2012-08-16 Electrically-controlled hydraulic-driven coiled tubing downhole tractor Expired - Fee Related CN202788704U (en)

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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102777145A (en) * 2012-08-16 2012-11-14 中国石油大学(北京) Electric control fluid drive coiled tubing downhole retractor
CN104373069A (en) * 2014-11-04 2015-02-25 中国石油天然气股份有限公司 Propeller type downhole instrument propelling device
CN104775806A (en) * 2015-04-07 2015-07-15 成都陆海石油科技有限公司 Underground walking robot for oil and gas wells
CN106401518A (en) * 2016-06-15 2017-02-15 西南石油大学 Steel wire rope feeding device with leather bowl
CN106837225A (en) * 2017-01-11 2017-06-13 西南石油大学 A kind of motion of hydraulic telescopic type downhole tractor
CN107366523A (en) * 2017-08-17 2017-11-21 西南石油大学 A kind of coiled tubing draws robot
US11047183B2 (en) 2018-12-05 2021-06-29 Chengdu University Of Technology Coiled tubing drilling robot, robot system and process parameter control method thereof

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102777145A (en) * 2012-08-16 2012-11-14 中国石油大学(北京) Electric control fluid drive coiled tubing downhole retractor
CN102777145B (en) * 2012-08-16 2015-07-29 中国石油大学(北京) A kind of Electro-hydraulic drive coiled tubing downhole tractor
CN104373069A (en) * 2014-11-04 2015-02-25 中国石油天然气股份有限公司 Propeller type downhole instrument propelling device
CN104775806A (en) * 2015-04-07 2015-07-15 成都陆海石油科技有限公司 Underground walking robot for oil and gas wells
CN106401518A (en) * 2016-06-15 2017-02-15 西南石油大学 Steel wire rope feeding device with leather bowl
CN106401518B (en) * 2016-06-15 2018-08-17 西南石油大学 A kind of steel wire rope feeder with leather cup
CN106837225A (en) * 2017-01-11 2017-06-13 西南石油大学 A kind of motion of hydraulic telescopic type downhole tractor
CN107366523A (en) * 2017-08-17 2017-11-21 西南石油大学 A kind of coiled tubing draws robot
CN107366523B (en) * 2017-08-17 2019-03-22 西南石油大学 A kind of coiled tubing traction robot
US11047183B2 (en) 2018-12-05 2021-06-29 Chengdu University Of Technology Coiled tubing drilling robot, robot system and process parameter control method thereof

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