Key Technologies For Horizontal Well Traction Robot

Production section testing technique is an important kit technique of horizontal well development. comparing with perpendicular well, it needs to solve the hard nut of transporting logger to horizontal object well segment. The horizontal well traction robot is one of pipeline robot, expressing the advantage in the test process of horizontal well has already accredited broadly. This topic comes from "863" national high technique research development program items(2007AA06Z231). Its object is to develop a kind of pipeline robot that transports the logger to the horizontal well object testing segment. This text surrounds the traction robot mechanical key structure and make use of optimum and simulation way to carry on a research.First, give the composition of traction robot system, confirm the general layout of machanical system, completed the function and principle design of the downhole driving unit, made sure the structure layout of auto-centralizer and electromagnetic clutch in the meantime. The downhole execution unit is the hardcore of traction robot, include actuating mechanism and driving mechanism, use to control the driving arm open and close, driving wheel running respectively. According to modulization idear, designed the general structure of driving unit, built the mechanics model and traction force regulates mechanism, and carried on an optimization to the structure parameters, carried on a thorough research to the factor that effects a traction force. Put forward adoption tooth wheel to increase a traction force, and according to the cutting force of disc milling cutter, carried on a calculation to the corresponding cutting depth of the tooth into the tube wall, passed to actually measure to acquire positive pressure and the relation between pressing depth and pressing width, give the value range of wheel tooth angle.The operate safety of traction robot system is also count for much, for the traction robot with wheel drive, driving arm's dependablely opening and close is the essential condition of robot regular running. Therefore designed a new kind of electromagnetic cluth that integrated the characteristics of tooth type clutch and electromagnetic clutch, make use of the interaction of solenoid force and spring force to engages and disengages. Created the mechanics model of electromagnetic clutch, with winding height minimum for optimum object, completed the optimization of electromagnetism parameter and structure parameter; Combine at ADAMS platform to carried on a simulation analysis of its running states, verified the validity of design, completed the structure design of electromagnetic clutch with the optimized structure parameter.Then carried on an optimization research to another key mechanism auto-centralizer of traction robot. Adopt bias structure with 4 pari of arms and 8 wheels, made use of a compression spring save energy. built a mechanics model, made use of DOE that ADAMS provides, passed the sensitivity of research optimization object and design variable, find out a related degree maximum of design variable, completed the optimization of structure parameters. Carry on over obstacles analysis with the optimized model, discovered shortage of original design, and give solution.After the two greatest key structures of traction robot confirmed, carry on a simulation to the whole traction robot .First carried on analysis to structure form and the question that robot block up while crawls along a tube gap, find the most direct reason, which cause robot can not over obstacles is use the non differential drive. Analyzed the relation between the speed of driving arm length of wheel not overing obstacle and wheel overing obstacle and the depth of a wheel sink into the gap. Carried on a simulation research of the running status of driving unit over different width gap and obstruction inside the tube with non differential drive, and proved further the non differential drive is the reason that makes the robot blocked. In order to make robot over obstacles smoothly, the wheel not overing obstacle must have a slippery condition. Then carried on a simulation research of the whole traction robot pass capability under the ascending tube obstruction and the bend tube, explicit the characteristics of each unit while traction robot over obstacles, analyzed the operate condition that the traction robot passes an arc well segment, verified the overbending capability of traction robot in the oil tube.Finally carried on an trial research, through the function test of electromagnetic clutch, verified the electromagnetic clutch can satisfy driving unit's request; Crawl along tube on the ground, inspected the operate status of traction robot driving unit completely, at the same time measured the traction force in the test; Through the locale test, proved the developed traction robot system satisfied the request, and provided theory foundation and technique for the follow-up improve performance.