Research On Structure Design And Motion Control Of Plug Removal Robot For Oil Wells

Plug removal with electrical pulse for oil wells is a new method developed by us to solve the problem of well plugging. An intelligent robot is designed to take positive and negative electrodes into the perforations and conduct discharge operation on plug formation. This method can solve the problems of slicing difficulty and secondary pollution easily and improve oil recovery factor effectively. For the reason that working mode of the robot is different from traditional methods, research on the plug removal robot for oil wells has important theoretical and engineering values.Approach combined with theoretical analysis and experimental study is adopted on the research of structure design and motion control. On the aspect of overall structural design, deformation analysis and process control movement, a number of innovative research results have been made.Self-adaptive guiding mechanism, supporting mechanism on sidewall, creep walking mechanism, detection mechanism for perforation and feed-in mechanism of electrodes are designed. Three-dimensional model of the plug removal robot is obtained by Pro/E and experimental prototype is manufactured and made up.Temperature field of the plug removal robot is analyzed and temperature variations are simulated. Deformation and stress distribution of the overall structure are given under different temperature conditions. Modal analysis is also carried out and top 10 bands of natural frequency and mode shape are obtained.Mechanical analysis of the supporting structure is analysed and relational expression between sidewall force and structure is given. Simulation model of the supporting structure is established and deformation and stress distribution of components under different supporting distance are analyzed. Static analysis is also carried out for guiding rod and connecting rod and deformation and stress distribution curves are obtained under different loads. In addition, affect of temperature variations on deformation and stress distribution of them is also studied.Working process of plug removal robot is researched and motion control system using microprocessor is proposed. Regulated power supply, clock of microprocessor, circuit of detecting perforation, control of stepping motor and pipe electromagnet are designed and control scheme of overall structure is established.