Analysis And Research On Traction Performance Of Oil And Gas Well Downhole Robot

With the development of horizontal well technology in the petroleum industry,the use of traction robots to send detection equipment has become the main trend of development.But in the field application process,due to the well environment is very complex,there are high temperature,high pressure multi-phase fluid and wall buckling And other factors cause the diameter change and bending phenomenon,these conditions on the traction robot traction has a great impact.In this paper,the traction performance of the traction robot in the well is studied,and the kinematic model of the robot based on the absolute node coordinates is established by theoretical analysis.The passing performance of the curved pipe wall and the diameter of the pipe wall is studied and deduced The relationship between the moving resistance and the velocity of the traction robot is studied.The digital simulation model of the traction system of the traction robot is established.The simulation results and the model-based analysis are used to analyze the relationship between the moving resistance and the moving speed of the traction robot.To illustrate the validity and correctness of the model.The traction performance of the traction robot and the analysis of the simulation results provide a theoretical basis for the smooth and reliable feeding of the logging tool.The traction performance of traction robot has laid a theoretical foundation for improving the application ability of oil exploration and horizontal well logging in China.At the same time,the theory has the advantages that the robot has other small diameter applications,such as nuclear facilities,military equipment and municipal facilities.Very important reference significance.