Analysis And Simulation Of The Obstacle Performance Of Horizontal Well Wheel Traction Robot

The horizontal well exploitation technology has become one of the important technical means for the efficient exploitation of oil and gas in oilfields.In the application process of the horizontal well,it's necessary to send instruments to the well for the task of well logging or repair.The emergence of the horizontal well traction robot not only effectively solves the problem of the underground instrument or tool feeding difficulties,but also has the advantages of convenient transportation,simple operation,accurate conveying position,and significant reduction of production cost.But the horizontal well's internal environment is very complex,in addition to the high temperature and high pressure,there are also lots of obstacles like tube fouling,and bending pipe diameter change and disorder.If the traction robot can pass these obstacles and take the instruments to the specific location would directly affects the horizontal well's drilling cycle and efficiency.Therefore,it is of great theoretical and practical value to study the obstacle performance of traction robot.I take the horizontal well wheel traction robot as the research object in this paper.Based on the deep analysis of the working principle and working process of each component unit of horizontal well traction robot,the research is made mainly from the following aspects.(1)Based on the theoretical analysis of the assembly and functions of the wheeled traction robot,it is clear that the unit which has the greatest impact on the performance of the traction robot is the traction unit and the centralizer unit of the traction robot,and the working process is also described.(2)The mechanism analysis of the traction unit and the centralizer unit under normal working conditions is carried out,and the size optimization design and performance analysis are carried out for the support mechanism of the traction unit.In the casing of the inner diameter 125 mm,the magnification of the force is about 1.89 times,the amount of spring adjustment within the same diameter range can be reduced by about 6.5mm.(3)The working environment of the traction robot is analyzed,and the condition for the robot to work smoothly in downhole is determined.The various resistance of the robot in downhole is analyzed,and the calculation formulas are given.(4)The co-simulation model of the downhole motion of the traction robot is established,and the dynamic simulation experiments of a variety of downhole environment,such as the straight pipe walking obstacle and the bend pipe crossing obstacle which are carried out to verify the dynamic performance and the overall passage of each part of the robot.