Structural Optimization And Experimental Research Of Underground Robot Drive Mechanism

Downhole robots have been widely used in horizontal well downhole operations in recent years as instruments for conveying logging and other downhole work devices.This article takes the wheeled downhole robot as the research object.Based on the analysis of the working principle and characteristics of its driving mechanism,the following aspects are mainly studied.（1）According to the working principle of the driving mechanism of the underground robot,a sliding and wear test bench for the driving mechanism was designed and built.During the simulation of the operation process of the underground robot,the online ferrite monitoring instrument was used to detect the contact between the crawler wheel and the casing wall in real time.Wear condition.（2）Establish a simplified mechanical model of the driving mechanism and analyze the key parameters that affect the traction of the mechanism.Through parametric modeling and optimization design of key parameters,the relationship between the diameter of the crawler wheel,spring force and positive pressure is obtained.It is determined that when L₁=50mm,L₂=40mm,and the diameter of the crawler wheel d=D/2,the drive is satisfied The optimization design goal is that the traction force of the mechanism is large enough and the spring force is as small as possible.（3）Analyze the factors that affect the friction between the crawler wheel and the casing wall,through theoretical analysis and calculation.Determine the factors that affect the depth of the wall of the crawler wheel pressed into the casing,the friction factor,etc.,the structural size of the crawler wheel tooth when the pressure angleα=20°,tooth height h=3mm,and the stress concentration of the gear tooth at this time is verified It has been greatly improved from before,and the service life of the crawler wheel has been increased.（4）Using the sliding mechanism of the driving mechanism and the extracted abrasive particle concentration information,the wear and tear of the crawler wheel of the downhole robot driving mechanism before and after optimization is compared and studied,and the wear between the crawler wheel and the casing wall before and after optimization is measured experimentally.The situation proves that by improving the structure of the crawler wheel,the stress concentration of the crawler wheel tooth can be greatly reduced and the service life can be improved..