CN106437581B - A kind of large traction crawl device of hydraulic-driven mode - Google Patents
A kind of large traction crawl device of hydraulic-driven mode Download PDFInfo
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Abstract
Disclosed by the invention is a kind of large traction crawl device of hydraulic-driven mode, is made of well-surface part and underground part part；The well-surface part includes upper monitor control system, electric energy transmission control system, carrier communication system；The underground part is hydraulic-driven assembly, including three parts: Electronic Control Assembly, power assembly, actuating mechanism assembly；The Electronic Control Assembly mainly includes power-supply system, master control system, driving circuit and control circuit；The power assembly is the major impetus mechanism of crawl device, it is made of main drive motor, hydraulic pump, oil cylinder, solenoid directional control valve, hydraulic motor, retarder, its control execution is responsible for by Electronic Control Assembly；The actuating mechanism assembly is made of drive assembly and backup assembly；The present invention uses motor drive mode, can export biggish torque at low speeds, improve the obstacle climbing ability of large traction crawl device, underground part wide adaptation range, the reliability of whole system and safety are very high.
Description
Technical field
The present invention relates to logger means of delivery technical fields, are specifically related to a kind of large traction of hydraulic-driven mode
Power crawl device.
Background technique
Downhole tractor is one of newest underground transmission mode, bridge plug can be promoted accurately to be sent into interval of interest, passed through
It is that bridge plug progress cable is setting that self-contained cable, which provides electric power,.It is easy to operate, operation timeliness is improved, operating risk is reduced,
Reduce operating cost.
Downhole tractor is as a kind of novel logger means of delivery, compared with conventional carrying technology, it gram
Taken wellbore be bent make logger be difficult to transfer difficulty, and greatly improve well logging quality and well logging it is reliable
Property, therefore the research and development for crawl device of logging well have wide practical use.Early in later period the 1990s, external many public affairs
Department just develops in succession can be in the cable puller of underground independently working.The telescopic electricity wherein developed with SmarTract company
The Son2dex cable puller that cable tractor and Sondex Co., Ltd develop is the most prominent.At home, but horizontal wellbore logging is climbed
The research of row device is still in infancy, and technology is also immature, this has seriously affected the development of horizontal well.
So that tractor is smoothly creeped in horizontal well, just must satisfy the following conditions: 1) enough drag forces are provided
Carry out conveying well measuring instrument；2) it can be worked normally under different borehole sizes；3) energy way moving, can be automatic after underground work
It returns；4) creeping has self-lock ability when meeting with obstruction, and timely feedbacks information；5) it can work normally at high temperature under high pressure.It creeps
The bad environments that device works in horizontal well, and working space is severely restricted, and is set with to crawl device drive system
The requirements at the higher level proposed are counted, common driving method has been unable to satisfy its work requirements.Therefore, it is necessary to design a kind of completely new survey
Well crawl device.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of large traction crawl device of hydraulic-driven mode, obstacle climbing abilities
By force, wide adaptation range, reliability and highly-safe.
Technical scheme is as follows:
As described in claim 1, a kind of large traction crawl device of hydraulic-driven mode, by well-surface part and underground part
Part forms；
The well-surface part includes: upper monitor control system, electric energy transmission control system, carrier communication system；It is described
Upper monitor control system is mainly made of upper TT&C software system and control rocking bar, is the measurement and control center of system, is upper
The man-machine interface for being monitored and controlling；The upper TT&C software system is responsible for the parameters of Coordination Treatment tool crawl device
And the various states of display crawl device, the information such as posture, and the various working curves of crawl device are recorded, it is later analysis
It is ready work, while mechanical manipulation can be carried out by upper TT&C software, crawls, retreat, supporting, bouncing back and move
Make；The main purpose of the control rocking bar is the operation and movement of convenient and reliable progress machine, is the main of control crawl device
Control mechanism, rocking bar system are powered using 220V, provide intelligent RS232 interface, its RS232 interface and the one of control host
A serial ports is attached, and control result is passed through carrier line by SPBUS bus inferface protocol by main control computer, is transferred to well
Under；The electric energy transmission control system: electric energy transmission system is that the electrical transfer of well-surface part to underground part is supplied to and is climbed
The work of row device；The carrier communication system is special carrier communication module SPC-100 type, suitable for setting between ground under oil well
Standby communication is used, and hot environment is suitble to use；
The underground part is hydraulic-driven assembly, including three parts: Electronic Control Assembly, power assembly, executing agency are total
At；Wherein power assembly is responsible for the generation and its motor coordination of power；Actuating mechanism assembly is responsible for being converted to radial power
The power of creeping of crawling wheel is responsible for moving forward and backward for crawl device；Electronic Control Assembly is responsible for system coordination campaign, monitors and examines
The operating condition of examining system；The Electronic Control Assembly specifically includes that power-supply system, master control system, driving circuit and control electricity
Road；Electronic Control Assembly is actually the total integrated of underground TT&C system, is the core of downhole control system, it is responsible for communication protocols
The co-ordination for adjusting system and downhole system on well is the most key link of whole system, and the reliability of TT&C system will
The performance of decision systems；The power assembly is the major impetus mechanism of crawl device, it by main drive motor, hydraulic pump, oil cylinder,
Solenoid directional control valve, hydraulic motor, retarder composition, its control execution is responsible for by Electronic Control Assembly；Power assembly is tool
Power source, it mainly realizes the driving of crawl device by hydraulic mechanism, and hydraulic oil passes through electromagnetism after hydraulic pump pressurization
Reversal valve, driving hydraulic motor work, hydraulic motor output by speed reducer deceleration and moment amplification, driving crawling wheel to
It is preceding or move backward.The actuating mechanism assembly is made of drive assembly and backup assembly；The backup drive assembly is by pushing away
By driving motor, backup retarder, electromagnetic clutch, ball-screw, extension spring, push rod, oil sac, displacement detector group
At；Wherein drive assembly commutates by umbrella tooth, passes using gear by the speed reducer output of power assembly by main shaft
It is dynamic, power is transmitted to crawling wheel, crawling wheel drives crawl device and moves forward or backward；Backup assembly be by crawling wheel by
The mechanical device of closing is pushed against according to instruction, it passes through speed reducer amplifying moment using output is clicked later, by electromagnetic clutch
It pushes ball-screw to generate a thrust after device, has pushed driving wheel to tube wall, since the pressure of tube wall is determining for tractive force
Determine factor, that is, to generate very big driving force, also accordingly to generate suitable backup power；A kind of hydraulic-driven mould
The large traction crawl device of formula, integral assembling structure are successively from left to right: centralizer, circuit storehouse, power assembly, driving
Assembly, backup assembly, centralizer, the circuit storehouse installs all elements of the Electronic Control Assembly, while circuit storehouse installs two
Sensor, environment temperature detection sensor and environmental pressure detection sensor, the two sensors mainly detect crawl device work
The environment temperature and environmental pressure of work.
Further, the centralizer is mainly made of spring righting rod and steel roller, and centralizer uses 4 arm of low friction
Scroll wheel structure so that righting effect stability is reliable, and 2 steel rollers (totally 8 steel rollers) are rubbed before and after use with reducing
And endurance failure.
Further, the master control system of the Electronic Control Assembly can be divided by function are as follows: logic control element, analog quantity are adopted
Collect unit, switch acquisition unit, digital output modul unit, communications interface unit etc.；Wherein logic control element is responsible for core
Algorithm control and state machine control；Analog acquisition unit is responsible for the acquisition conversion of analog signals；Switch acquisition
Unit is responsible for the acquisition of switching value；Digital output modul unit is responsible for the control signal of switching value；Communication interface is responsible for and other plates
The offer of the interface and external interface of card.
Further, the hydraulic system of the power assembly can be divided into open system and closed system；The open type system
System refer to hydraulic pump from fuel tank oil suction, it is hydraulic by reversal valve to hydraulic cylinder (or hydraulic motor) fuel feeding to drive operating mechanism
The oil return of cylinder (or hydraulic motor) fills overflow valve again through reversal valve oil return box at pump discharge；In the closed system, hydraulic pump
Oil inlet pipe be directly connected with the oil return pipe of executive component, working fluid carries out closed circulation in the pipeline of system.
The beneficial effects of the present invention are:
(1) present invention uses motor drive mode, is generated using the power drive hydraulic pump that high-power brushless motor generates
Hydraulic power, then the wheeled tractor of large torque power drive is generated by hydraulic motor and is advanced, power needed for driving motor is smaller,
Starting current has very big buffering leeway, can export biggish torque at low speeds, improve large traction and creep
The obstacle climbing ability of device.
(2) crawl device of the present invention can work within the temperature range of 150 ° or so, than the work of common electromagnetic clutch
Make that temperature range is twice high, and can guarantee reliability of the hydraulic system in wide temperature range, improves the safety of system
Property, anti-interference.
(3) the Upper system TT&C system of crawl device of the present invention can cooperate large traction crawl device well, to lead greatly
The design of gravitation crawl device provides the interface of human-computer interaction, and practicability is good, prevents maloperation, and stable, interface is clear.
(4) the underground part wide adaptation range of crawl device of the present invention, can self-control backup power, have self-protection receive
Arm function realizes the real-time Transmission for detection data of creeping.
Detailed description of the invention
Fig. 1 is large traction crawl device general system diagram；
Fig. 2 is large traction crawl device entirety prototype structure main view；
Fig. 3 is the hydraulic-driven assembly composition schematic diagram of large traction crawl device；
Fig. 4 is large traction crawl device Electronic Control Assembly schematic diagram；
Fig. 5 is large traction crawl device power assembly schematic diagram；
Fig. 6 is actuating mechanism assembly composition schematic diagram；
Fig. 7 is actuating mechanism assembly structural schematic diagram；
Fig. 8 is large traction crawl device drive assembly schematic diagram；
Fig. 9 is large traction crawl device backup assembly diagram；
Figure 10 is circuit storehouse design drawing；
Figure 11 is centralizer structure schematic diagram；
Figure 12 is hydraulic motor drive mode structural schematic diagram；
Figure 13 is governor circuit system interface schematic diagram；
Figure 14 is centralizer stress diagram；
Figure 15 is crawl device stress diagram；
Figure 16 is crawling wheel with respect to pipe walls support force analysis figure；
Figure 17 is that crawl device drag torque calculates analysis schematic diagram.
Specific embodiment
Next With reference to embodiment present invention be described in more detail, preferably to embody its advantages.
A kind of large traction crawl device of hydraulic-driven mode, as shown in Figure 1, by well-surface part and underground part part group
At；Well-surface part includes: upper monitor control system, electric energy transmission control system, carrier communication system；Upper monitoring control system
System is mainly made of upper TT&C software system and control rocking bar, is the measurement and control center of system, is upper to be monitored and control
Man-machine interface；Upper TT&C software system is responsible for the parameters of Coordination Treatment tool crawl device and shows each of crawl device
Kind state, the information such as posture, and the various working curves of crawl device are recorded, it works for later ready for analysis, simultaneously
Mechanical manipulation can be carried out by upper TT&C software, crawl, retreat, supporting, retracting action；Control the main mesh of rocking bar
Be convenient and reliable progress machine operation and movement, be the main control mechanism for controlling crawl device, rocking bar system uses
220V power supply, provides intelligent RS232 interface, its RS232 interface and a serial ports of control host are attached, master control meter
Control result is passed through carrier line by SPBUS bus inferface protocol by calculation machine, is transferred to underground；The electric energy transmission control system
System: electric energy transmission system is that the electrical transfer of well-surface part to underground part is supplied to crawl device work；The carrier communication
System is special carrier communication module SPC-100 type, is suitable under oil well the device talk use between ground, is suitble to hot environment
It uses；
As shown in figure 3, underground part is hydraulic-driven assembly, including three parts: Electronic Control Assembly, power assembly, execution
Mechanism assembly；Wherein power assembly is responsible for the generation and its motor coordination of power；Actuating mechanism assembly is responsible for radial power
The power of creeping of crawling wheel is converted to, moving forward and backward for crawl device is responsible for；Electronic Control Assembly is responsible for system coordination campaign, prison
The operating condition of survey and detection system；
As shown in figure 4, Electronic Control Assembly specifically includes that power-supply system, master control system, driving circuit and control circuit；Electricity
Control assembly is actually the total integrated of underground TT&C system, is the core of downhole control system, it is responsible for communication-cooperation well
The co-ordination of upper system and downhole system, is the most key link of whole system, and the reliability of TT&C system will determine
The performance of system；
As shown in figure 5, power assembly is the major impetus mechanism of crawl device, it by main drive motor, hydraulic pump, oil cylinder,
Solenoid directional control valve, hydraulic motor, retarder composition, its control execution is responsible for by Electronic Control Assembly；Power assembly is tool
Power source, it mainly realizes the driving of crawl device by hydraulic mechanism, and hydraulic oil passes through electromagnetism after hydraulic pump pressurization
Reversal valve, driving hydraulic motor work, hydraulic motor output by speed reducer deceleration and moment amplification, driving crawling wheel to
It is preceding or move backward；
As shown in figure 12, large traction crawl device uses hydraulic motor drive mode, is generated using main drive motor dynamic
Power drive hydraulic pump generates hydraulic power, then generates the wheeled tractor of large torque power drive by hydraulic motor and advance, hydraulic drive
Dynamic model formula can obtain biggish output torque for electric-machine directly-driven mode, improve getting over for large traction crawl device
Barrier ability.
Fig. 6 and as shown in fig. 7, actuating mechanism assembly is made of drive assembly and backup assembly；The backup driving is total
It is filled at by backup driving motor, backup retarder, electromagnetic clutch, ball-screw, extension spring, push rod, oil sac, displacement detecting
Set composition；As shown in figure 8, the speed reducer output of power assembly is passed through main shaft by drive assembly, commutate by umbrella tooth, then pass through
Gear drive is crossed, power is transmitted to crawling wheel, crawling wheel drives crawl device and moves forward or backward；As shown in figure 9, pushing away
It is the mechanical device that crawling wheel is pushed against to closing according to instruction by assembly, it amplifies using after click output by speed reducer
Torque has pushed driving wheel to tube wall, due to tube wall by pushing ball-screw to generate a thrust after electromagnetic clutch
Pressure is the determinant of tractive force, that is, to generate very big driving force, also accordingly to generate suitable backup power.
As shown in Fig. 2, the large traction crawl device of the hydraulic-driven mode, integral assembling structure, from left to right, successively
It is: centralizer, circuit storehouse, power assembly, drive assembly, backup assembly, centralizer.As shown in Figure 10, described in circuit storehouse installation
All elements of Electronic Control Assembly, while circuit storehouse installs two sensors, environment temperature detection sensor and environmental pressure detection
Sensor, the two sensors are mainly the environment temperature and environmental pressure for detecting crawl device work.As shown in figure 11, centralizer
It is mainly made of spring righting rod and steel roller, centralizer uses 4 arm scroll wheel structure of low friction, so that righting effect stability can
It leans on, and use 2 steel rollers (totally 8 steel rollers) in front and back are to reduce friction and endurance failure.
The master control system of Electronic Control Assembly can be divided by function are as follows: logic control element, analog acquisition unit, switching value
Acquisition unit, digital output modul unit, communications interface unit etc.；
Wherein logic control element is responsible for the algorithm control and the control of state machine of core, and it is big that state machine is broadly divided into 2
Class: the first kind, if output is only and state is in relation to and with inputting unrelated, referred to as Moore state machine；Second class, output not only and
State in relation to and and input have relationship, then referred to as Mealy state machine；Logic control element core algorithm is by a series of state
Mechanism at, be exactly state transition diagram, comprising one group of state set (states), an initial state (start state), one group it is defeated
Enter glossary of symbols (alphabet), one mapping input symbol and current state to NextState transfer function (transition
Function computation model).When input symbol string, model enters initial state immediately.
Analog acquisition unit is responsible for the acquisition conversion of analog signal, the unified 4- for using standard of analog signals acquisition
The current signal of 20ma converts current signal to after the electric current model of 4-20ma carries out isolation conditioning as unified interface
Voltage signal 0-2.5V, then be linked into converter and carry out conversion processing, it is handled using 16 converters, analog
The acquisition process for measuring signal includes following analog signals: 1) ambient operating temperature；2) hydraulic system operating temperature；3) hydraulic pressure system
System operating pressure；4) cylinder efficient pressure；5) support arm stretches out displacement sensor, and the acquisition of the signals such as electric current, voltage passes through collection
It is acquired at circuit module and electric resistance partial pressure, does not need special sensor and support；
Switch acquisition unit is responsible for the acquisition of switching value, and master control system is acquired using pulse measurement mode, system
Scale using special fire resistant magnetic magnet ring as system, even if still may be implemented under the installation gap greater than 0.8mm
Precise measurement.The system can effectively inhibit shaft vibration using integrated reading head design, special magnetic sensor array design
Measurement error caused by end face run-out is caused, especially in high-temperature, high pollution environment, such as military project servo turntable, space flight mould
Traditional Circular gratings or the circle magnetic grid encoders such as quasi-, field drilling, seismic wave detection, military radar, shell shooting sighting system
Insurmountable place, the system perfect can realize angle displacement measurement；
Digital output modul unit is responsible for the control signal of switching value, and major function is the control actuating of relay, relay it
The control for controlling magnetic loading or power switch progress operating switch amount afterwards includes the following contents: electromagnetic clutch: magnetism is negative
It carries；Solenoid directional control valve: magnetic loading；Motor positive and inverse: resistive load；
Communication interface is responsible for the offer with the interface and external interface of other boards, all communication using dma mode into
Row saves the time resource of MCU, and host circuit needs to complete following work: 1) controlling master driver motor by CAN interface
Make (revolving speed, electric current, positive and negative rotation, brake)；2) support motor action (revolving speed, electric current, positive and negative rotation, brake are controlled by CAN interface
Vehicle)；3) it is communicated by RS232 interface and upper-level control system；4) 1 tunnel RS232 interface of extension communication, for being with other
System connection；5) operating temperature all the way is measured；6) tank pressure monitors；7) relay controls 8 tunnels (motor positive and inverse, electromagnetic clutch
Device 48V)；8) operating voltage detection, operating current detection, governor circuit system interface are as shown in figure 13.
The hydraulic system of power assembly can be divided into open system and closed system；Open system refers to hydraulic pump from fuel tank
Oil suction drives operating mechanism to hydraulic cylinder (or hydraulic motor) fuel feeding by reversal valve, and hydraulic cylinder (or hydraulic motor) returns
Oil fills overflow valve, this system structure is relatively simple, the oil to have worked due to system again through reversal valve oil return box at pump discharge
Liquid oil return box, therefore the effect of the heat dissipation of fuel tank, precipitated impurities can be played, in open system, the hydraulic pump used is fixed
Amount pump or unidirectional variable pump, it is contemplated that it the suction capacity of pump and avoids generating emptying phenomenon, it is logical to the hydraulic pump of suction capacity difference
Often its working speed is limited within the 75% of rated speed, or adds an auxiliary pump and be irrigated, operating mechanism changes
To then by means of reversal valve, when reversal valve commutates, other than generating hydraulic shock, the inertia energy of moving component translates into heat
Can, and increase the temperature of hydraulic oil；
In closed system, the oil inlet pipe of hydraulic pump is directly connected with the oil return pipe of executive component, and working fluid is in system
Pipeline in carry out closed circulation, closed system structure is more compact, and mouth air touch opportunity is not less, and air is not easy introgression line
System, therefore the stationarity being driven is good, the speed change of operating mechanism and commutation are realized by adjusting the stroking mechanism of pump or motor, are avoided
Hydraulic shock appeared in open system commutation process and energy loss, meanwhile, in order to compensate for the leakage in system, usually need
It wants the fluid infusion an of low capacity to pump and carries out repairing and heat dissipation, the executive component in closed system is according to double acting single-piston rod liquid
When cylinder pressure, since size chamber flow differs, during the work time, power utilization can be made to decline, so holding in closed system
Units are generally hydraulic motor.
Mechanical analysis:
1. centralizer force analysis
Centralizer stress diagram is as shown in figure 14, in which:
G=N1+N2+N3+N4Vector correlation
G=N1cosα-N2sinαN3cosα+N4Sin α (1) scalar relationship
F=μ (N1cosαN2sinα+N3cosα+N4Sin α) f be centralizer friction
When the timing of angle [alpha] one, it is intended to so that f is smaller, then N1、N2、N3、N4Vector value be minimum.
Known according to (1), works as N2、N3When minimum, N1、N4Also minimum, because the minimum value of N is 0, work as N2、N3It is 0
When, f=μ (N1cosα+N4sinα)。
Vector correlation at this time is G=N1+N4。
Then scalar relationship is G=N1cosα+N4sinα。
So f=μ G is fixed value.
Conclusion: the pressure that the centralizer that is resistance of wheel and wheel are born is born is fixed relationship, because
This is unrelated with the number of centralizer, and the angle of rotation is unrelated, only related to entire tool own wt.
2. the force analysis of crawl device
Crawl device Overall Analysis figure, as shown in figure 15,
For whole system structure, the wheel of crawl device is driving wheel, the f of generation1For the driving energy of total
Power, direction is identical with the direction of motion, and centralizer is driven wheel, can generate a rolling frictional resistance, direction and direction of motion phase
Instead, the thing that drag 3T weight, then will receive a drag force F=3000*g=30000N backward.Therefore it wants to make
System motion then must assure that frictional force forward that all driving wheels generate jointly is more than or equal to the resistance of drag force and driven wheel
The sum of.Because designing system has 2 groups of driving wheels, then maximum drive ability is 4f1=4N2* μ, μ are confficient of static friction.
If whole system is G from gravity, then to guarantee that system is in tube wall center, then there is N4- G=N3, work as N3When being 0,
Entire centralizer both can satisfy demand, also can guarantee that frictional force is minimum value, at this time frictional force f2=G* μ1, μ1It rubs to roll
Wipe coefficient.
It then to move, it is necessary to assure 4N2*μ≥30000+G*μ1, it can thus be appreciated that, it is ensured that movement will then guarantee N2There is foot
Enough power.That is N2≥(30000+G*μ1)/4μ (1)
Crawling wheel is with respect to pipe walls support force analysis figure, as shown in figure 16:
When backup power in the left side is F1When, since system right is stationary state, when entire drive system does not work, system is protected
Hold stationary, stress balance, therefore F1=F2。
Since whole system will be maintained at pipeline center, two, left side backup arm must be equal, and two, the right backup arm must
Must be equal, therefore F1The axis heart in the duct, then F1'=F1″。
F1=F1′+F1" --- the formula is vector sum
Then
Then F1It is F to the pressure that following wheel generatesN。
Similarly acquire the right F2The pressure of generation is
Because of F1=F2。
So when left side given pressure is F1When, the pressure that following entire wheel is subject to is
To make F1The backup power that can be generated when (power of such backup motor is with regard to smaller) as small as possible is bigger, then needs
Want the value of tan α+tan β as big as possible.Then α and β value level off to 90 degree as far as possible.That is cut when α=β to take simultaneously
When to maximum value, conversion backup force efficiency is higher.
That is L1=L2。
Then when backup power is F1When, the pressure that two wheels are subject to is
Since the range of tube wall is 5.5~9 cun, i.e. D=127mm~230mm.Wheel footpath is designed as R=40mm.
If α and β value take 90 degree when being 127mm in tube wall, thenSo when
When in tube wall for greater than 127mm, tube wall can not be supported to, so the hypothesis mistake.
Similarly, it is assumed that when being in 230mm, α and β value take 90 degree, calculate L1, can also be with support tube in 127mm
Wall, therefore the hypothesis is set up.
Since equipment needs the ability of d=10mm groove obstacle of crossing, it is being in 230mm, and both sides ditch simultaneously
When slot is 10mm, taking α and β at this time is 90 degree, then the final value of backup arm is
For in 127mm caliber when backup power transformation efficiency is minimum, and when each 10mm of protrusion of obstacle detouring position, therefore F1
The power that can be provided must satisfy, and be obtained by (1) (2) formula
Because of FN=N2
It arranges
F1≥(30000+G*μ1)cotα/2μ
At this timeThen
Known L in formula1=85mm, D=127mm, d=10mm.
G is final design weight, μ and μ1It can look into.
Because μ value is about 0.001.So resistance is 1N and tractive force (30000N) when entire tool is 100KG
It can be ignored to compare.Therefore F is acquired1≥14231/μN。
Final F1Value backup motor must attainable maximum thrust when being design.
3. tool is in the traction force analysis in immersion oil different medium
Because being widely present the fluids such as water crude oil in oil well, therefore when tractor moves in oil well, crawling wheel and well
The frictional force of wall its corrosion that can lead to wheel surface of creeping of closely related, and the change of coefficient of friction therewith, to make to draw
The pressure of device backup mechanism changes.Influence movement of the tractor in well.So how to reduce well fluid to traction
The influence of device movement seems increasingly important, and provides theoretical foundation for the research and development of tractor and the design of crawling wheel.
The definition of frictional force first is: when two contacts are there are when normal pressure, preventing the tangential of two contact relative motions
Resistance is exactly frictional force.
Frictional force size and the pressure of contact surface have relationship, and one timing of contact surface degree of roughness, the bigger frictional force of pressure is more
Greatly；There is relationship with the pressure of contact surface, when one timing of pressure, contact surface is more coarse, and frictional force is bigger；One timing of frictional force, pressure
Power and roughness are inversely.
Here main that second and the third situation are discussed, i.e., when pressure is certain and one timing of roughness, between three
Relationship.
Tractor crawling wheel can be divided into following several situations on the borehole wall；
1, dry friction.
2, fluid friction
When crawling wheel walking, contact surface changes always, and frictional force suffered by object is substantially stiction, this rolling
Dynamic friction is substantially a kind of torque for hindering to roll, and crawling wheel is in this process in addition to the gravity by itself, material internal
Elastic force outside, can also in contact portion by stiction since crawling wheel and the borehole wall in contact position generate deformation, crawling wheel by
To support arm support force and part is pressed into the borehole wall, while crawling wheel itself is also compressed and generate deformation, when crawling wheel rolls
When dynamic, contact position front support face protuberance, and the position for the conjunction elastic force for making supporting surface act on the borehole wall moves forward from minimum point, just
It is this elastic force, the mass center relative to object generates the torque for hindering object to roll, and here it is crawling wheels for the borehole wall
At this moment, frictional force is equal to crawling wheel to the normal pressure of the borehole wall and the product of coefficient of friction to rolling friction
When 1 situation, in borehole wall medium situation unlubricated with crawling wheel, table look-up to obtain dynamic friction coefficient to be 0.2, according to
Known F1min=1542.8/ μ, obtains F1min=1542.8/0.2=7710N
When 2 situation, when there are the lubricant mediums such as grease in the borehole wall, tables look-up to obtain dynamic friction coefficient to be 0.05-0.1, take
Coefficient of friction 0.1. obtains F1min=1542.8/0.1=15428N according to known F1min=1542.8/ μ
In summary, the backup power F=7710N obtained in no lubricant medium, what is obtained when there is lubricant medium is pushed away
It is F=15428N. by power
It can be seen that the increasing of backup power is twice, thus in the case that backup power is than no oil medium in oil medium
Know that the dynamics of backup needs to increase by 1 times, therefore needs to infuse when lectotype selection in the case where casing strength meets
Meaning, the surplus that the output of backup motor assembly was calculated than opportunity is at least at 1 times or more；
4. crawl device Calculating Torque during Rotary
Crawl device drag torque analytical calculation schematic diagram, as shown in figure 17:
Total weight: 3000kg is loaded, load is dragged by 2 wheels are one group, mainly overcomes frictional force, friction factor takes
1, therefore friction torque required on two wheels:
Wherein D is the diameter of driving wheel；
2 wheels in total, torque 600Nm on every wheel；
5. creep speed calculates
VSpace rate=0.15m/s=9m/min
Wheel perimeter: L=π D=3.14*0.08m=0.251m
So wheel rotor speed nWheel=9m/min ÷ 0.251m=35.86rpm
(1) umbrella tooth speed ratio i1=2:1, efficiency η1=0.98, it is i from planetary reducer speed ratio is processed2=3:1, efficiency eta2
=0.9, then, and revolving speed and torque needed for motor combination:
MMotor combination=1200NM/ (0.98*6*0.9=)=226Nm；
nMotor combination=35.86rpm × 6=215rpm；
Therefore design in reach 226NM combination and 215 revolving speeds the requirement come for motor and
If selecting reduction gearbox speed ratio 93, motor torque demand: 2.6Nm, to motor speed demand: 93 × 102rpm=
9486rpm, feasibility are bigger.
The power of motor required for can successively calculating is minimum are as follows:
This formula of T=9550P/n is common in engineering: torque, power, revolving speed triadic relation calculation formula
N: revolving speed per minute
P: power, per kilowatt
T: torque
The motor of P=N.T/9550=226*215/9550=5.0KW.Therefore it realizes so big power, is driven using straight
Mode is substantially impossible, and using hydraulic-driven mode is optimal selection.
Claims (5)
1. a kind of large traction crawl device of hydraulic-driven mode, which is characterized in that be made of well-surface part and underground part；
The well-surface part includes: upper monitor control system, electric energy transmission control system, carrier communication system；It is described upper
Monitor control system is made of upper TT&C software system and control rocking bar, is the measurement and control center of system, is upper supervised
The man-machine interface surveyed and controlled；
By the work in every parameter of the upper TT&C software system monitoring well-surface part and underground part, and control crawl device
Work, it is described control rocking bar be control crawl device main control mechanism, control result is transferred to by main control computer
Underground；By electric energy transmission control system by the electrical transfer of well-surface part to underground part, it is supplied to crawl device work；It is described
Carrier communication system is responsible for the communication of well-surface part and underground part, adapts to hot environment and uses；
The underground part is hydraulic-driven assembly, including three parts: Electronic Control Assembly, power assembly, actuating mechanism assembly；Institute
It states Electronic Control Assembly and specifically includes that power-supply system, master control system, driving circuit and control circuit；The power assembly is to creep
The major impetus mechanism of device, it is made of main drive motor, hydraulic pump, oil cylinder, solenoid directional control valve, hydraulic motor, retarder, it
Control execution be to be responsible for by Electronic Control Assembly；The actuating mechanism assembly is made of drive assembly and backup assembly；It is described to push away
It is examined by assembly by backup driving motor, backup retarder, electromagnetic clutch, ball-screw, extension spring, push rod, oil sac, displacement
Survey device composition；
The large traction crawl device of the hydraulic-driven mode, integral assembling structure are successively from left to right: centralizer, electricity
Lu Cang, power assembly, drive assembly, backup assembly, centralizer, the circuit storehouse install all elements of the Electronic Control Assembly.
2. a kind of large traction crawl device of hydraulic-driven mode as described in claim 1, which is characterized in that the circuit storehouse
Two sensors are installed, are environment temperature detection sensor and environmental pressure detection sensor respectively.
3. a kind of large traction crawl device of hydraulic-driven mode as described in claim 1, which is characterized in that the centralizer
It is made of spring righting rod and steel roller.
4. a kind of large traction crawl device of hydraulic-driven mode as described in claim 1, which is characterized in that described automatically controlled total
At master control system be divided by function: logic control element, analog acquisition unit, switch acquisition unit, switching value control
Unit processed, communications interface unit.
5. a kind of large traction crawl device of hydraulic-driven mode as described in claim 1, which is characterized in that the power is total
At hydraulic system be divided into open system and closed system；The open system refers to that hydraulic pump from fuel tank oil suction, passes through commutation
Valve is to hydraulic cylinder or hydraulic motor fuel feeding to drive operating mechanism, and the oil return of hydraulic cylinder or hydraulic motor is again through reversal valve oil return
Case fills overflow valve at pump discharge；In the closed system, the oil inlet pipe of hydraulic pump directly with the oil return pipe phase of executive component
Even, working fluid carries out closed circulation in the pipeline of system.
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| CN201510778540.7A CN106437581B (en) | 2015-11-14 | 2015-11-14 | A kind of large traction crawl device of hydraulic-driven mode |
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| CN201510778540.7A CN106437581B (en) | 2015-11-14 | 2015-11-14 | A kind of large traction crawl device of hydraulic-driven mode |
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| CN106437581B true CN106437581B (en) | 2019-08-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107882520B (en) * | 2017-11-08 | 2019-05-31 | 清华大学 | The horizontal well crawl device driven by single motor and hydraulic clutch |
| CN111852440B (en) * | 2019-04-24 | 2022-12-02 | 中国石油天然气股份有限公司 | Crawling device |
| CN110261094B (en) * | 2019-07-17 | 2023-12-19 | 中国地质大学（北京） | Test device of pushing mechanism of vertical drilling system |
| CN111894503B (en) * | 2020-08-31 | 2021-05-14 | 西华大学 | Shale gas drilling type coring crawling mechanism |
| CN112593869B (en) * | 2020-12-25 | 2022-02-25 | 西南石油大学 | But centralizer of self-adaptation reducing |
| CN114019986B (en) * | 2022-01-04 | 2022-05-20 | 北京史河科技有限公司 | Path planning method of wall-climbing robot |
| CN114458863A (en) * | 2022-01-19 | 2022-05-10 | 云南文山铝业有限公司 | Adjustable tension wheel type pipeline detection crawling system |
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| US6347674B1 (en) * | 1998-12-18 | 2002-02-19 | Western Well Tool, Inc. | Electrically sequenced tractor |
| CN102374360B (en) * | 2011-11-29 | 2013-07-24 | 西南石油大学 | Hydraulic drive telescopic downhole tool running device of horizontal well |
| CN102777145B (en) * | 2012-08-16 | 2015-07-29 | 中国石油大学(北京) | A kind of Electro-hydraulic drive coiled tubing downhole tractor |
| CN103174391B (en) * | 2012-09-17 | 2016-09-21 | 重庆科技学院 | A kind of control system of Electro-hydraulic drive coiled tubing downhole tractor |
| CN205477590U (en) * | 2016-01-13 | 2016-08-17 | 陕西济龙科工贸有限公司 | Hydraulic drive horizontal well test draw gear |
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