Design And Research Of Rotary Sidewall Coring Robot

With the development of shale gas,the manufacturing industry of shale gas equipment industry will also witness significant development,and the development of coring tools will be bounded to receive greater attention and investment.Rotary sidewall coring tool uses its own coring bit to cut a section of cylindrical core from the sidewall and stores it in the sample storage mechanism.The cores are quality,which can be directly analyzed and tested for lithology,electrical property and oil-bearing property.Rotary sidewall coring has the advantages of easy operate and low cust,also has a great prospect for development.The complex geological conditions of shale gas in Sichuan-Chongqing area make drilling and completion of long horizontal section difficult,time-consuming and costly.At present,the existing rotary sidewall coring tools at home and abroad are not suitable for shale gas exploration and development under complex geological conditions in Sichuan-Chongqing area.Therefore,it is important to develop new horizontal section coring tools for improving the development of coring equipment technology in China.Based on the research of rotary coring tools at home and abroad,this paper carries out targeted research to solve the problem of long horizontal section coring in horizontal wells.The research contents include the overall scheme design of the rotary sidewall coring robot,the overall design of main components,the design of the action mechanism and the simulation of the virtual prototype.Embodied in the following aspects:Fully consult relevant literature and patents at home and abroad,and thoroughly investigate the development status of relevant tools.On this basis,according to the shortcomings of the current research on sidewall coring in long horizontal section,the main contents and research route of this paper are put forward.This paper introduces the structure and working principle of the sidewall coring robot,and completes the design of the overall scheme of the robot.The overall size design and layout design of the robot are carried out based on the bend trafficability.The design of the main mechanical systems of the coring robot were studied.Firstly,the force analysis of the stabilizer,tractor and coring mechanism were completed.Secondly,the key dimensions of the straightening and traction units are optimized by using MATLAB optimization toolbox.Finally,the three-dimensional prototype model of the robot is established by using SolidWorks.The ADAMS virtual prototype model of the wellbore coring robot is established,and a varitey of the dynamic sinulation experiments,such as straight pipe obstacle crossing,breaking and coring are carried out to verify the dynamic performance of each part of its work.