Research On Robot For Detecting Fault In Oil Well Based On Virtual Prototype

Carrying for instrument is an important technology for operation at down-hole in oil well such as logging and mending. At present, the continuous oil pip is used much in directional and horizontal oil well, but,its devices are complicated , and cost is high. By referring and absorbing robot technology and method of in-pipe,and the condition of down-hole, the paper has studied a kind of new instrument for carrying at down-hole —robot for detecting fault in oil well. This robot which has driving force for itself,and has been able to run at down-hole, has overcomed the defect of the traditional carrying technology for instrument.First,the plan that using the robot for floodgate - plunger type to detect fault of down-hole is put forword in the paper, and the principle for work of the robot is studied,the structural design of the robot is completed; Then,Utilizing three dimensional modeling software Pro/Engineer,the prototype of this robot is set up, and assembling robot is completed. Through Mechanism/Pro module the restriction of the robot is appended,and ,the prototype of the robot is imported to ADAMS; Finally,utilizing mechanical system dynamics software ADAMS,two simulation experiments of the robot is run.One is the movement simulation of robot feet,in which the structure of robot feet are optimized. Another is the motion simulation of the robot at down-hole, which simulates real motion state of the robot at down-hole, and analyzes the motion ability of the robot.The experiment result indicates that the robot prototype which has the 5000N force of traction is able to run stabile at down-hole for Φ90 ～ Φ130mm pipe in vertical oil well, horizontal oil well and directional oil well.The speed of this robot in normal pipe approximately is 7.1mm/s.