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.(1)By analyzing the basic composition of the wheeled traction robot system,the basic working principles and functions of each part,the component units that have the greatest impact on the performance of obstacle crossing are obtained,which is ready for the development of subsequent research work;(2)Carry out the corresponding mechanism analysis on the key elements of obstacle crossing when the wheeled traction robot is moving normally in the tubing,establish the mechanical model of the traction support mechanism,obtain the best size and structural parameters of the support mechanism through optimization,and optimize Perform performance comparison analysis on the supporting mechanism of the rear(L₁=70mm,L₂=20mm);(3)Optimize the driving wheel,the key component that affects the performance of obstacles,and design a self-adaptive variable-diameter driving wheel,which can automatically change the shape when encountering obstacles,so as to cross the obstacles;(4)Research on the overall mechanics of the traction robot working under different working conditions,analyze the conditions under which the traction robot can work normally,obtain the mathematical expressions of traction power and various traction resistance,and analyze the underground motion status of the traction robot.