水平井电缆牵引器滚轮与管壁压力的测量

doi:10.7623/syxb201806010

石油学报 ›› 2018, Vol. 39 ›› Issue (6): 712-718.DOI: 10.7623/syxb201806010

水平井电缆牵引器滚轮与管壁压力的测量

孙可平¹, 杨东超¹, 常旭¹, 陈恳¹, 张福兴², 李洪军²

1. 清华大学机械工程系北京 100084;
2. 中国石油辽河油田公司钻采工艺研究院辽宁盘锦 124010

收稿日期:2017-09-25 修回日期:2018-04-08 出版日期:2018-06-25 发布日期:2018-07-03
通讯作者: 杨东超,男,1975年5月生,1997年获湖南大学机械制造工艺与设备专业学士学位,2003年获清华大学机械电子工程专业博士学位,现为清华大学机械工程系副研究员,主要从事工业机器人、特种机器人及车间自动化等方面的研究。Email:ydc@tsinghua.edu.cn
作者简介:孙可平,男,1979年10月生,2003年获北京理工大学机电工程专业学士学位,2006年获北京理工大学机电工程专业硕士学位,现为清华大学机械工程系博士研究生,主要从事特种机器人技术及应用等方面的研究。Email:sunkeping110@163.com

Measurement of the normal contact force between the cable tractor's wheels and the pipe wall of horizontal well

Sun Keping¹, Yang Dongchao¹, Chang Xu¹, Chen Ken¹, Zhang Fuxing², Li Hongjun²

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Drilling and Production Technology Research Institute, PetroChina Liaohe Oilfield Company, Liaoning Panjin 124010, China

Received:2017-09-25 Revised:2018-04-08 Online:2018-06-25 Published:2018-07-03

摘要/Abstract

摘要：

水平井电缆牵引器滚轮与管壁之间的压力是进行牵引器结构设计和作业控制的一项关键参数。如果压力施加不当，滚轮将出现打滑或堵转。由于套管细长，滚轮与管壁的接触位置又不断在发生变化，因此压力测量的难度很大。笔者提出在套管上开窗口并用球头立柱支撑压板，使立柱与压板始终处于单面点接触状态，确保压板发生变形时立柱只受到压力。为防止压板从窗口掉入套管，将压板的两个侧立面加工为楔形，与窗口侧立面具有相同的锥度。研究介绍了测力系统的设计和工作原理，提出了有无预紧力2种情况下支撑立柱的压力计算模型，建立了测试系统，并对牵引器在套管内爬行时的压力进行了测量。根据得到的16根支撑立柱的应变值，计算和分析了压板和立柱上的压力分配。

关键词: 水平井, 牵引器, 法向接触力, 爬行器, 测量

Abstract:

The normal contact force between the cable tractor's wheels and the pipe wall of horizontal well is a key parameter for the design of tractor structure and operation control. If the normal contact force is imposed improperly, the wheels will show the problems of slipping or lock-rotation. Because the casing is very long and thin, and the contact position between wheels and pipe walls changes constantly, it is very difficult to measure the normal contact force. To solve this problem, an effective method is put forward. The window is opened on the casing and the ball column is used to support the pressing plate, so that the column and pressing plate are always in a single point contact state, which ensures that the column is only subjected to pressure when the pressing plate is deformed. To prevent the pressing plate falling into the casing from the window, both side facades of pressing plate are machined into wedges and have the same taper with the side facade of window. This paper introduces the designing and working principle of normal contact force measuring system, and also proposes the normal contact force calculation model of bracing column under pre-tightening force or not. Then the test system is established; the normal contact force of the tractor creeping in the casing is also measured. Moreover, the normal contact force distribution on the pressing plate and column is calculated and analyzed according to the strain values of 16 bracing columns.

Key words: horizontal well, tractor, normal contact force, crawler, measurement

中图分类号:

TE927

孙可平, 杨东超, 常旭, 陈恳, 张福兴, 李洪军. 水平井电缆牵引器滚轮与管壁压力的测量[J]. 石油学报, 2018, 39(6): 712-718.

Sun Keping, Yang Dongchao, Chang Xu, Chen Ken, Zhang Fuxing, Li Hongjun. Measurement of the normal contact force between the cable tractor's wheels and the pipe wall of horizontal well[J]. Acta Petrolei Sinica, 2018, 39(6): 712-718.

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水平井电缆牵引器滚轮与管壁压力的测量

Measurement of the normal contact force between the cable tractor's wheels and the pipe wall of horizontal well

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