井下机器人研究进展与应用展望
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摘要
针对水平井测井、压裂等作业中井下管柱下入困难的问题,国内外开展了井下机器人的研究与应用。根据井下机器人的结构特点及功能,将其分为井下牵引机器人和井下钻井机器人2大类,并详细介绍了其支撑机构、驱动系统、控制系统和能源供给系统等4大关键技术的功能、设计方案及性能参数。同时,总结归纳了国内外井下机器人的最新研究进展,指出小型化和安全性是井下机器人研究的目标、伸缩式智能控制钻井机器人是井下钻井机器人的主要发展方向,并基于井下机器人技术提出了连续油管多分支微小井眼水平井完井技术、连续油管智能闭环钻井技术和无线单桥塞水平井分段压裂技术。研究结果为我国井下机器人的研究、设计和应用提供了参考和借鉴。
The research and application of downhole robots has been carried out at home and abroad for addressing the difficult RIH of logging and fracturing pipe strings in horizontal wells. Two categories of downhole traction robots and drilling robots have been determined based on the structural characteristics and functions of downhole robots. The functions, design schemes and performance parameters of four key technologies, including support structure, drive system, control system and energy supply system were introduced in detail and the latest research progress of downhole robots at home and abroad were summarized. Studies indicated that the researches of downhole robots could be focused on the miniaturization and safety, and the telescopic intelligent control drilling robots should be developed preferentially. Based on the development of downhole robots, forward-looking technologies such as multi-lateral micro-hole horizontal well completion, coiled tubing intelligent closed-loop drilling, wireless single bridge plug staged fracturing in horizontal wells, etc., have been advanced. This paper provides a guide for the research, design and application of downhole robots in China.
The research and application of downhole robots has been carried out at home and abroad for addressing the difficult RIH of logging and fracturing pipe strings in horizontal wells. Two categories of downhole traction robots and drilling robots have been determined based on the structural characteristics and functions of downhole robots. The functions, design schemes and performance parameters of four key technologies, including support structure, drive system, control system and energy supply system were introduced in detail and the latest research progress of downhole robots at home and abroad were summarized. Studies indicated that the researches of downhole robots could be focused on the miniaturization and safety, and the telescopic intelligent control drilling robots should be developed preferentially. Based on the development of downhole robots, forward-looking technologies such as multi-lateral micro-hole horizontal well completion, coiled tubing intelligent closed-loop drilling, wireless single bridge plug staged fracturing in horizontal wells, etc., have been advanced. This paper provides a guide for the research, design and application of downhole robots in China.
引文
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[18]逄仁德,崔莎莎,韩继勇,等.水平井连续油管钻磨桥塞工艺研究与应用[J].石油钻探技术,2016,44(1):57-62.PANG Rende,CUI Shasha,HAN Jiyong,et al.Research and application of drilling,milling-grinding techniques for drilling out composite bridge plugs in coiled tubing in horizontal wells[J].Petroleum Drilling Techniques,2016,44(1):57-62.
[2]NEWMAN K R,BURRNETT T G,PURSELL J C,et al.Modeling the affect of a downhole vibrator[R].SPE 121752,2009.
[3]陈朝伟,周英操,申瑞臣,等.连续管钻井减摩技术综述[J].石油钻探技术,2010,38(1):29-31.CHEN Zhaowei,ZHOU Yingcao,SHEN Ruichen,et al.Overview of drag reducing technologies in coiled tubing drilling[J].Petroleum Drilling Techniques,2010,38(1):29-31.
[4]白相林,张旭堂,刘文剑.水平井牵引机器人自动定心机构动态仿真[J].石油勘探与开发,2010,37(1):104-110.BAI Xianglin,ZHANG Xutang,LIU Wenjian.Dynamic simulation of auto-centralizer for horizontal well traction robot based on ADAMS[J].Petroluem Exploration and Development,2010,37(1):104-110.
[5]LIU Qingyou,ZHAO Jianguo,ZHU Haiyan,et al.Review,classification and structural analysis of downhole robots:core technology and prospects for application[J].Robotics and Autonomous Systems,2019,115:104-120.
[6]刘清友,李雨佳,任涛,等.水平井爬行器驱动轮力学分析[J].钻采工艺,2014,37(1):68-71.LIU Qingyou,LI Yujia,REN Tao,et al.Mechanical analysis of driving wheels of horizontal wells tractor[J].Drilling&Production Technology,2014,37(1):68-71.
[7]刘清友,杨亚强,朱海燕,等.一种液压伸缩式井下牵引器的运动机构:CN201710018259.2[P].2017-01-11.LIU Qingyou,YANG Yaqiang,ZHU Haiyan,et al.A kind of motion mechanism of hydraulic telescopic downhole tractor:CN201710018259.2[P].2017-01-11.
[8]肖晓华,王昆鹏,赵建国,等.弹簧片式牵引器牵引锁止力学及结构优化研究[J/OL].机械科学与技术,2018-12-17.http://kns.cnki.net/kcms/detail/61.1114.TH.20181214.1933.018.html.XIAO Xiaohua,WANG Kunpeng,ZHAO Jianguo,et al.Study on mechanical and structural optimization of traction locking for spring sheet tractor[J/OL].Mechanical Science and Technology for Aerospace Engineering,2018-12-17.http://kns.cnki.net/kcms/detail/61.1114.TH.20181214.1933.018.html.
[9]LIU Qingyou,ZHAO Jianguo,ZHU Haiyan,et al.A novel double bevel support structure for downhole robot[J].Arabian Journal for Science and Engineering,2019,44(2):1069-1079.
[10]刘清友,李维国.Sondex水平井井下爬行器的研究与应用[J].石油钻采工艺,2008,30(5):115-117.LIU Qingyou,LI Weiguo.Research and application of Sondex downhole tractor for horizontal wells[J].Oil Drilling&Production Technology,2008,30(5):115-117.
[11]曾华军.水平井牵引器驱动系统关键技术研究[D].哈尔滨:哈尔滨工业大学,2010.ZENG Huajun.Research on key technologies of horizontal well tractor driving system[D].Harbin:Harbin Institute of Technology,2010.
[12]GREG G,TODOR S,YONN C.Wireline tractor for through-tubing intervention in wells with barefoot openhole completions[R].SPE189923,2018.
[13]KRUEGER R E V.Eccentric linkage gripper:US201414222310[P].2014-03-21.
[14]MOORE N B,BEAUFORT R E,KRUEGER R E.Puller-thruster downhole tool:US19980213952[P].1998-12-17.
[15]LIU Qingyou,ZHAO Jianguo,ZHU Haiyan,et al.Mechanical model of drilling robot driven by the differential pressure of drilling fluid[J].Arabian journal for Science and En-gineering,2019,44(2):1447-1458.
[16]刘清友,陶雷,朱海燕.一种钻鱼刺状多级分支水平井页岩气储层钻完井和增产系统:CN201410665275.7[P].2014-11-20.LIU Qingyou,TAO Lei,ZHU Haiyan.A drilling,completion and productivity increasing system for shale gas reservoir in multi-stage branch horizontal wells:CN201410665275.7[P].2014-11-20.
[17]刘清友.未来智能钻井系统[J].智能系统学报,2009,4(1):10-20.LIU Qingyou.Future intelligent drilling technology[J].CAAITransactions on Intelligent Systems,2009,4(1):10-20.
[18]逄仁德,崔莎莎,韩继勇,等.水平井连续油管钻磨桥塞工艺研究与应用[J].石油钻探技术,2016,44(1):57-62.PANG Rende,CUI Shasha,HAN Jiyong,et al.Research and application of drilling,milling-grinding techniques for drilling out composite bridge plugs in coiled tubing in horizontal wells[J].Petroleum Drilling Techniques,2016,44(1):57-62.