水平井牵引机器人机械系统研究
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摘要
石油是工业和经济发展的重要基础能源,随着石油开采技术的发展,水平井已成为高效开采油气的重要技术支撑。然而,在石油开采中,对水平油井的检测却十分困难。在垂直井和小斜度井,井下工具可依靠重力由缆绳下放到工作位置,在这种情况下,向下的推进力等于重力减去井下流体对其浮力。然而在大斜度井和水平井情况要复杂得多,在水平井必须依靠外加向前的推力才能前进,提供推力的机械,被称为水平井牵引机器人,传统的牵引机器人大致可以分为轮式和蠕动式两类。本文针对内径为114.3mm至193.68mm的井眼研究并提出了一种轮式水平井牵引机器人,它的机体为细长管状,依靠驱动轮前进,可在套管和裸井中使用。牵引机器人的越障机构包括行走驱动单元和柔性支撑单元等组成部分,确保机器人能够越过井管中遇到的障碍物,适应井径的变化,将井下工具及测井仪器运送到水平井指定位置。
本文的具体研究内容及主要工作可以概括为以下几个方面：
首先,通过大量查阅和整理水平井牵引机器人相关文献和资料,深入细致地分析各种水平井牵引机器人及管道机器人在管道内的运动原理和特点,分析水平井环境对机器人运动方式的特殊要求,通过对各种类型的运动方式对比分析,确定适应井下环境的最优运动方式,并以此为基础,提出了一种水平井牵引机器人机械系统。
然后,针对所提出的牵引机器人机械系统的运动力学的有关问题进行了详细的分析研究,包括机器人的管内空间运动方程、管内运动阻力、径向调节运动、越障能力。
最后,在Pro/E环境下建立水平井牵引机器人三维模型。通过ADAMS虚拟样机软件对越障机构进行运动学及动力学仿真试验,验证了其越障能力。
虽然本文基本实现了研究目标,但整个水平井牵引机器人系统距离实用化还有很长的路要走。在本文的最后总结了整个论文的工作和研究成果,并提出了对未来研究工作的展望。
Oil is a fundamental energy that sustains the development of industry and economy. With the develop of oil exploitation technology, the horizontal oil wells develop gradually as an important way to raise oil production. However, thelogging of horizontal oil well is very difficult. In vertical wells, and in those wells having only a few degrees of deviation, the axial thrust necessary to convey logging tools, is supplied by gravity. In these situations, the downward thrust applied to the string is equal to the weight of the string, minus any buoyancy force due to fluid downhole. The situation is more complex in highly deviated and horizontal wells.In horizontal wells the string will not move forward further without the input of additional forward axial thrust.This propulsion machines, often referred to as " Wireline Tractor". Most conventional tractors can be loosely grouped into two groups, namely, wheeled-powered and crawlers, this paper puts forward a type of Wheeled Wireline Tractor, which consist of a tubular housing and powered wheels that project from the housing and are designed to engage the inner walls of the casing or open hole, which operating diameter is 114.3mm-193.68mm. The over-obstacle mechanism for Wheeled Wireline Tractor include driving unit and flexible supporting unit. The robot has the adaptability to the change of well diameters, it can cross obstacles and convey the logging tools to the destination.
The main content and contributions of this thesis are summarized as follows:
On the basis of collecting and mastering a large amount of documents and references on Wireline Tractor,the differences and characters of existing Wireline Tractor and in-pipe robot locomotion modes are analyzed in detail.Considering the demands of horizontal oil wells environment and the exact locomotion mode,which is more suitable for horizontal oil wells environment is selected through comprehensive comparison,and proposed the related new locomotion mechanism of Wireline Tractor.
On the basis of the selected locomotion mode and the proposed locomotion mechanism,some topics of in-pipe kinetic character of Wireline Tractor are analyzed and discussed deeply,including its in-pipe moving resistant, spatial motion equation, radial adjusting,capability over obstacle.
The 3-D simulation model of the Wireline Tractor is designed by Pro/E, This paper uses ADAMS simulation technology deal with the problem of dynamics and kinematics analysis and proved its feasibility of over-obstacle.
Although the major research project has been completed in this thesis,there still exists much research works to be done to make the system suitable for practical application. At the end of this thesis,the author makes a summary of the main research works and contributions,and give some suggests for further research.
本文的具体研究内容及主要工作可以概括为以下几个方面：
首先,通过大量查阅和整理水平井牵引机器人相关文献和资料,深入细致地分析各种水平井牵引机器人及管道机器人在管道内的运动原理和特点,分析水平井环境对机器人运动方式的特殊要求,通过对各种类型的运动方式对比分析,确定适应井下环境的最优运动方式,并以此为基础,提出了一种水平井牵引机器人机械系统。
然后,针对所提出的牵引机器人机械系统的运动力学的有关问题进行了详细的分析研究,包括机器人的管内空间运动方程、管内运动阻力、径向调节运动、越障能力。
最后,在Pro/E环境下建立水平井牵引机器人三维模型。通过ADAMS虚拟样机软件对越障机构进行运动学及动力学仿真试验,验证了其越障能力。
虽然本文基本实现了研究目标,但整个水平井牵引机器人系统距离实用化还有很长的路要走。在本文的最后总结了整个论文的工作和研究成果,并提出了对未来研究工作的展望。
Oil is a fundamental energy that sustains the development of industry and economy. With the develop of oil exploitation technology, the horizontal oil wells develop gradually as an important way to raise oil production. However, thelogging of horizontal oil well is very difficult. In vertical wells, and in those wells having only a few degrees of deviation, the axial thrust necessary to convey logging tools, is supplied by gravity. In these situations, the downward thrust applied to the string is equal to the weight of the string, minus any buoyancy force due to fluid downhole. The situation is more complex in highly deviated and horizontal wells.In horizontal wells the string will not move forward further without the input of additional forward axial thrust.This propulsion machines, often referred to as " Wireline Tractor". Most conventional tractors can be loosely grouped into two groups, namely, wheeled-powered and crawlers, this paper puts forward a type of Wheeled Wireline Tractor, which consist of a tubular housing and powered wheels that project from the housing and are designed to engage the inner walls of the casing or open hole, which operating diameter is 114.3mm-193.68mm. The over-obstacle mechanism for Wheeled Wireline Tractor include driving unit and flexible supporting unit. The robot has the adaptability to the change of well diameters, it can cross obstacles and convey the logging tools to the destination.
The main content and contributions of this thesis are summarized as follows:
On the basis of collecting and mastering a large amount of documents and references on Wireline Tractor,the differences and characters of existing Wireline Tractor and in-pipe robot locomotion modes are analyzed in detail.Considering the demands of horizontal oil wells environment and the exact locomotion mode,which is more suitable for horizontal oil wells environment is selected through comprehensive comparison,and proposed the related new locomotion mechanism of Wireline Tractor.
On the basis of the selected locomotion mode and the proposed locomotion mechanism,some topics of in-pipe kinetic character of Wireline Tractor are analyzed and discussed deeply,including its in-pipe moving resistant, spatial motion equation, radial adjusting,capability over obstacle.
The 3-D simulation model of the Wireline Tractor is designed by Pro/E, This paper uses ADAMS simulation technology deal with the problem of dynamics and kinematics analysis and proved its feasibility of over-obstacle.
Although the major research project has been completed in this thesis,there still exists much research works to be done to make the system suitable for practical application. At the end of this thesis,the author makes a summary of the main research works and contributions,and give some suggests for further research.
引文
[1]Lam Fei Shiong, Joseph Paul Collins, Brian Schwanitz. Wireline Tractor Technology Supports Fast Tracking New Well Design[C]. IADC/SPE 115202 Asia Pacific Drilling Technology Conference and Exhibition, Jakarta, Indonesia,November 2008.
[2]McInally Gerald, Hallundbaek Jorgen.The Application of New Wireline Well Tractor Technology to Horizontal Well Logging and Intervention:A review of Field Experience in the North Sea[C]. SPE 38757 Annual Technical Conference and Exhibition, San Antonio, Texas, October 1997.
[3]Eddie Local, Thomas L. Searight. Wireline Tractor Production Logging Experience In Australian Horizontal Wells[C]. SPE 51612 Asia Pacific Oil and Gas Conference and Exhibition, Perth, Australia. October 1998.
[4]刘清友,李难国.Sondex水平井井下爬行工具介绍[J],国外测井技术,2008,23(5)：57-59
[5]Sondex company.Modular Downhole Tractor (MDT) [EB/OL] http://www.sondex.com/assets/documents/pdfs/products/wireline/W_DT_Downhole_Tractor_MDT_D.pdf
[6]Brikt Hansen, New Wireline Tractor Applications Challenge Conventional Inter vention Methods[J]. Business Briefings, Jul 2004.
[7]Aker Well Service. Product Catalogue Tractor and applications[EB/OL] http://viewer.zmags.com/showmag.php?mid=hfhsq#/page2/
[8]Bruce Henderson, Chris Hopwood, Cameron Hamilton, et al. Cost Saving Benefits of Using a Fully Bi-directional Tractor System[C]. SPE/CIM 65467 International Conference on Horizontal Well Technology, Calgary, Alberta, Canada, November 2000.
[9]Mohamed K. Hashem, Saleh M. Al-Dossari, Douglas Seifert, et al. An Innovative Tractor Design for Logging Openhole Soft Formation Horizontal Wells[C]. SPE 111347 North Africa Technical Conference & Exhibition, Marrakech, Morocco, March 2008.
[10]Mark Alden, Faisal Arif, Matt Billingham, et al. Advancing Downhole Conveyance [J]. Oilfield Review,Autumn 2004:30-43
[11]唐德威,王新杰,邓宗全等.水平油井检测仪器拖动器[J],哈尔滨工业大学学报,2007,39(9)：1395-1397
[12]白相林,李浩呈,刘文剑.油田水平井牵引机器人驱动单元的设计[J].吉林大学学报(工学版)2008,38(2)：122-127.
[13]许春波.水平井牵引机器人扶正器的优化设计与仿真：[硕士学位论文].哈尔滨：哈尔滨工业大学,2006
[14]赵永铸.牵引机器人动作单元动力学仿真与关键部件优化设计：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[15]姚永庆.水平井牵引机器人空心杯直流伺服电动机的研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2006
[16]李佳亮.拖拉器电磁离合器的优化及动态特性研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[17]高进伟,刘猛,李海凤.水平井井下自适应爬行器的研制[J].石油机械.2005,33(增刊)：100-104
[18]高进伟.水平井井下轮式自适应管道爬行器.中国专利,CN200520008070.8,2006-08-16.
[19]东方.套管水平井牵引器[J].小型油气藏.2008,13(3)：14
[20]中国石油天然气集团公司,辽河石油勘探局.套管水平井测井牵引器变径牵引装置.中国专利,CN200720190260.5,2008-08-27.
[21]戴宇刚,杨波.拖拉器在水平井生产测井中的应用[J],石油仪器,2005,19(4)：13-15
[22]张凤歧.拖拉器在水平井中的生产测井工艺及应用[J].石油仪器.2006,20(5)：92-93
[23]王永波,杨文明,刘静章.水平井生产测井仪器输送工艺探讨[J].石油仪器.2006,20(2)：85-86
[24]宫振远,郑伟,周峰.大斜度井和水平井的测井牵引器[J].国外测井技术.2001,16(3)：44-46
[25]刘猛,高进伟,熊万军等.水平井井下仪器送进技术的现状及发展建议[J].石油矿场机械.2004,33(6)：16-18
[26]韩易龙,吴迪,王建国等.水平井生产测井技术应用[J].测井技术.2003,27(4)：320-324
[27]王兆东,韩涛.拖拉器原理及其在水平井生产测井中的应用[J].国外测井技术.2002,21(6)：36-39
[28]常玉连,邵守君,高胜.石油工业中管道机器人技术的发展与应用前景[J].石油机械.2006,34(9)：122-126
[29]尚青松.套管油井检测仪器拖动器的设计与研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[30]常玉连,邵守君,高胜等.基于虚拟样机的井下机器人行走仿真试验[J].系统仿真学报.2008,20(13)：3610-3613
[31]邵守君.基于虚拟样机的石油井故障探测机器人研究：[硕士学位论文].大庆：大庆石油学院,2007
[32]朱林,吴松平.水平井测井仪器牵引爬行器的设计[J].新技术新工艺,2007,12：32-34
[33]刘凡.定向或水平井的井下牵引装置.中国专利,CN200310105801.6,2005-04-13.
[34]吴月先,钟水清,徐永高等.中国水平井技术实力现状及发展趋势[J],石油矿场机械,2008,37(3)：33-36
[35]Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, et al. Automatic Pipe Negotiation Control for snake-like robot[C]. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, China July,2008:588-563
[36]Andreas Zagler, Friedrich Pfeiffer. "MORITZ" a pipe crawler for tube junctions[C]. Proceeding of IEEE International Conference on Robotics and Automation,Taipei, China Sept 2003:2954-2959.
[37]Mihaita Horodinca,Ioan Dorftei, Emmanuel Mignon,et al.A simple architecture for in-pipe inspection robots[J]. International Colloquium on Mobile and Autonomous Systems,2002: 61-64
[38]全永昕.工程摩擦学[M].浙江：浙江大学出版社,1994.73-74
[39]曲敬信,汪泓宏.表面工程手册[M].化学工业出版社,1998.4-7
[40]邵世明,赵连恩,朱念昌.船舶阻力[M].北京：国防工业出版社,1995
[41]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京：清华大学出版社,2005
[2]McInally Gerald, Hallundbaek Jorgen.The Application of New Wireline Well Tractor Technology to Horizontal Well Logging and Intervention:A review of Field Experience in the North Sea[C]. SPE 38757 Annual Technical Conference and Exhibition, San Antonio, Texas, October 1997.
[3]Eddie Local, Thomas L. Searight. Wireline Tractor Production Logging Experience In Australian Horizontal Wells[C]. SPE 51612 Asia Pacific Oil and Gas Conference and Exhibition, Perth, Australia. October 1998.
[4]刘清友,李难国.Sondex水平井井下爬行工具介绍[J],国外测井技术,2008,23(5)：57-59
[5]Sondex company.Modular Downhole Tractor (MDT) [EB/OL] http://www.sondex.com/assets/documents/pdfs/products/wireline/W_DT_Downhole_Tractor_MDT_D.pdf
[6]Brikt Hansen, New Wireline Tractor Applications Challenge Conventional Inter vention Methods[J]. Business Briefings, Jul 2004.
[7]Aker Well Service. Product Catalogue Tractor and applications[EB/OL] http://viewer.zmags.com/showmag.php?mid=hfhsq#/page2/
[8]Bruce Henderson, Chris Hopwood, Cameron Hamilton, et al. Cost Saving Benefits of Using a Fully Bi-directional Tractor System[C]. SPE/CIM 65467 International Conference on Horizontal Well Technology, Calgary, Alberta, Canada, November 2000.
[9]Mohamed K. Hashem, Saleh M. Al-Dossari, Douglas Seifert, et al. An Innovative Tractor Design for Logging Openhole Soft Formation Horizontal Wells[C]. SPE 111347 North Africa Technical Conference & Exhibition, Marrakech, Morocco, March 2008.
[10]Mark Alden, Faisal Arif, Matt Billingham, et al. Advancing Downhole Conveyance [J]. Oilfield Review,Autumn 2004:30-43
[11]唐德威,王新杰,邓宗全等.水平油井检测仪器拖动器[J],哈尔滨工业大学学报,2007,39(9)：1395-1397
[12]白相林,李浩呈,刘文剑.油田水平井牵引机器人驱动单元的设计[J].吉林大学学报(工学版)2008,38(2)：122-127.
[13]许春波.水平井牵引机器人扶正器的优化设计与仿真：[硕士学位论文].哈尔滨：哈尔滨工业大学,2006
[14]赵永铸.牵引机器人动作单元动力学仿真与关键部件优化设计：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[15]姚永庆.水平井牵引机器人空心杯直流伺服电动机的研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2006
[16]李佳亮.拖拉器电磁离合器的优化及动态特性研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[17]高进伟,刘猛,李海凤.水平井井下自适应爬行器的研制[J].石油机械.2005,33(增刊)：100-104
[18]高进伟.水平井井下轮式自适应管道爬行器.中国专利,CN200520008070.8,2006-08-16.
[19]东方.套管水平井牵引器[J].小型油气藏.2008,13(3)：14
[20]中国石油天然气集团公司,辽河石油勘探局.套管水平井测井牵引器变径牵引装置.中国专利,CN200720190260.5,2008-08-27.
[21]戴宇刚,杨波.拖拉器在水平井生产测井中的应用[J],石油仪器,2005,19(4)：13-15
[22]张凤歧.拖拉器在水平井中的生产测井工艺及应用[J].石油仪器.2006,20(5)：92-93
[23]王永波,杨文明,刘静章.水平井生产测井仪器输送工艺探讨[J].石油仪器.2006,20(2)：85-86
[24]宫振远,郑伟,周峰.大斜度井和水平井的测井牵引器[J].国外测井技术.2001,16(3)：44-46
[25]刘猛,高进伟,熊万军等.水平井井下仪器送进技术的现状及发展建议[J].石油矿场机械.2004,33(6)：16-18
[26]韩易龙,吴迪,王建国等.水平井生产测井技术应用[J].测井技术.2003,27(4)：320-324
[27]王兆东,韩涛.拖拉器原理及其在水平井生产测井中的应用[J].国外测井技术.2002,21(6)：36-39
[28]常玉连,邵守君,高胜.石油工业中管道机器人技术的发展与应用前景[J].石油机械.2006,34(9)：122-126
[29]尚青松.套管油井检测仪器拖动器的设计与研究：[硕士学位论文].哈尔滨：哈尔滨工业大学,2007
[30]常玉连,邵守君,高胜等.基于虚拟样机的井下机器人行走仿真试验[J].系统仿真学报.2008,20(13)：3610-3613
[31]邵守君.基于虚拟样机的石油井故障探测机器人研究：[硕士学位论文].大庆：大庆石油学院,2007
[32]朱林,吴松平.水平井测井仪器牵引爬行器的设计[J].新技术新工艺,2007,12：32-34
[33]刘凡.定向或水平井的井下牵引装置.中国专利,CN200310105801.6,2005-04-13.
[34]吴月先,钟水清,徐永高等.中国水平井技术实力现状及发展趋势[J],石油矿场机械,2008,37(3)：33-36
[35]Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, et al. Automatic Pipe Negotiation Control for snake-like robot[C]. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, China July,2008:588-563
[36]Andreas Zagler, Friedrich Pfeiffer. "MORITZ" a pipe crawler for tube junctions[C]. Proceeding of IEEE International Conference on Robotics and Automation,Taipei, China Sept 2003:2954-2959.
[37]Mihaita Horodinca,Ioan Dorftei, Emmanuel Mignon,et al.A simple architecture for in-pipe inspection robots[J]. International Colloquium on Mobile and Autonomous Systems,2002: 61-64
[38]全永昕.工程摩擦学[M].浙江：浙江大学出版社,1994.73-74
[39]曲敬信,汪泓宏.表面工程手册[M].化学工业出版社,1998.4-7
[40]邵世明,赵连恩,朱念昌.船舶阻力[M].北京：国防工业出版社,1995
[41]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京：清华大学出版社,2005