螺旋轮式水平井牵引机器人设计与分析  

Design of Spiral Wheel Horizontal Well Traction Robot

作　　者：吴超群[1] 刘晨阳[1] 刘明尧[1] 张凤辉[2] 张玺亮[2] 

机构地区：[1]武汉理工大学机电工程学院 [2]中海油能源发展股份有限公司工程技术分公司

出　　处：《石油机械》2016年第11期63-67,共5页China Petroleum Machinery

基　　金：武汉市关键技术攻关计划项目"石油注采井分层测控系统关键技术研究与系统开发"(2014010202010089)

摘　　要：针对水平井作业工具输送困难的问题,设计了基于螺旋驱动原理的牵引机器人。提出了一种平行四边形支撑杆机构,采用丝杠螺母调节机构和弹簧柔性支撑来适应管径变化。对扶正机构轮与管壁的正压力进行分析,并建立了机器人的牵引力模型。应用Pro/E和ADAMS软件建立牵引机器人的虚拟样机,对驱动轮的正压力和牵引力进行仿真分析,搭建了管道试验环境进行机器人牵引力试验。试验结果表明:该机器人能够在内径125 mm的管道中平稳行进,最大牵引力能达到5 400 N。研究结果对于设计较大牵引力的水平井推进器具有重要的工程意义。In order to efficiently transport horizontal well operation tools, a spiral drive-based traction robot is designed. A support bar mechanism in parallelogram is proposed, and the screw nut adjusting mechanism and flexi-ble spring support are adopted to meet pipe diameter changes. T he positive pressure of centralized wheel and pipe wall is analyzed and a traction model for robot is established. A virtual prototype of traction robot is built by using Pro/E and ADAMS software,simulation analysis is conducted for positive pressure and traction force of the drive wheel, and pipeline test conditions are set up to conduct the robot traction force test. Test results indicate that the robot can steadily move in the pipeline with the inner diameter of 125 mm and its traction force is up to 5. 4 k N . The results have important engineering significance on design of horizontal well propeller with large traction force.

关 键 词：螺旋驱动 水平井 牵引机器人 结构设计 仿真分析 

分 类 号：TE243[石油与天然气工程—油气井工程]