爬行器驱动轮与套管管壁斜压过程分析  

Analysis of oblique indentations caused by the tractor driving wheel and the casing pipe wall

作　　者：孙可平 杨东超[1] 常旭 朱衡 鲁沛昕 陈恳[1] SUN Keping;YANG Dongchao;CHANG Xu;ZHU Heng;LU Peixin;CHEN Ken(Department of Mechanical Engineering,Tsinghua University.Beijing 100084,China)

机构地区：[1]清华大学机械工程系

出　　处：《清华大学学报（自然科学版）》2019年第12期1016-1028,共13页Journal of Tsinghua University(Science and Technology)

摘　　要：轮式水平井爬行器驱动轮与套管管壁接触过程中会在管壁上留下塑性变形压痕,该压痕形貌对爬行器的运动性能影响较大,而轮齿与管壁材料的斜压接触过程非常复杂,目前还没有相应的理论模型来分析该过程。该文详细分析了正压力和转矩同时作用下,轮齿斜压管壁时不同载荷条件下压痕形成的规律,将载荷分为6个不同的作用区域。利用滑移线理论,分析计算了每个区域轮齿不同接触状态下的压力分布,建立了轮齿载荷与压痕形貌之间的力学计算模型。在此基础上,分析和计算了各作用区域间的临界载荷,并介绍了理论模型的正向和逆向应用方法。最后对4个稳定作用区域的理论模型从压深、滑移量、压痕形貌和接触面上压力分布等4个方面进行了仿真验证,并进行了压痕验证试验。仿真和试验结果均表明:对轮齿载荷作用的分区及所建立的理论计算模型是合理的。为今后爬行器载荷控制策略的优化以及驱动轮多齿牵引力的建模与优化奠定了基础。Contact between the driving wheel of a horizontal well crawler and the casing pipe wall causes plastic deformation indentations in the pipe wall.The indentation morphology then greatly influences the crawler motion with the oblique indentation contact between the wheel teeth and the pipe wall being a very complex process.A theoretical model was developed to analyze the indentation formation for various loading conditions with positive pressure and torque on the gear tooth to the oblique indentation.The loading effects can be divided into 6 different action areas.Slip line theory was used to analyze the pressure distribution for various contact states of the gear tooth in each region in a mechanical calculation model relating the load on the gear tooth and the indentation morphology.The critical loads between the action zones are identified with forward and backward application methods of the theoretical model.Finally,theoretical models of the four stabilization zones are characterized based on their indentation depth,amount of slip,indentation morphology and pressure distribution on the contact surface,and the indentation verification test was also carried out.The simulations and tests show that the load division between the gear teeth is reasonable and the theoretical model is accurate.This lays a foundation for optimization of the crawler load control strategy and the modeling and optimization of the multi-tooth traction force on the drive wheel.

关 键 词：爬行器 压痕形貌 塑性接触模型 滑移线理论 压力分布 

分 类 号：TE924[石油与天然气工程—石油机械设备]