钻井牵引机器人摩擦块—井壁接触性能分析  

Contact Performance Analysis for Friction Block and Wellbore Wall of Drilling Traction Robot

作　　者：何超 徐文 李枝林 赵建国 王菊 HE Chao;XU Wen;LI Zhilin;ZHAO Jianguo;WANG Ju(Drilling&Production Engineering Technology Research Institute,CNPC Chuanqing Engineering Co.,LTD.,Guanghan,Sichuan 618300,China;Technology Department,CNPC Chuanqing Engineering Co.,LTD.,Chengdu,Sichuan 610051,China;School of Mechatronic Engineering Petroleum University,Southwest Petroleum University,Chengdu,Sichuan 610500,China)

机构地区：[1]中国石油川庆钻探工程有限公司钻采工程技术研究院,四川省广汉市618300 [2]中国石油川庆钻探工程有限公司科技处 [3]西南石油大学机电工程学院

出　　处：《钻采工艺》2022年第6期96-101,共6页Drilling & Production Technology

基　　金：中国石油川庆钻探工程有限公司项目“长水平段钻井井下牵引机器人研制”(编号:CQZT-zcy-2020-JS-50381);国家自然科学基金“连续油管钻井牵引机器人钻压-钻速-转速联合控制机理研究”(编号:52004232)。

摘　　要：钻井牵引机器人的牵引力主要来源于支撑机构摩擦块与岩石井壁之间的相互作用力,牵引力与等效摩擦系数是机器人力学特性分析和结构设计的关键。基于此,文章建立了摩擦块与井壁数值仿真模型,分析了摩擦块牙齿轮廓尺寸、数量、正压力、嵌入深度等对当量摩擦系数、牵引力的影响规律。结果表明,正压力和齿前角是影响摩擦块当量摩擦系数的主要参数,也是影响钻井牵引机器人是否能稳定抓靠井壁的主要因素;当摩擦块牙齿齿前角35°、齿后角60°、齿斜角30°、嵌入深度2.5~3.0 mm时,单个摩擦块可提供的轴向牵引力约30 000 N,则钻井牵引机器人三个摩擦块可提供牵引力约90 000 N。该研究成果可为钻井牵引支撑机构力学特性分析和结构优化设计提供理论依据。The traction force of the drilling traction robot mainly comes from the interaction between the friction block of the support mechanism and the wellbore wall.The traction force and the equivalent friction coefficient are the key to the mechanical analysis and structural design of the robot.Based on this, the numerical simulation model of friction block and wellbore wall is established, and the influence rules of tooth profile size, number, positive pressure and embedded depth of friction block on equivalent friction coefficient and traction force are analyzed.It is found that the positive pressure and the tooth rake angle are the main parameters that affect the equivalent friction coefficient of the friction block, and also the main factors that affect whether the drilling tractor can stably grasp the wellbore wall.When the tooth front angle of the friction block is 35°,the tooth back angle is 60°,the tooth inclination is 30°,and the embedded depth is 2.5-3.0 mm, the axial traction force provided by a single friction block is about 30 000 N,and the traction force provided by the three friction blocks of the drilling traction robot is about 90 000 N.The research results can provide a theoretical basis for the mechanical characteristics analysis and structural optimization design of the drilling traction support mechanism.

关 键 词：钻井牵引机器人 支撑机构 接触分析 等效摩擦系数 

分 类 号：TE928[石油与天然气工程—石油机械设备]