【作者】 邵守君；

【导师】 常玉连；

【作者基本信息】 大庆石油学院 ， 机械设计及理论， 2007， 硕士

【摘要】 探测仪器的送进是油田上测井、修井等井下作业中的一项重要技术。目前，定向井、水平井的生产作业多采用连续油管送进装置，地面设备复杂，作业成本高。本论文在借鉴和吸收已有管道机器人的成熟技术和研究方法及紧密结合故障石油井井下的实际情况研究了一种新型井下送进设备——石油井故障探测机器人，该机器人自身带有动力，能够在井下自主行走，克服了传统井下送进技术的缺陷。本文提出了涨闸—活塞式行走机器人探测井下故障的结构方案，并详细研究了探测机器人的工作原理，对机器人进行合理的结构设计；利用Pro／Engineer软件对机器人结构进行三维实体建模、完成装配，并在Mechanism／Pro下添加约束，将模型导入ADAMS；最后，利用动力学仿真软件ADAMS对探测机器人进行仿真试验：一是对机器人支撑脚卡紧过程进行仿真试验，优化机器人支撑脚的结构；二是对探测机器人进行井下行走仿真试验，模拟机器人在井下实际行走状态，分析机器人的行走能力。研究结果表明，石油井故障探测机器人虚拟样在5000N的拖缆力作用下，可以在井眼范围为Φ90～Φ130mm的竖直井、水平井及定向井中稳定行走。该机器人在石油井正常管径下的行走速度约为7.1mm／s。更多还原

【Abstract】 Carrying for instrument is an important technology for operation at down-hole in oil well such as logging and mending. At present, the continuous oil pip is used much in directional and horizontal oil well, but,its devices are complicated , and cost is high. By referring and absorbing robot technology and method of in-pipe,and the condition of down-hole, the paper has studied a kind of new instrument for carrying at down-hole —robot for detecting fault in oil well. This robot which has driving force for itself,and has been able to run at down-hole, has overcomed the defect of the traditional carrying technology for instrument.First,the plan that using the robot for floodgate - plunger type to detect fault of down-hole is put forword in the paper, and the principle for work of the robot is studied,the structural design of the robot is completed; Then,Utilizing three dimensional modeling software Pro/Engineer,the prototype of this robot is set up, and assembling robot is completed. Through Mechanism/Pro module the restriction of the robot is appended,and ,the prototype of the robot is imported to ADAMS; Finally,utilizing mechanical system dynamics software ADAMS,two simulation experiments of the robot is run.One is the movement simulation of robot feet,in which the structure of robot feet are optimized. Another is the motion simulation of the robot at down-hole, which simulates real motion state of the robot at down-hole, and analyzes the motion ability of the robot.The experiment result indicates that the robot prototype which has the 5000N force of traction is able to run stabile at down-hole for Φ90 ～ Φ130mm pipe in vertical oil well, horizontal oil well and directional oil well.The speed of this robot in normal pipe approximately is 7.1mm/s.更多还原