油井解堵作业机器人结构设计及运动控制研究
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摘要
油层仿生电脉冲造缝解堵技术是本课题组开发出的一种新的油井解堵方法。该方法是利用智能解堵作业机器人将正负电极送入射孔通道中进行火花放电以实现对地层的造缝和解堵。该方法可以解决物理解堵和化学解堵分层困难且易造成二次污染的难题,能够有效地提高油井采收率。由于机器人的工作方式不同于传统的解堵方法,开展油井解堵作业机器人的研究工作具有重要的理论意义和工程应用价值。
采用理论分析与实验研究相结合的方法,开展了油井解堵作业机器人结构设计及其控制方面的研究工作。在总体结构设计、变形分析以及运动控制等方面取得了一些创新性的研究成果。
对自适应导向机构、井壁支撑机构、蠕动行走机构、射孔检测机构以及电极送进机构进行了设计,利用Pro/E软件得到了油井解堵作业机器人的三维模型,完成了样机模型的制造与装配。
建立了油井解堵作业机器人的温度场模型,对整体结构进行了三维数值模拟,给出了不同温度条件下整体结构的变形和应力分布情况。对整体机构进行了模态分析,得到了整体结构前10阶的固有频率和振型。
对支撑结构进行了受力分析,得到了作用力与结构的关系式。建立了支撑机构的仿真模型,得到不同支撑距离时构件的变形及应力分布情况。对导向杆和连接杆进行了静力分析,得到不同受力条件下导向杆和连接杆的变形和应力分布曲线。此外,还研究了温度变化对支撑机构、导向杆和连接杆变形和应力的影响。
研究了解堵作业机器人的下井作业过程,提出了利用单片机进行运动控制的方法。对稳压电源模块、单片机时钟模块、射孔检测电路、步进电机控制以及圆管电磁推杆的控制进行了设计,得到了总体的控制方案。
Plug removal with electrical pulse for oil wells is a new method developed by us to solve the problem of well plugging. An intelligent robot is designed to take positive and negative electrodes into the perforations and conduct discharge operation on plug formation. This method can solve the problems of slicing difficulty and secondary pollution easily and improve oil recovery factor effectively. For the reason that working mode of the robot is different from traditional methods, research on the plug removal robot for oil wells has important theoretical and engineering values.
Approach combined with theoretical analysis and experimental study is adopted on the research of structure design and motion control. On the aspect of overall structural design, deformation analysis and process control movement, a number of innovative research results have been made.
Self-adaptive guiding mechanism, supporting mechanism on sidewall, creep walking mechanism, detection mechanism for perforation and feed-in mechanism of electrodes are designed. Three-dimensional model of the plug removal robot is obtained by Pro/E and experimental prototype is manufactured and made up.
Temperature field of the plug removal robot is analyzed and temperature variations are simulated. Deformation and stress distribution of the overall structure are given under different temperature conditions. Modal analysis is also carried out and top 10 bands of natural frequency and mode shape are obtained.
Mechanical analysis of the supporting structure is analysed and relational expression between sidewall force and structure is given. Simulation model of the supporting structure is established and deformation and stress distribution of components under different supporting distance are analyzed. Static analysis is also carried out for guiding rod and connecting rod and deformation and stress distribution curves are obtained under different loads. In addition, affect of temperature variations on deformation and stress distribution of them is also studied.
Working process of plug removal robot is researched and motion control system using microprocessor is proposed. Regulated power supply, clock of microprocessor, circuit of detecting perforation, control of stepping motor and pipe electromagnet are designed and control scheme of overall structure is established.
采用理论分析与实验研究相结合的方法,开展了油井解堵作业机器人结构设计及其控制方面的研究工作。在总体结构设计、变形分析以及运动控制等方面取得了一些创新性的研究成果。
对自适应导向机构、井壁支撑机构、蠕动行走机构、射孔检测机构以及电极送进机构进行了设计,利用Pro/E软件得到了油井解堵作业机器人的三维模型,完成了样机模型的制造与装配。
建立了油井解堵作业机器人的温度场模型,对整体结构进行了三维数值模拟,给出了不同温度条件下整体结构的变形和应力分布情况。对整体机构进行了模态分析,得到了整体结构前10阶的固有频率和振型。
对支撑结构进行了受力分析,得到了作用力与结构的关系式。建立了支撑机构的仿真模型,得到不同支撑距离时构件的变形及应力分布情况。对导向杆和连接杆进行了静力分析,得到不同受力条件下导向杆和连接杆的变形和应力分布曲线。此外,还研究了温度变化对支撑机构、导向杆和连接杆变形和应力的影响。
研究了解堵作业机器人的下井作业过程,提出了利用单片机进行运动控制的方法。对稳压电源模块、单片机时钟模块、射孔检测电路、步进电机控制以及圆管电磁推杆的控制进行了设计,得到了总体的控制方案。
Plug removal with electrical pulse for oil wells is a new method developed by us to solve the problem of well plugging. An intelligent robot is designed to take positive and negative electrodes into the perforations and conduct discharge operation on plug formation. This method can solve the problems of slicing difficulty and secondary pollution easily and improve oil recovery factor effectively. For the reason that working mode of the robot is different from traditional methods, research on the plug removal robot for oil wells has important theoretical and engineering values.
Approach combined with theoretical analysis and experimental study is adopted on the research of structure design and motion control. On the aspect of overall structural design, deformation analysis and process control movement, a number of innovative research results have been made.
Self-adaptive guiding mechanism, supporting mechanism on sidewall, creep walking mechanism, detection mechanism for perforation and feed-in mechanism of electrodes are designed. Three-dimensional model of the plug removal robot is obtained by Pro/E and experimental prototype is manufactured and made up.
Temperature field of the plug removal robot is analyzed and temperature variations are simulated. Deformation and stress distribution of the overall structure are given under different temperature conditions. Modal analysis is also carried out and top 10 bands of natural frequency and mode shape are obtained.
Mechanical analysis of the supporting structure is analysed and relational expression between sidewall force and structure is given. Simulation model of the supporting structure is established and deformation and stress distribution of components under different supporting distance are analyzed. Static analysis is also carried out for guiding rod and connecting rod and deformation and stress distribution curves are obtained under different loads. In addition, affect of temperature variations on deformation and stress distribution of them is also studied.
Working process of plug removal robot is researched and motion control system using microprocessor is proposed. Regulated power supply, clock of microprocessor, circuit of detecting perforation, control of stepping motor and pipe electromagnet are designed and control scheme of overall structure is established.
引文
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