摘要
系统梳理了连续油管井下机器人结构与控制特征,重点对比分析了其支撑机构和控制系统。基于连续油管井下机器人结构特征,首次将支撑机构划分为斜面式、连杆式和复合式3大类共9种,分析了各类支撑机构工况适应性和优缺点;根据其控制原理,将控制系统分为液驱液控和液驱电控2大类,对比分析了各类控制系统特征,并总结了两类系统在连续油管井下机器人中的应用现状和发展趋势。同时,提出了连续油管井下机器人钻井、下套管等新工艺、新方法,设计了井下机器人智能钻完井实验系统方案,为连续油管井下机器人的研发、设计与工程应用提供了重要参考和技术借鉴。
This study systematically reviews the structural and control features of coiled tubing downhole robots,focusing on comparative analysis of their support mechanisms and control systems.Based on structural characteristics,support mechanisms are first categorized into three types(inclined-plane,linkage-type,compositetype)with nine sub-types,analyzing their working condition adaptability,pros,and cons.According to control principles,systems are divided into hydraulic-driven hydraulic control and hydraulic-driven electric control,comparing their features and summarizing application status and trends.Moreover,new processes(drilling,casing running)and an intelligent drilling/completion experimental system scheme are proposed,offering critical references and technical insights for coiled tubing downhole robot R&D,design,and engineering applications.
作者
刘清友
赵建国
管彬
梁鹏辉
LIU Qingyou;ZHAO Jianguo;GUAN Bin;LIANG Penghui(College of Energy,Chengdu University of Technology,Chengdu,Sichuan 610059,China;State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation,Chengdu University of Technology,Chengdu,Sichuan 610059,China;CNPC Chuanqing Drilling Engineering Co.,Ltd.,Chengdu,Sichuan 610057,China)
出处
《钻采工艺》
北大核心
2026年第1期66-73,I0001,共9页
Drilling & Production Technology
基金
国家自然科学基金重大科研仪器研制项目“井下机器人智能钻完井模拟实验系统研制”(编号:52327803)
国家自然科学基金面上项目“超长水平井钻井机器人井眼轨迹控制机理研究”(编号:52374006)
中国石油天然气集团有限公司揭榜挂帅项目“超长水平井连续油管牵引器研制”(编号:2024ZG43)。
关键词
井下机器人
井下牵引器
井下爬行器
连续油管
超长水平井
downhole robot
downhole tractor
downhole crawler
coiled tubing
ultra-long horizontal well
