Coiled tubing drilling robot, robot system and process parameter control method thereof

Abstract

A coiled tubing drilling robot, a robot system and a process parameter control method thereof. The coiled tubing drilling robot is mainly characterized in that a drilling pressure and a drilling speed of a drill string are adjusted by an electric proportional relief valve and an electric proportional flow valve disposed inside the drilling robot; a support mechanism of the drilling robot adopts a single oblique block to prop against a spring piece to clamp a well wall; the coiled tubing drilling robot system consists of a coiled tubing intelligent drilling rig, a wellhead device, a coiled tubing, a drilling robot, a drill string vibration measurement device, a MWD, a power drill and a drill bit.

Claims

1. A coiled tubing drilling robot, comprising: a first main body, a control short section and a second main body wherein the first main body is located upstream of the second main body, and the control short section is located between the first main body and the second main body, and a drilling fluid flow path traverses through the first main body, the control short section and the second main body; a first supporting cylinder, a first supporting arm and a first telescopic cylinder are arranged on the first main body, wherein the first supporting cylinder is located upstream of the first telescopic cylinder, and the first supporting arm is located between the first supporting cylinder and the first telescopic cylinder; a second telescopic cylinder, a second supporting arm and a second supporting cylinder are arranged on the second main body, wherein the second supporting cylinder is located upstream of the second telescopic cylinder, and the second supporting arm is located between the second supporting cylinder and the second telescopic cylinder; a piston rod arranged in each of the first supporting cylinder and the second supporting cylinder, wherein a single oblique block is fixedly arranged on each of the piston rods; each single oblique block is provided with a groove, and a spring piece is arranged in each of the first and the second supporting arms, an oblique block is fixedly arranged at a bottom of each of the spring pieces, and a size of the oblique block is matched with a size of the groove.

2. The coiled tubing drilling robot according to claim 1, wherein an arc-shaped surface A is formed on the oblique block, and an arc-shaped surface B is formed on each of the single oblique blocks.

3. The coiled tubing drilling robot according to claim 2, wherein a first pressure sensor, an upstream filter, a first two-position four-way electromagnetic reversing valve, a second pressure sensor and a first electric proportional relief valve are arranged on the pipeline between an upstream liquid inlet and the first supporting cylinder; the first two-position four-way electromagnetic reversing valve and the first electric proportional relief valve are connected to a downhole annulus via pipelines.

4. The coiled tubing drilling robot according to claim 2, wherein a pressure sensor, a downstream filter, a two-position four-way electromagnetic reversing valve and an electric proportional relief valve are arranged on the pipeline between downstream a liquid inlet and the second supporting cylinder; the electric proportional relief valve and the two-position four-way electromagnetic reversing valve are connected to a downhole annulus via pipelines.

5. The coiled tubing drilling robot according to claim 1, wherein the control short section includes an upstream liquid inlet and a downstream liquid inlet; the upstream liquid inlet is connected to the first supporting cylinder and the first telescopic cylinder via pipelines, and the downstream liquid inlet is connected to the second telescopic cylinder and the second supporting cylinder via pipelines.

6. The coiled tubing drilling robot according to claim 1, wherein the first telescopic cylinder has a differential connection pipeline, and a pressure sensor, a flow sensor, an electric proportional relief valve, an electric proportional throttle valve and a three-position four-way electromagnetic reversing valve are arranged on a connection pipeline between an upstream chamber and a downstream chamber of a piston of the first telescopic cylinder.

7. The coiled tubing drilling robot according to claim 1, wherein the second telescopic cylinder has a differential connection pipeline, and a pressure sensor, a flow sensor, an electric proportional relief valve, an electric proportional throttle valve and a three-position four-way electromagnetic reversing valve arranged on a connection pipeline between an upstream chamber and a downstream chamber of a piston of the second telescopic cylinder.

8. A coiled tubing drilling robot system consisting of the coiled tubing drilling robot according to claim 1, comprising a coiled tubing and the coiled tubing drilling robot; a coiled tubing intelligent drilling rig is fixedly arranged at one end of the coiled tubing, and the other end of the coiled tubing is connected to an above ground surface end of the coiled tubing drilling robot; a power drill and a drill bit are fixedly connected to a downhole end of the coiled tubing drilling robot.

9. The coiled tubing drilling robot system according to claim 8, wherein a spring piece is arranged in the second supporting arm, an oblique block is fixedly arranged at a bottom of the spring piece, and a size of the oblique block is matched with a size of the groove.

10. The coiled tubing drilling robot system according to claim 9, wherein an arc-shaped surface A is formed on the oblique block, and an arc-shaped surface B is formed on each of the single oblique blocks.

11. The coiled tubing drilling robot system according to claim 8, wherein the control short section includes an upstream liquid inlet and a downstream liquid inlet; the upstream liquid inlet is connected to the first supporting cylinder and the first telescopic cylinder via pipelines, and the downstream liquid inlet is connected to the second telescopic cylinder and the second supporting cylinder via pipelines.

12. The coiled tubing drilling robot system according to claim 8, wherein a first pressure sensor, an upstream filter, a first two-position four-way electromagnetic reversing valve, a second pressure sensor and a first electric proportional relief valve are arranged on the pipeline between an upstream liquid inlet and the first supporting cylinder; the first two-position four-way electromagnetic reversing valve and the first electric proportional relief valve are connected to a downhole annulus via pipelines.

13. The coiled tubing drilling robot system according to claim 8, wherein a pressure sensor, a downstream filter, a two-position four-way electromagnetic reversing valve and an electric proportional relief valve are arranged on the pipeline between a downstream liquid inlet and the second supporting cylinder; the electric proportional relief valve and the two-position four-way electromagnetic reversing valve are connected to a downhole annulus via pipelines.

14. The coiled tubing drilling robot system according to claim 8, wherein the first telescopic cylinder has a differential connection pipeline, and a pressure sensor, a flow sensor, an electric proportional relief valve, an electric proportional throttle valve and a three-position four-way electromagnetic reversing valve are arranged on a connection pipeline between an upstream chamber and a downstream chamber of a piston of the first telescopic cylinder.

15. A process parameter control method for the coiled tubing drilling robot according to claim 1, comprising the following steps: S1, making a coiled tubing intelligent drilling rig generate mud pressure pulse waves to turn on the coiled tubing drilling robot; S2, making the coiled tubing drilling robot drive a drill string to drill; S3, when the drill string drills, making a drill string vibration measurement device measure a vibration condition of the drill string in real time that indicates bit wear and rock drilling performance; S4, making the coiled tubing drilling robot drive the drill string to drill at an optimal drilling speed and drilling pressure according to the vibration condition of the drill string measured by the drill string vibration measurement device; and S5, making the coiled tubing drilling rig generate mud pressure pulse waves to turn off the coiled tubing drilling.

16. The process parameter control method according to claim 15, wherein step S2 comprises the following steps: S201: making the coiled tubing drilling robot determine a series of factors affecting drilling, wherein the factors comprise a depth of a formation where the drill string is located, rock drilling performances and bit wear; and S202, making the coiled tubing drilling robot calculate an appropriate drilling speed and drilling pressure according to the factors, and drive the drill string to drill.

17. The process parameter control method according to claim 15, wherein step S4 comprises the following steps: S401, making the coiled tubing drilling robot calculate and analyze results of rock performances and degree of bit wear according to the vibration condition of the drill string measured by the drill string vibration measurement device; and S402: making the coiled tubing drilling robot calculate an appropriate drilling speed and drilling pressure according to results of the vibration condition of the drill string, and drive the drill string to drill forward; then making the drill string vibration measurement device feed-back the vibration condition of the drill string in real time and changing the drilling speed and a drilling pressure to the optimal drilling speed and drilling pressure based upon the results of the vibration condition of the drill string.

18. The process parameter control method according to claim 15, wherein, in step S5, the drilling robot is configured to be turned on and turned off by a ground control system; determining downhole working conditions according to the vibration condition of the drill string measured by the drill string vibration measurement device; turning off the drilling robot when a drilling system fails to change a drilling speed and a drilling pressure to the optimal drilling speed and drilling pressure based upon the results of the vibration condition of the drill string.

19. A coiled tubing drilling robot, comprising: a first main body, a control short section and a second main body, wherein the first main body is located upstream of the second main body, and the control short section is located between the first main body and the second main body, and a drilling fluid flow path traverses through the first main body, the control short section and the second main body; a first supporting cylinder, a first supporting arm and a first telescopic cylinder are arranged on the first main body, wherein the first supporting cylinder is located upstream of the first telescopic cylinder, and the first supporting arm is located between the first supporting cylinder and the first telescopic cylinder; a second telescopic cylinder, a second supporting arm and a second supporting cylinder are arranged on the second main body, wherein the second supporting cylinder is located upstream of the second telescopic cylinder, and the second supporting arm is located between the second supporting cylinder and the second telescopic cylinder; a piston rod arranged in each of the first supporting cylinder and the second supporting cylinder, wherein a single oblique block is fixedly arranged on each of the piston rods; each single oblique block is provided with a groove, and a spring piece is arranged in each of the first and the second supporting arms, an oblique block is fixedly arranged at a bottom of each of the spring pieces, and a size of the oblique block is matched with a size of the groove, and an arc-shaped surface A is formed on the oblique block, and an arc-shaped surface B is formed on each of the single oblique blocks.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a schematic diagram of an electro-hydraulic control system for a coiled tubing drilling robot;

(2) FIG. 2 is a schematic diagram in the course of drilling when a first telescopic cylinder acts;

(3) FIG. 3 is a schematic diagram in the course of drilling when a second telescopic cylinder acts;

(4) FIG. 4 is a schematic diagram in the course of drilling when the first telescopic cylinder and the second telescopic cylinder act together;

(5) FIG. 5 is a schematic structural diagram of a working short section of the coiled tubing drilling robot;

(6) FIG. 6 is a main view of a spring piece;

(7) FIG. 7 is a bottom view of the spring piece;

(8) FIG. 8 is a schematic structural diagram of a single oblique block; and

(9) FIG. 9 is a schematic diagram of the coiled tubing drilling robot system.

(10) In drawings, reference symbols represent the following components: 1, first supporting cylinder; 2, first supporting arm; 3, first telescopic cylinder; 4, upstream liquid inlet; 5, control short section; 6, downstream liquid inlet; 7, second telescopic cylinder; 8, second supporting arm; 9, second supporting cylinder; 10, upstream filter; 11, downstream filter; 12, three-position four-way electromagnetic reversing valve A; 13, two-position four-way electromagnetic reversing valve A; 14, three-position four-way electromagnetic reversing valve B; 15, two-position four-way electromagnetic reversing valve B; 16, electric proportional relief valve A; 17, electric proportional relief valve B; 18, electric proportional throttle valve A; 19, electric proportional relief valve C; 20, electric proportional relief valve D; 21, electric proportional throttle valve B; 22, pressure difference sensor A; 23, flow sensor A; 24, pressure difference sensor B; 25, pressure difference sensor C; 26, flow sensor B; 27, pressure difference sensor D; 28, downhole annulus; 29, pressure sensor A; 30, electronic control system; 31, drilling fluid flow path; 32, supporting cylinder; 33, single oblique block; 34, spring piece; 35, oblique block; 36, groove; 37, coiled tubing intelligent drilling rig; 38, wellhead device; 39, coiled tubing; 40, drilling robot; 41, drill string vibration measurement device; 42, MWD; 43, power drill; 44, drill bit; 45, first main body; 46, second main body; 47, arc-shaped surface A; 48, arc-shaped surface B.

DETAILED DESCRIPTION OF THE EMBODIMENTS

(11) For a better understanding of the technical features, objects, and advantages of the present invention, the specific embodiments of the present invention will be described with reference to the accompanying drawings.

(12) As shown in FIGS. 1-8, a coiled tubing drilling robot 40 comprises a first main body 45, a control short section 5 and a second main body 46, wherein the first main body 45, the control short section 5 and the second main body 46 are connected in sequence from upstream to downstream; a drilling fluid flow path transverses through the first main body 45, the control short section 5 and the second main body 46; a first supporting cylinder 1, a first supporting arm 2 and a first telescopic cylinder 3 are arranged on the first main body 45 in sequence from upstream to downstream; a second telescopic cylinder 7, a second supporting arm 8 and a second supporting cylinder 9 are arranged on the second main body 46 in sequence from upstream to downstream; a piston rod on which a single oblique block 35 is fixedly arranged is respectively arranged in the first supporting cylinder and the second supporting cylinder; each single oblique block is provided with a groove 36. The first supporting cylinder 1, the second supporting cylinder 9, the first telescopic cylinder 3 and the second telescopic cylinder 7 are double acting cylinders. By introducing drilling fluid to both ends of each supporting cylinder, the piston rod is pushed and pulled to support the respective supporting arm to clamp the well wall or release the well wall. By introducing the drilling fluid to both ends of each supporting cylinder, the drilling robot is towed to move forward or backward.

(13) As shown in FIGS. 5-8, a spring piece 34 is arranged in the supporting arm, an oblique block 35 is fixedly arranged at the lower end of the spring piece, and the oblique block is matched with the groove. Therefore, the supporting arm can withstand a reactive torque from the drill bit during the drilling process performed by the drilling robot. This supporting method has the advantages of suitability for small wellbores, a large supporting force, a simple structure, a stable support and the like.

(14) As shown in FIGS. 5-8, an arc-shaped surface A 47 is formed on the oblique block, and an arc-shaped surface B 48 is formed on the single oblique block. The arc-shaped surfaces may reduce the pressure drop created by the drilling fluid flowing through the supporting arm and reduce the probability of bit balling at the supporting arm.

(15) As shown in FIGS. 1-4, the control short section is respectively provided with an upstream liquid inlet 4 and a downstream liquid inlet 6; the upstream liquid inlet is connected to the first supporting cylinder 1 and the first telescopic cylinder 3 via pipelines, and used for introducing the drilling fluid into the first supporting cylinder 1 and the second telescopic cylinder 3; the downstream liquid inlet is connected to the second telescopic cylinder 7 and the second supporting cylinder 9 via pipelines and used for introducing the drilling fluid into the second supporting cylinder 9 and the second telescopic cylinder 7. When the drilling fluid enters the upstream end of the first telescopic cylinder 3 from the liquid inlet 4, the drilling robot 40 drills forward in a manner as shown in FIG. 2. When the drilling fluid enters the upstream end of the second telescopic cylinder 7 from the liquid inlet 5, the coiled tubing intelligent coiled tubing drilling robot 40 drills forward in a manner shown in FIG. 3. The first telescopic cylinder 3 and the second telescopic cylinder 7 can also cooperate to realize the stepless adjustment of a drilling pressure of the coiled tubing intelligent coiled tubing drilling robot 40. The robot drills forward in a drilling mode shown in FIG. 4, and in this case, the robot's traction is twice that of single-cylinder traction.

(16) As shown in FIG. 1, a pressure sensor A29, an upstream filter 10, a two-position four-way electromagnetic reversing valve A 13, an electric proportional relief valve B17 and a pressure difference sensor A 22 are arranged in sequence on the pipeline between the upstream liquid inlet 3 and the first supporting cylinder 1; the two-position four-way electromagnetic reversing valve A15 and the electric proportional relief valve B19 are connected to a downhole annulus 28 via pipelines. A downstream filter 11, a two-position four-way electromagnetic reversing valve B15, an electric proportional relief valve C19 and a pressure difference sensor C25 are arranged in sequence on the pipeline between the downstream liquid inlet 6 and the second supporting cylinder 9; the electric proportional relief valve C19 and the two-position four-way electromagnetic reversing valve B15 are connected to the downhole annulus via pipelines. The electric proportional relief valve may control the pressure at the inlet of the respective supporting cylinder to control the supporting force of the support mechanism.

(17) As shown in FIG. 1, the first telescopic cylinder 3 adopts a differential connection pipeline, and a pressure difference sensor B24, a flow sensor A24, an electric proportional relief valve A, an electric proportional throttle valve A16 and a three-position four-way electromagnetic reversing valve A are arranged on a connection pipeline between an upstream chamber and a downstream chamber of a piston of the differential connection pipeline. The second telescopic cylinder 7 adopts a differential connection pipeline, and a pressure difference sensor D27, a flow sensor B26, an electric proportional relief valve D20, an electric proportional throttle valve B21 and a three-position four-way electromagnetic reversing valve B15 are arranged on a connection pipeline between an upstream chamber and a downstream chamber of a piston of the differential connection pipeline. This arrangement can control the drilling speed and the drilling pressure of the drilling robot by simultaneously adjusting the electric proportional flow valve and the electric proportional relief valve.

(18) As shown in FIG. 9, a system for controlling a drilling speed and a drilling pressure of the coiled tubing comprises a coiled tubing intelligent drilling rig 37, a wellhead device 38, a coiled tubing 39, an intelligent coiled tubing drilling robot 40, a drill string vibration measurement device 41, a MWD 42, a power drill 43, and a drill bit 44; the coiled tubing intelligent drilling rig 37 feeds the coiled tubing 39 into the bottom of the well through the wellhead device 38; the front end of the coiled tubing is connected to the intelligent coiled tubing drilling robot 40, the drill string vibration measurement device 41, the MWD 42, the power drill 43 and the drill bit 44 in sequence. The coiled tubing intelligent drilling rig 37 is equipped with a mud pump, a mud pulse signal generator and a ground control system, wherein the drilling robot uses mud as a power source; the ground control system can control the robot to be turned on or turned off through the mud pulse signal generator; the MWD 42 is used to transmit signals between the bottom of the well and the ground control system. An acceleration sensor is arranged inside the drill string vibration measurement device 41 to measure the longitudinal vibration, the lateral vibration and the torsional vibration of the drill string. By analyzing these parameters, the specific working conditions of the bottom hole can be obtained.

(19) A process parameter control method for an intelligent coiled tubing drilling robot comprises the following steps:

(20) S1, the coiled tubing intelligent drilling rig 37 generates mud pressure pulse waves to turn on the intelligent coiled tubing drilling robot 40;

(21) S2, the intelligent coiled tubing drilling robot 40 drives the drill string to drill forward;

(22) S3, when the drill string drills forward, the drill string vibration measurement device 41 measures the vibration condition of the drill string in real time;

(23) S4, the intelligent coiled tubing drilling robot 40 drives the drill string to drill forward at an optimal drilling speed and drilling pressure according to the vibration conditions of the drill string measured by the drill string vibration measurement device 41; and

(24) S5, the coiled tubing drilling robot 40 stops drilling.

(25) The step S2 specifically comprises the following steps:

(26) S201: the intelligent coiled tubing drilling robot 40 determines a series of factors affecting drilling, such as a depth of a formation where the drill string is located, rock performances and bit wear; and

(27) S202, the coiled tubing drilling robot 40 calculates an appropriate drilling speed and drilling pressure according to these factors, and drives the drill string to drill forward.

(28) The step S4 specifically comprises the following steps:

(29) S401, the coiled tubing drilling robot 40 calculates and analyze results, such as rock performances and bit wear degree according to the vibration condition of the drill string measured by the drill string vibration measurement device 41; and

(30) S402: the intelligent coiled tubing drilling robot 40 calculates an appropriate drilling speed and drilling pressure according to these results, and drives the drill string to drill forward; the drill string vibration measurement device 41 then feeds back the vibration conditions of the drill string in real time and self-adapt to actual working conditions.

(31) In the step S5, the intelligent coiled tubing drilling robot 40 can be controlled to be turned on and turned off by the ground control system; the downhole working conditions may also be obtained according to the vibration conditions of the drill string measured by the drill string vibration measurement device; when accidental conditions, such as severe bit damage of the drill bit 43 and formation leakage occurs in the bottom of the well, the drilling system falls to be self-adapted, the coiled tubing drilling robot 40 stops drilling.

(32) The above content is only specific exemplary embodiments of the present invention and is not intended to limit the scope of the present invention. Equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention are intended to be within the protection scope of the present invention.