Structure Design of Downhole Robot in Oil Well

Abstract

In order to carry the testing instrument to the required position in the horizontal/ inclined oil well, the downhole robot is designed. The downhole robot has a self driving force which is produced by the electrical motor in the robot, so it can carry the testing instrument reliably. In addition, the mechanical structure is simplified compared with that of the other downhole robot. Firstly, the mechanical structure design of the robot is introduced. The robot includes three parts: driving module, centralizing module, and base. Then, the driving force required and the power for the electrical motor in the driving module are calculated when the robot runs in the oil well. The simulation result shows that the downhole robot can work reliably in the oil well.

Static Characteristics of Friction Block Teeth of Coiled Tubing Drilling Robot

“…Research has found that the friction teeth in the supporting mechanism of the drilling robot have a greater impact on its supporting performance. In recent years, some scholars only carried out related mechanical studies on the obstacle crossing performance, nonlinear dynamics, sealing performance, control performance and frictional resistance of drilling robots [12][13][14][15][16]. Further research on the support mechanism only stays in the optimization design of the support mechanism [17,18].…”