Support mechanism of self-adaptive traction robot for complex wellbore and control method thereof
US12297705B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 7, 2024 |
| Grant date | May 13, 2025 |
| Priority date | — |
| Expiry date | Nov 7, 2044 |
Classification
- Technology area (CPC E)Fixed Constructions
- CPC primaryE21B47/06
- WIPO fieldCivil engineering
- WIPO sectorOther fields
Abstract
The present invention discloses a support mechanism of a self-adaptive traction robot for a complex wellbore and a control method thereof, and relates to the technical field of oil and gas field development. Each support link assembly in a support mechanism is controlled by an independent hydraulic cylinder and hydraulic valve. When a well wall that each support link assembly contacts in a circumferential direction is irregular, the support mechanism contact effect is not ideal, which leads to a decrease in traction force. In this case, a displacement sensor in a telescopic mechanism detects that a displacement of a traction cylinder piston is small, which is fed back to a ground control system, and then a fluid inflow size of support cylinders corresponding to different support link assemblies is adjusted until the displacement sensor in the telescopic mechanism detects an effective traction distance.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.