CN110043188A - The offset guide mechanism and control method of static guiding type rotary steering drilling tool - Google Patents
The offset guide mechanism and control method of static guiding type rotary steering drilling tool Download PDFInfo
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- CN110043188A CN110043188A CN201910485221.5A CN201910485221A CN110043188A CN 110043188 A CN110043188 A CN 110043188A CN 201910485221 A CN201910485221 A CN 201910485221A CN 110043188 A CN110043188 A CN 110043188A
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- 238000005553 drilling Methods 0.000 title claims abstract description 53
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/04—Electric drives
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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Abstract
The invention discloses a kind of static guiding type rotary steering drilling tool offset guide mechanism and control methods, belong to oil and gas well drilling technical field, outer cylinder is not rotated including drill bit connecting shaft and, the guiding mechanism further includes flexible hose, biasing mechanism and sliding block connector, flexible hose connect axis connection with drill bit, biasing mechanism, which is mounted on, not to be rotated in outer cylinder, the biasing mechanism includes aligning sliding block, spiral expanding mechanism, control motor, the sliding block connector is set in outside drill bit connecting shaft, the aligning sliding block is connect by spiral expanding mechanism with control motor, and it is mounted in sliding block connector, the aligning sliding block is moved forward and backward under the drive of control motor, push drill bit connecting shaft, realize the control of structure bent angle and tool face azimuth.The disturbance for the process that makes up a joint and the load being applied on motor are all smaller and relatively stable, and demand of the system to electric energy significantly reduces, and improve steering tool service life；Scheme is simple and easy, compact-sized.
Description
Technical field
The invention belongs to oil and gas well drilling technical fields, specifically, being related to a kind of static directional type rotary steering
The offset guide mechanism and control method of drilling tool.
Background technique
Rotary steering drilling tool represents the highest level of current petroleum directional drill tool development.Rotary steerable drilling
Whether tool can be divided into pushing type and directional type according to the guiding mechanism mode of action, rotate and can draw according to steering tool outer cylinder
It is divided into dynamic type and static type.Pushing type refers to that guiding mechanism and the borehole wall act on, and utilizes the control of the reactive force drill bit side of generation
To, this mode can generate Spiral borehole, and guidance capability is limited by earth formation, the guidance capability in soft formation compared with
Difference；Directional type refers to that the guiding mechanism of tool interior applies active force to drill bit connecting shaft, and then controls drill bit direction, this side
Formula drills out the smoother, regular of wellbore, and guidance capability is strong and not by formation influence, is conducive to improve wellbore quality, guarantees well
Lower safety.
Schlumberger company, current foreign countries, Halliburton company and BakerHughes company etc. have all developed
Respective rotary steering drilling tool, but they carry out stringent technical block to the country, product is not at home sold,
High price technological service is only provided.Domestic more research institutions have all carried out the research of rotary steering drilling tool and have achieved certain
Achievement still have a certain distance but compared with foreign technology level.
Halliburton company discloses one kind based on static directional type rotary steerable tool, which utilizes anti-
Rotating device rotates its outer cylinder not, and deflection guiding mechanism is composed of inside and outside two eccentric hoops, during guiding, leads to
It crosses and is utilized respectively the rotational angle of harmonic drive mechanism controls inner and outer ring to adjust the position of flexible guiding mandrel, and then change and bore
The direction of head.After two eccentric hoops turn an angle respectively reaches desired location, limited respectively by electromagnetic clutch in
Braking function is realized in the rotation of outer ring.Disadvantage is that: 1. the guiding role of the case realizes that flexibility is led by flexible mandrel
It needs to bear high-intensitive alternate stress to mandrel, is easy to happen fatigue damage；2. double eccentric hoop biasing mechanisms of the case are by humorous
Wave driving mechanism drives, and the compliant member meeting periodically deforming in harmonic drive mechanism is easy fatigue damage；3. the braking of the case
It acts through electromagnetic clutch corresponding with inner ring, outer ring to realize, due to needing additional designs and the matched system of biasing mechanism
Dynamic device, increases the complexity of system.
Halliburton company discloses a kind of bias unit of static guiding type rotary steering drilling tool, the device
Including inside and outside eccentric hoop, inside and outside eccentric hoop rotation is driven by gear drive respectively using two motors, and then control drill bit and refer to
To desired direction.After double eccentric hoops reach desired locations, which proposes to keep expected using vector controlled driving motor
Drill bit direction.Furthermore the case also proposes that brake apparatus is added on motor or self-locking mechanism is added in gear drive
Lock the position of double eccentric hoops.Disadvantage is that: 1. motor vector controlled belongs to the method in dynamic regulation drill bit direction, this
Method is complex, and control effect can be influenced by drill bit bring disturbance in drilling process；2. by motor or gear
The method that additional brake apparatus locks eccentric ring position is added in transmission mechanism will increase the complexity of system, this case is not also detailed
The thin structure for illustrating brake apparatus.
Weatherford company discloses a kind of static guiding type rotary steering drilling tool, which has non-rotating
Outer cylinder is infused hydraulic oil under the control of solenoid valve by axial 6 column, circumferential 12 equally distributed hydraulic pump output hydraulic pressure oil
Enter hydraulic cavities, and then control the stretching displacement of each piston, realizes the guiding control of drill bit.Disadvantage is that: electromagnetism
The guiding control of valve belongs to the method in dynamic regulation drill bit direction, and guide effect will receive the influence of drill bit bring interference, real
Now accurate guiding control is more difficult.
Shi Lumoge company discloses a kind of static directional type rotary steerable drilling system, the hydraulic pump driven by drilling fluid
The hydraulic fluid of certain pressure is provided, enters hydraulic cylinder using electromagnetic servo valve control hydraulic fluid, and then control the direction X-Y two
The position of group hydraulic pump piston, to realize guide function.Disadvantage is that: the hydraulic pump in the system is provided by drilling fluid
Power, drilling hydraulic fluctuation will affect guide effect, increase the difficulty of precise hydraulic guiding control.
Southwest Petrol University discloses pushing type full rotation steering tool, which is rotated using motor-driven gear, makes tooth
Through-hole on wheel is connected to drilling fluid runner, and drilling fluid acts on spring, and then drives three not rotated in outer cylinder uniform
The movement of the piston of distribution.Disadvantage is that: the hydraulic control system is easy to be influenced by drilling liquid pressure, and multiple
Component is contacted with drilling fluid, and service life will receive influence, higher to drilling fluid seal request.
Static directional type rotary steerable tool can be divided into two kinds according to guiding principle, and one is Halliburton companies
Invention use realize guiding roles by controlling double eccentric hoops rotations, belonging to the invention of this guiding principle, that there are also Tianjin is big
Learn the rotary steering drilling tool of invention.Another kind is Weatherford company, Shi Lumoge company, Southwest Petrol University
What invention used realizes guiding role by HYDRAULIC CONTROL SYSTEM piston motion, and belonging to the invention of this guiding principle, there are also middle stones
The rotary steering drilling tool of change company invention.
There are following defect is urgently to be resolved for current existing technology: the motor control method 1. based on double eccentric ring structures
Dynamic guidance method is belonged to the servo valve control method based on hydraulic system, control method is complex, and will receive brill
The influence of head bring disturbance；2. the braking function of biasing mechanism is realized by the brake apparatus being additionally added, such as double
The clutch of eccentric hoop, the brake of motor, gear-driven self-locking mechanism, each of which increases the complexity of system；3. base
When the offset guide mechanism of double eccentric hoops is driven using harmonic drive mechanism, the compliant member in harmonic drive mechanism is easy tired
It strains bad；4. the design of the offset guide mechanism based on hydraulic control needs to consider the sealing problem to drilling fluid, and drilling fluid
Pressure oscillation can have an impact guiding control
Summary of the invention
For problem of the prior art, the present invention provides a kind of biasings of static guiding type rotary steering drilling tool to lead
To mechanism and control method, the offset guide mechanism can overcome drill bit bring disturbance in drilling process to lead control
Influence to effect, the control method is simple and easy, can be realized the control of structure bent angle and tool face azimuth.
The technical scheme is that a kind of static state guiding type rotary steering drilling tool offset guide mechanism, including bore
Head and does not rotate outer cylinder at connecting shaft, and the guiding mechanism further includes flexible hose, biasing mechanism and sliding block connector, and flexibility is soft
Pipe connect axis connection with drill bit, and biasing mechanism, which is mounted on, not to be rotated in outer cylinder, and the biasing mechanism includes that aligning sliding block, spiral are stretched
Contracting mechanism, control motor, the sliding block connector are set in outside drill bit connecting shaft, and the aligning sliding block passes through spiral expanding machine
Structure is connect with control motor, and is mounted in sliding block connector, and the aligning sliding block is moved forward and backward under the drive of control motor,
Push drill bit connecting shaft.
Further, the biasing mechanism further includes gear synchronizer, and the spiral expanding mechanism includes active spiral
Telescoping mechanism and driven spiral expanding mechanism, the control motor are connect with active spiral expanding mechanism, active spiral expanding machine
Structure is connect by gear synchronizer with driven spiral expanding mechanism, keeps active spiral expanding mechanism and driven spiral expanding mechanism same
Step movement, active spiral expanding mechanism and driven spiral expanding mechanism are connect with aligning sliding block respectively.
Further, the active spiral expanding mechanism includes driving screw rod, worm driver gear, active worm screw, the master
Dynamic worm screw connect with control motor and gear synchronizer respectively, and driving screw rod is connect with worm driver gear, active worm screw and active snail
Wheel engagement connection, the driving screw rod are fixedly connected with aligning sliding block；The driven spiral expanding mechanism include driven screw, from
Dynamic worm gear, driven worm screw, the driven worm screw connect with gear synchronizer, and driven screw is connect with driven worm gear, driven worm screw
Connection is engaged with driven worm gear, the driven screw is fixedly connected with aligning sliding block.
Further, the gear synchronizer includes active external gear, driven external gear, internal gear, the active external tooth
Wheel is connect with active worm screw, and driven external gear is connect with driven worm screw, the active external gear and driven external gear respectively with it is interior
Gear engagement connection.
Further, the lead angle of the active worm screw and worm driver gear is less than angle of friction；Worm driver gear and active
Screw flight lift angle is less than angle of friction；The lead angle of the driven worm screw and driven worm gear is less than angle of friction；Driven worm gear with
Driven screw lead angle is less than angle of friction；The both ends of the worm driver gear and driven worm gear pass through the oil-free lining of thrust type respectively
Set is fixed, and the active worm screw and driven worm screw both ends are respectively adopted deep groove ball bearing and fix.
Further, the guiding mechanism includes guiding mechanism shell and two biasing mechanisms, and two biasing mechanisms
It is mutually perpendicular to be mounted on and does not rotate outer barrel, active screw mechanism and driven screw mechanism are sealingly mounted at guiding mechanism shell
It is interior.
Further, the spiral expanding mechanism is equipped with limit switch, drives tune for limiting spiral expanding mechanism
The mobile distance of heart sliding block；The limit switch is Hall sensor and magnet, and the Hall sensor is mounted on thrust type
In oil-free bushing, the magnet is mounted on corresponding driving screw rod or driven screw.
Further, the drill bit connecting shaft upper end diameter is less than lower end diameter formation step, the sliding block connector
It is set in outside drill bit connecting shaft, and is connected by thrust ball bearing with needle bearing, thrust ball bearing one end is fixed on drill bit
At the step of connecting shaft, the outer ring of the thrust ball bearing other end and needle bearing is fixed, and drill bit connecting shaft upper end is placed in needle roller axis
Hold inside.
Further, fan annular groove is equipped in the sliding block connector, aligning sliding block is that fan is cyclic annular, and is mounted on fan annular groove
Interior, the fan thickness and central angle of sliding block connector internal fan annular groove are bigger than the thickness of aligning sliding block and central angle.
Structure bent angle and tool face azimuth based on the static guiding type rotary steering drilling tool offset guide mechanism
Control method, it is characterised in that the angle of control structure bent angle and tool face azimuth when making up a joint, according to pre- when drilling well
If angle is crept into, the control method is specific as follows:
Drill bit connect shaft section center location with P (x, y) indicate, tool face azimuth θ be using flash direction line OA as initial line,
Drill bit is nearby rotated clockwise to the angle of line segment OC on the circle of section, at the spiral expanding mechanism on the circle of section, flash direction line
Angle between O ' A ' extended line O ' D and line segment O ' P is θ ', and the angle between extended line O ' D and Y-axis is β.
The variation of screw position makes the position in the section center of circle change, and the moving range in the section center of circle is one
Circle, maximum radius are the maximum screw displacement of design, and the length of the line segment O ' P of point P (x, y) to origin O ' determines that structure is curved
The size of angle α, by changing the position P (x, y) of two groups of screw rods of X, Y, the length for changing line segment O ' P realizes structure bent angle α from 0 °
Change between design max architecture bent angle value；Change the angle implementation tool face angle of flash direction line extended line O ' D and line segment O ' P
θ changes within the scope of 0-360 degree；The structure bent angle α, tool face azimuth θ meet following equation:
When making up a joint, according to desired structure bent angle and tool face azimuth by spiral expanding mechanism XY Directional Decomposition module solution
Calculate the position (x in the desired section center of circle1,y1), and the position (x with the current cross-section center of circle2,y2) ask poor, obtain the section center of circle
(Δ x, Δ y), the stroke are X to the variable quantity with Y-direction screw position to the stroke needed, wherein current cross-section center of circle position
Setting to be pre-set section center location, such as preset the section center of circle using limit switch and be in extreme position, when
Starting section center location can also be oriented to the position recorded after the completion of process for last time；Using umber of pulse converting unit by spiral shell
(Δ x, Δ y) are converted to X, Y direction umber of pulse N to bar strokex、Ny, the parameter for being directed to spiral expanding mechanism is worm gear
The lead S of worm geared reduction ratio i and worm drive, the parameter for being related to controlling motor 14 is stepping angle λ；By X, Y-axis side
To umber of pulse Nx、NyIt is input to X, Y-direction step motor control system, is stretched by controlling corresponding control motor to adjust spiral
The position of contracting mechanism, and then change the direction of drill bit connecting shaft 1, drill bit 21, it is final to realize structure bent angle α's and tool face azimuth θ
Control.Furthermore can judge whether screw rod 6 reaches capacity position by the Hall sensor 25 being arranged in spiral expanding mechanism 22
It sets, this extreme position can be used as the predeterminated position of next guiding process, and when reaching the limit of position, motor 14 stops operating, suddenly
Your sensor 25 has the function of that motor adds up step-out error and resets.
The X, Y direction umber of pulse Nx、NyMeet following equation:
The beneficial effects of the present invention are:
(1) present invention is by uniformly placing four spiral expanding mechanisms at circumferentially-spaced 90 °, using Worm Wheel System and
The flexible control for realizing structure bent angle and tool face azimuth of screw drive mode driving screw rod, to realize guide function.
(2) the spiral expanding mechanism that the present invention uses has the function of Motor torque amplification, and has using mechanism itself
Double self-locking functions between some worm and gears between screw rod worm gear can overcome drill bit bring to disturb, have screw rod
The effect of positioning and support, ensure that the stabilization of guide effect, so not needing to design additional arrestment mechanism, in drilling process
In do not need carry out dynamic guiding, reduce guiding difficulty.
(3) gear synchronizer that the present invention uses makes opposite worm screw speed having the same by internal gear transmission, from
And keep two screw motions consistent, realize synchronizing function.The synchronous implementation of screw rod of the invention is simple and easy, compact-sized.
(4) the stepper motor guiding control method that the present invention uses belongs to open loop control mode, and control method is relatively simple,
It is easily achieved, sensor measurement requirement is lower, and sensor only serves the effect of limit switch, controls and measures low in cost.
Guiding control method is only applied during making up a joint, and compared with drilling process, the disturbance for the process that makes up a joint and is applied to motor
On load it is all smaller and relatively stable, demand of the system to electric energy significantly reduces, and improves steering tool service life.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the schematic diagram of the section structure of the present invention；
Fig. 3 is enlarged diagram at F；
Fig. 4 is spiral expanding structural scheme of mechanism；
Fig. 5 is gear synchronizer structural schematic diagram；
Fig. 6 is structure of the invention bent angle and tool face azimuth schematic diagram；
Fig. 7 be the present invention without bias state when position view；
Position view when Fig. 8 is maximum bias state of the present invention；
Fig. 9 is present invention guiding control method block diagram；
Wherein: 1- drill bit connecting shaft；2- thrust ball bearing；The driven spiral expanding mechanism of 3-；4- needle bearing；5- flexibility is soft
Pipe；6- gear synchronizer；7- controls motor；8- active spiral expanding mechanism；9- sliding block connector；10- does not rotate outer cylinder；11-
Drill bit；12- aligning sliding block；13- driving screw rod；14- worm driver gear；15- magnet；16- thrust type oil-free bushing；17- Guiding machine
Structure shell；18- driving screw rod；19- active external gear；20- shaft coupling；21- motor fixing seat；22- driven screw；23- is driven
External gear；24- oil-free bushing；The oil-free gasket of 25-；The driven worm gear of 26-；The driven worm screw of 27-；28- deep groove ball bearing；29- Hall
Sensor；30- internal gear；O, O '-does not rotate the round heart in outer cylinder section, A, A '-flash direction line the intersection point round with outer cylinder section,
Fulcrum in B- drill bit connecting shaft, the intersection point of P, C- drill bit connecting shaft axis and outer cylinder section circle, D- flash direction line extended line
The round intersection point with outer cylinder section, the direction where two groups of X, Y- opposite spiral expanding mechanisms；α-structure bent angle, θ-tool-face
Angle, the angle between θ '-flash direction line extended line O ' D and line segment O ' P, β-is between flash direction line extended line O ' D and Y-axis
Angle.
Specific embodiment
Below with reference to Figure of description, a preferred embodiment of the present invention will be described in detail；It should be appreciated that preferably
Embodiment is only for illustrating the present invention, rather than limiting the scope of protection of the present invention.
As shown in Figure 1 to Figure 3, the static state guiding type rotary steering drilling tool offset guide mechanism, including do not rotate outer
Cylinder 10, drill bit 11, drill bit connecting shaft 1, flexible hose 5, sliding block connector 9, guiding mechanism shell 17 and biasing mechanism, it is described inclined
Mechanism is set equipped with two groups, and orthogonal be mounted on does not rotate in outer cylinder 10, the adjusting direction side of two biasing mechanisms is not X
Direction and Y-direction.
Specifically, drill bit connecting shaft 1 is ducted body, circulation passage of the hollow space as drilling fluid, drill bit connecting shaft 1
Lower end connects drill bit 11, and upper end is threadedly coupled with flexible hose 5, and drill bit connecting shaft 1 connects place near to the upper end, and there are an outer diameters to change,
The upper end diameter is less than lower end diameter and forms step.The sliding block connector 9 is set in outside drill bit connecting shaft 1, and by pushing away
Power ball bearing 2 and needle bearing 4 connect, and the thrust ball bearing 2 and needle bearing 4 are for bearing from drill bit connecting shaft 1
Axial load and radial load, 2 one end of thrust ball bearing are fixed at the step of drill bit connecting shaft 1,2 other end of thrust ball bearing
Fixed with the outer ring of needle bearing 4,1 upper end of drill bit connecting shaft is placed in inside needle bearing 4, the hollow hole of sliding block connector 9 with
4 outer ring of needle bearing is closely coupled, and needle bearing 4 is for realizing the opposite rotation between drill bit connecting shaft 1 and sliding block connector 9
Turn.
The biasing mechanism includes that aligning sliding block 12, spiral expanding mechanism, gear synchronizer 6, control motor 7, motor are solid
Reservation 21, the spiral expanding mechanism include active spiral expanding mechanism 8 and driven spiral expanding mechanism 3, the active spiral
Telescoping mechanism 8 includes driving screw rod 13, worm driver gear 14, active worm screw 18.Driven spiral expanding mechanism 3 includes driven screw
27, driven worm gear 26 and driven worm screw 22.The sliding block connector 9 is used to guide the position of drill bit connecting shaft 1, aligning sliding block 12
It is placed in the slot inside sliding block connector 9, driving screw rod 13 and 27 lower end of driven screw use spiral shell with aligning sliding block 12 respectively
Line is connected and fixed, and cylinder-shaped magnet 15,26 embedded SMA actuators of worm driver gear 14 and driven worm gear are embedded with inside 13 upper end of driving screw rod
For internal screw thread, driving screw rod 13 is placed in inside worm driver gear 14, and is threadedly coupled with worm driver gear 14.Driven screw 27 be placed in from
Inside dynamic worm gear 26, it is threadedly coupled with driven worm gear 26.It is oil-free that worm driver gear 14 and 26 both ends of driven worm gear are all made of thrust type
Bushing 16 is fixed, to realize the spinning motion of worm driver gear 14 and driven worm gear 26.Active worm screw 18 engages with worm driver gear 14,
18 both ends of active worm screw are fixed using deep groove ball bearing 29, to realize the spinning motion of active worm screw 18.Driven worm screw 22 with from
The dynamic engagement of worm gear 26 connection, driven 22 both ends of worm screw equally use deep groove ball bearing 29 fixed, with realize driven worm screw 22 from
Transhipment is dynamic.Active worm screw 18 and control motor 7 are connected by shaft coupling 20, and control motor 7 is fixed on by motor fixing seat 21
On the inner wall for not rotating outer cylinder 10.
Thrust type oil-free bushing 16 in the worm driver gear 14 is equipped with Hall sensor 29, installs on active worm screw 18
There is magnet 15, Hall sensor 29 and magnet 15 also may be mounted in driven spiral expanding mechanism.Described in the embodiment of the present invention
Control motor 7 be preferably stepper motor, Hall sensor 29 is placed on outside thrust type oil-free bushing 16, and magnet 15 is embedded into master
Inside dynamic 13 upper end of screw rod, the stretching motion of the driving screw rod 13 containing magnet 15 can cause the variation of surrounding magnetic field, and Hall passes
Sensor 29 judges whether driving screw rod 13 reaches maximum retraction position by detecting the variation in magnetic field, when driving screw rod 13 reaches
Motor 7 is controlled when maximal dilation position to stop operating.Hall sensor 9 plays the role of limit switch, can limit active spiral shell
The position that bar 13 moves also prevents control 7 stall of motor, protection control motor 7.
As shown in figure 5, gear synchronizer includes active external gear 19, driven external gear 23, internal gear 30.Active worm screw 10
On be provided with flat key and connect with active external gear 19, drive active external gear 19 to rotate, active external gear 19 is nibbled with internal gear 30
Connection is closed, internal gear 30 engages connection with driven external gear 23, and flat key is provided on driven worm screw 22 and driven external gear 12a connects
Its rotation is connect and drives, the transmission of gear synchronizer 6 rotates active external gear 19 and driven external gear 23 with identical speed,
Keep active worm screw 18 consistent with driven 22 speed of worm screw, and then it is synchronous to realize that driving screw rod 18 is moved with driven screw 22.It is interior
30 outer ring of gear is externally provided with oil-free bushing 24, and 30 both ends of internal gear are fixed using oil-free gasket 25, to guarantee that internal gear 30 only has
The effect of spinning motion.
Not rotating outer cylinder 10 is hollow ring body, since biasing mechanism is equipped with two groups, shares two groups of active spiral expanding machines
Structure 8 and two groups of driven spiral expanding mechanisms 3, four spiral expanding mechanisms are evenly distributed on according to 90 ° of circumferencial direction interval does not revolve
Turn inside outer cylinder 10,180 ° of the interval corresponding with driven screw mechanism 3 of active screw mechanism 8 is sealed in guiding using closed-type cylindrical gearing
In mechanism shell 17, guiding mechanism shell 17, which is fixed on, not to be rotated on 10 inner wall of outer cylinder.
Fig. 4 further describes the guiding principle of active spiral expanding machine 8 and driven spiral expanding mechanism 3.Active spiral
Telescoping mechanism 8 and driven spiral expanding mechanism 3 have double self-locking functions.Active worm screw 18 and the composition of worm driver gear 14 are actively driven
Mechanism, designing lesser lead angle makes it be less than angle of friction, so that worm driver gear 14 and the transmission of active worm screw 18 have
Self-locking function can only drive worm driver gear 14 by active worm screw 18, and cannot drive active worm screw 8 by worm driver gear 14.It is main
Dynamic worm gear 14 forms active screw-drive mechanism with driving screw rod 13, and similar with Worm Wheel System design, same design is smaller
Lead angle make active worm drive have self-locking function, can only by worm driver gear 14 drive driving screw rod 13 move.Together
It manages, in driven screw mechanism, designing lesser lead angle makes it be less than angle of friction, so that can only lead to driven 22 band of worm screw
Driven worm gear 26 is moved, driven screw 27 can only be driven to move by driven worm gear 26.11 bring of drill bit disturbs in drilling process
It can be transmitted in driving screw rod 13 and the axial direction of driven screw 27, and the helix angle chosen when worm drive and worm-drive is all
When less than angle of friction, no matter the axial load of screw rod has much, will not all generate between worm gear and worm screw, between worm gear and screw rod
It moves to axial, screw rod will not be moved because of axial load.Double self-locking functions that spiral expanding mechanism has can be protected
The positioning and supporting role of screw rod can be realized by self structure by demonstrate,proving mechanism, and then lock guiding mechanism position, keep tool
The stabilization of face angle and structure bent angle.The Worm Wheel System in spiral expanding mechanism and worm drive all have deceleration function simultaneously
Can, the torque of control motor 7 can be amplified.
The spiral expanding guiding principle of example of the present invention is that control motor 7 drives active worm screw 18 to rotate, and passes through worm and gear
Transmission, worm gear screw spiral transmission driving driving screw rod 13 are flexible, and opposite 13 He of driving screw rod is realized by gear synchronizer 6
Driven screw 27 1 are stretched out a retraction, and then determine the position of sliding block connector 9, realize guide function.With driving screw rod
The shape of 9 four slots in inside of the 13 aligning sliding blocks 12 being connected with driven screw 27 and sliding block connector is all fan ring, sliding block connection
The motion profile of part 9 is using the fulcrum B in drill bit connecting shaft 1 as the circular arc in the center of circle, and aligning sliding block 5 is on screw axis one
Point is the circular arc in the center of circle, since two arc tracks are not quite identical, it cannot be guaranteed that each position is agreed with completely, so sliding block
The fan ring thickness and central angle of 9 interior groove of connector are all bigger than the fan ring thickness and central angle of aligning sliding block 12, one of side
To screw position change when, the aligning sliding block 12 being attached thereto can move in the slot in sliding block connector 9 therewith, and aligning is sliding
Block 12 is with aligning effect, the angle change being capable of handling between 1 axis of screw axis and drill bit connecting shaft, and this direction
Screw position variation will not influence the position of the screw rod of other direction, because the aligning sliding block 12 in another direction can connect in sliding block
Translational motion is done in slot inside fitting 9, it is possible to think X, the screw motion of Y-direction is independent.When X, Y-axis has been determined
When the position of the offset guide mechanism in both direction, the position of connected sliding block connector 4 also determines therewith, and then has determined
The position of drill bit connecting shaft 1 realizes the control of tool face azimuth and structure bent angle.When offset guide mechanism makes drill bit connecting shaft axis
Line and when not rotating outer cylinder axis and occurring inconsistent, flexible hose 5 can compensate the inconsistent of axis by self-deformation.
Fig. 6 is the structure bent angle and tool face azimuth schematic diagram in the embodiment of the present invention.Spiral expanding mechanism connects drill bit
The active force that axis 1 generates is applied on drill bit 11 by leverage, and line segment O ' B is the fulcrum B in drill bit connecting shaft 1 to spiral
The axial distance of telescoping mechanism, 1 axis PC of drill bit connecting shaft and not rotate angle formed by outer cylinder axes O O ' be structure bent angle α.
If not rotate the round heart O in outer cylinder section as origin, with the direction where the Liang Zu spiral expanding mechanism of even circumferential distribution
Respectively X-axis and Y-axis, point P are the center of circle in 1 section of drill bit connecting shaft at spiral expanding mechanism, the position of drill bit connecting shaft 1
It is substantially also the position of screw rod, position control of the movement of center location by two groups of X, Y-direction opposite screw rods, tool face azimuth
θ is to be rotated clockwise to the angle of line segment OC on the circle of section near the drill bit using flash direction line OA as initial line, and stretch in spiral
At contracting mechanism on the circle of section, the angle between flash direction line O ' A ' extended line O ' D and line segment O ' P is θ ', extended line O ' D and Y
Angle between axis is β.
It is important to note that the variation range of section center location P (x, y) is a circle, maximum radius is to set
The length of the maximum screw displacement of meter, the line segment O ' P of point P (x, y) to origin O ' determines the size of structure bent angle α.By changing
Become two groups of screw rods of X, Y position can change the position in the center of circle so as to change the length of line segment O ' P realize structure bent angle α from
0 ° changes between design max architecture bent angle value, and the angle that also can change flash direction line extended line O ' D and line segment O ' P is realized
Tool face azimuth θ changes within the scope of 0-360 degree.
Further, structure bent angle α, tool face azimuth θ meet following equation:
Fig. 7, Fig. 8 be respectively the embodiment of the present invention in no bias state when and when maximum bias state position signal
Figure.As shown in fig. 7, the position in the section center of circle is (0,0), drill bit connecting shaft when the embodiment of the present invention is in no bias state
Axis PC and do not rotate outer cylinder axes O O ' coincidence, corresponding structure bent angle α and tool face azimuth θ are zero degree.As shown in figure 8, working as
When the embodiment of the present invention is in maximum bias state, the position in the section center of circle is (0, ymax), and corresponding structure bent angle α is design
Max architecture bent angle, if Y direction is placed on flash direction line extended line O ' D, β be zero degree, tool face azimuth θ is zero
Degree.
The embodiment of the present invention also provides a kind of for the static state guiding type rotary steering drilling tool offset guide mechanism
The control method of structure bent angle α and tool face azimuth θ, as shown in Figure 9.The embodiment of the present invention preferably controls motor 7 and preferably walks
It is the device that electric impulse signal is changed into angular displacement into motor, the corresponding rotational angle of a pulse signal is known as step angle,
Electric machine control system use open loop control mode, this mode realize it is relatively simple, controlled by input pulse number control motor 7
Angular displacement, drive spiral expanding mechanism kinematic, using between umber of pulse and screw displacement corresponding relationship and spiral stretch
Double self-locking functions that contracting mechanism has itself realize the flexible and positioning function of screw rod.The preferred limit switch of the embodiment of the present invention
Limit switch for Hall sensor, other principles such as machinery, inductance, capacitor can also realize same function.The control method
Implement during making up a joint, detailed process is as follows: according to desired structure bent angle and tool face azimuth by spiral expanding mechanism XY
Directional Decomposition module calculates desired section center location (x1,y1), and with work as section center location (x2,y2) ask poor, it obtains
(Δ x, Δ y), which is the stroke of screw rod in spiral expanding mechanism to the stroke that the section center of circle needs, wherein currently
The position in the section center of circle can be pre-set section center location, such as preset the section center of circle using limit switch and be in
Extreme position, current cross-section center location can also be oriented to the position recorded after the completion of process for last time；Utilize umber of pulse
By screw rod stroke, (Δ x, Δ y) are converted to X, Y direction umber of pulse N to converting unitx、Ny, it is directed to spiral expanding mechanism
Parameter be Worm Wheel System reduction ratio i and worm drive lead S, be related to control motor 7 parameter be stepping angle
λ；By X, Y direction umber of pulse Nx、NyIt is input to X, Y-direction step motor control system, is adjusted by controlling corresponding motor
The position of spiral expanding mechanism, and then change the direction of drill bit connecting shaft 1, drill bit 11, it is final to realize structure bent angle α and tool-face
The control of angle θ.Furthermore it can judge whether screw rod reaches capacity by the Hall sensor 29 being arranged in spiral expanding mechanism
Position, this extreme position can be used as the predeterminated position of next guiding process, and motor 7 is controlled when reaching the limit of position and stops turning
Dynamic, Hall sensor 29 has the function of that motor adds up step-out error and resets.
Further, X, Y direction umber of pulse Nx、NyMeet following equation:
Further, guiding control precision is if desired further increased, the open-loop control method of motor can be changed to closed loop
Control method, can be selected the displacement sensor of the different principles such as Hall, capacitor, photoelectricity, ultrasound, detection X, Y-axis both direction
Screw displacement is simultaneously sent in electric machine control system, to realize the guide effect of higher precision.
The embodiment of the invention provides a kind of static guiding type rotary steering drilling tool offset guide mechanisms, specifically
It is a kind of offset guide mechanism of double self-locking spiral expanding principles based on two direction of X-Y axis, it can be achieved that being characterized in drilling process
Guide function is realized in the structure bent angle in drill bit direction and the control of tool face azimuth.The offset guide mechanism is present in non-rotary
Outer barrel, working method are static type, and guiding mechanism acts on drill bit connecting shaft application by screw rod, and guidance mode is
Directional type.The embodiment of the present invention inhibits outer cylinder to rotate using anti-rotation device, and is connected with drill string or drill pipe system, drill bit and brill
Head connecting shaft is connected；Spiral expanding offset guide mechanism is placed in outer cylinder, is changed drill bit by control motor driven biasing mechanism and is connected
Guide function is realized in the position of spindle.Drilling process can be divided into the process of making up a joint and drilling process.Pass through during making up a joint
Spiral expanding offset guide mechanism on control X, Y-axis both direction, not only may be implemented auger spindle center line and outer cylinder center line
It is formed by structure bent angle to change from 0 ° to design max architecture bent angle value, moreover it is possible to which implementation tool face angle is in 0-360 degree range
Interior variation.In drilling process, the position for adjusting biasing mechanism is not needed, but utilizes Worm Wheel System and worm gear screw rod
Double self-lockings that worm drive have overcome drill bit bring to disturb, and lock offset guide mechanism position, keep tool face azimuth
With the stabilization of structure bent angle.
Above embodiments are only to illustrate the technical solution of the embodiment of the present invention, rather than its limitations；Although referring to aforementioned
The embodiment of the present invention is described in detail in embodiment, those skilled in the art should understand that: it still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, the essence of each embodiment technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (10)
1. a kind of static state guiding type rotary steering drilling tool offset guide mechanism, including drill bit connecting shaft (1) and do not rotate outside
Cylinder (10), it is characterised in that the guiding mechanism further includes flexible hose (5), biasing mechanism and sliding block connector (9), flexibility
Hose (5) is connect with drill bit connecting shaft (1), and biasing mechanism, which is mounted on, not to be rotated in outer cylinder (10), and the biasing mechanism includes adjusting
Heart sliding block (12), spiral expanding mechanism, control motor (7), the sliding block connector (9) are set in drill bit connecting shaft (1) outside,
The aligning sliding block (12) is connect by spiral expanding mechanism with control motor (7), and is mounted in sliding block connector (1), institute
It states aligning sliding block (12) to be moved forward and backward under the drive of control motor (7), push drill bit connecting shaft (1).
2. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 1, feature exist
In the biasing mechanism further include gear synchronizer (6), the spiral expanding mechanism include active spiral expanding mechanism (8) and
Driven spiral expanding mechanism (3), the control motor (7) connect with active spiral expanding mechanism (8), active spiral expanding mechanism
(8) it is connect by gear synchronizer (6) with driven spiral expanding mechanism (3), makes active spiral expanding mechanism (8) and driven spiral
Telescoping mechanism (3) moves synchronously, and active spiral expanding mechanism (8) and driven spiral expanding mechanism (3) are sliding with aligning respectively
Block (12) connection.
3. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 2, feature exist
In the active spiral expanding mechanism (8) include driving screw rod (13), worm driver gear (14), active worm screw (18), the master
Dynamic worm screw (18) are connect with control motor (7) and gear synchronizer (6) respectively, and driving screw rod (13) and worm driver gear (14) are even
It connects, active worm screw (18) engages connection with worm driver gear (14), and the driving screw rod (13) is fixedly connected with aligning sliding block (12)；
The driven spiral expanding mechanism (3) includes driven screw (27), driven worm gear (26), driven worm screw (22), the driven snail
Bar (22) is connect with gear synchronizer (6), and driven screw (27) is connect with driven worm gear (26), driven worm screw (22) and driven snail
(27) engagement connection is taken turns, the driven screw (26) is fixedly connected with aligning sliding block (12).
4. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 3, feature exist
In the gear synchronizer (6) include active external gear (19), driven external gear (23), internal gear (30), the active external tooth
Wheel (19) is connect with active worm screw (22), and driven external gear (23) connect with driven worm screw (22), the active external gear (19)
Connection is engaged with internal gear (30) respectively with driven external gear (23).
5. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 2, feature exist
Lead angle in the active worm screw (18) and worm driver gear (14) is less than angle of friction；Worm driver gear (14) and driving screw rod
(13) lead angle is less than angle of friction；The lead angle of the driven worm screw (22) and driven worm gear (26) is less than angle of friction；From
Dynamic worm gear (26) and driven screw (27) lead angle are less than angle of friction；The worm driver gear (14) and driven worm gear (26)
Both ends pass through thrust type oil-free bushing (16) respectively and fix, and the active worm screw (18) and driven worm screw (22) both ends are respectively adopted
Deep groove ball bearing (28) is fixed.
6. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 2, feature exist
It include guiding mechanism shell (17) and two biasing mechanisms in the guiding mechanism, and two biasing mechanisms are mutually perpendicular to install
Outer cylinder (10) inside is not being rotated, active screw mechanism (8) and driven screw mechanism (3) are sealingly mounted at guiding mechanism shell
(17) in.
7. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 5, feature exist
It is equipped with limit switch in the spiral expanding mechanism, drives aligning sliding block (12) movement for limiting spiral expanding mechanism
Distance；The limit switch is Hall sensor (29) and magnet (15), and the Hall sensor (29) is mounted on thrust type
In oil-free bushing (16), the magnet (15) is mounted on corresponding driving screw rod (13) or driven screw (27).
8. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 1, feature exist
It is less than lower end diameter in drill bit connecting shaft (1) upper end diameter and forms step, the sliding block connector (9) is set in drill bit
Connecting shaft (1) is external, and is connected by thrust ball bearing (2) and needle bearing (4), and thrust ball bearing (2) one end is fixed on brill
At the step of head connecting shaft (1), thrust ball bearing (2) other end and the outer ring of needle bearing (4) are fixed, drill bit connecting shaft (1)
It is internal that upper end is placed in needle bearing (4).
9. a kind of static guiding type rotary steering drilling tool offset guide mechanism according to claim 1, feature exist
In being equipped with fan annular groove in the sliding block connector (9), aligning sliding block (12) is that fan is cyclic annular, and is mounted in fan annular groove, sliding block
The fan thickness and central angle of connector (9) internal fan annular groove are bigger than the thickness and central angle of aligning sliding block (12).
10. the structure based on any static guiding type rotary steering drilling tool offset guide mechanism of claim 1 to 9
The control method of bent angle and tool face azimuth, it is characterised in that the angle of control structure bent angle and tool face azimuth when making up a joint
Degree, when drilling well, creep into according to predetermined angle, and the control method is specific as follows:
Drill bit connects shaft section center location and is indicated with P (x, y), and tool face azimuth θ is using flash direction line OA as initial line, in drill bit
The angle of line segment OC is rotated clockwise on neighbouring section circle, at the spiral expanding mechanism on the circle of section, flash direction line O ' A '
Angle between extended line O ' D and line segment O ' P is θ ', and the angle between extended line O ' D and Y-axis is β；
The variation of screw position makes the position in the section center of circle change, and the moving range in the section center of circle is a circle,
Maximum radius is the maximum screw displacement of design, and the length of the line segment O ' P of point P (x, y) to origin O ' determines structure bent angle α's
Size, by changing the position P (x, y) of two groups of screw rods of X, Y, the length for changing line segment O ' P realizes structure bent angle α from 0 ° to design
Change between max architecture bent angle value；Change the angle implementation tool face angle θ of flash direction line extended line O ' D and line segment O ' P in 0-
Change within the scope of 360 degree；The structure bent angle α, tool face azimuth θ meet following equation:
When making up a joint, calculated according to desired structure bent angle and tool face azimuth by spiral expanding mechanism XY Directional Decomposition module
Position (the x in the desired section center of circle1,y1), and the position (x with the current cross-section center of circle2,y2) ask poor, obtain section center of circle needs
Stroke (Δ x, Δ y), the stroke are X to the variable quantity with Y-direction screw position, and wherein current cross-section center location can
Think pre-set section center location, such as presets the section center of circle using limit switch and be in extreme position, it is current to cut
Face center location can also be oriented to the position recorded after the completion of process for last time；Screw rod is stretched using umber of pulse converting unit
(Δ x, Δ y) are converted to X, Y direction umber of pulse N to contracting amountx、Ny, the parameter for being directed to spiral expanding mechanism is worm and gear
The reduction ratio i of the transmission and lead S of worm drive, the parameter for being related to controlling motor 14 is stepping angle λ；By X, Y direction arteries and veins
Rush number Nx、NyIt is input to X, Y-direction step motor control system, adjusts spiral expanding machine by controlling corresponding control motor
The position of structure, and then change the direction of drill bit connecting shaft 1, drill bit 21, the final control for realizing structure bent angle α and tool face azimuth θ；
Furthermore can judge whether screw rod 6 reaches capacity position by the Hall sensor 25 being arranged in spiral expanding mechanism 22, this
Extreme position can be used as the predeterminated position of next guiding process, and when reaching the limit of position, motor 14 stops operating, and Hall passes
Sensor 25 has the function of that motor adds up step-out error and resets；
The X, Y direction umber of pulse Nx、NyMeet following equation:
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| CN112252971A (en) * | 2020-09-30 | 2021-01-22 | 中国地质大学（武汉） | Spline type horizontal directional drilling engineering geological exploration steering control device |
| CN112252972A (en) * | 2020-09-30 | 2021-01-22 | 中国地质大学（武汉） | Eccentric ring type horizontal directional core drilling tool and direction control device thereof |
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| CN117188965A (en) * | 2023-07-25 | 2023-12-08 | 江苏宏博机械制造有限公司 | Rotary steering drilling device |
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