CN110043188B - Offset guide mechanism of static directional rotary guide drilling tool and control method - Google Patents
Offset guide mechanism of static directional rotary guide drilling tool and control method Download PDFInfo
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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
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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
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Abstract
The invention discloses a static directional rotary steering drilling tool offset steering mechanism and a control method, belonging to the technical field of petroleum and gas drilling. The disturbance in the single connection process and the load applied to the motor are small and stable, the requirement of the system on electric energy is obviously reduced, and the service life of the guide tool is prolonged; the scheme is simple and feasible, and the structure is compact.
Description
Technical Field
The invention belongs to the technical field of petroleum and natural gas drilling, and particularly relates to a bias guide mechanism of a static directional rotary guide drilling tool and a control method.
Background
Rotary steerable drilling tools represent the highest level of development in today's oil-oriented drilling tools. The rotary guide drilling tool can be divided into a pushing type and a pointing type according to the action mode of a guide mechanism, and can be divided into a dynamic type and a static type according to whether the outer cylinder of the guide tool rotates or not. The push type is that a guide mechanism acts with a well wall, the direction of a drill bit is controlled by utilizing the generated reaction force, a spiral well hole is generated in the mode, the guide capability of the spiral well hole is limited by a stratum structure, and the guide capability of the spiral well hole in a soft stratum is poor; the directional type is that a guide mechanism in the tool exerts acting force on a drill bit connecting shaft so as to control the direction of the drill bit, and the well is drilled smoothly and regularly in the mode, so that the directional type is strong in guiding capability and free from being influenced by stratum, the quality of a well body is improved, and the underground safety is ensured.
At present, Schlumberger, Halliburton and BakerHughes, and the like abroad develop respective rotary steering drilling tools, but the tools strictly block the technology in China, and the products are not sold in China and only provide high-price technical services. A plurality of domestic research institutions develop the research on the rotary steering drilling tool and obtain certain results, but the rotary steering drilling tool still has a certain distance compared with the foreign technical level.
Halliburton corporation discloses a static pointing-based rotary steering tool, the steering system utilizes an anti-rotation device to enable an outer cylinder of the steering system not to rotate, a deflection steering mechanism of the steering system is formed by combining an inner eccentric ring and an outer eccentric ring, and in the steering process, the position of a flexible steering mandrel is adjusted by respectively utilizing a harmonic drive mechanism to control the rotation angle of the inner eccentric ring and the outer eccentric ring, so that the direction of a drill bit is changed. When the two eccentric rings respectively rotate a certain angle to reach the expected positions, the rotation of the inner ring and the outer ring is respectively limited through the electromagnetic clutch, and the braking function is realized. The disadvantages are that: firstly, the guiding function of the scheme is realized by a flexible mandrel, and the flexible guiding mandrel needs to bear high-strength alternating stress and is easy to generate fatigue damage; secondly, the double eccentric ring offset mechanism of the scheme is driven by a harmonic drive mechanism, and flexible parts in the harmonic drive mechanism can periodically deform and are easy to fatigue damage; the braking action of the scheme is realized by the electromagnetic clutch corresponding to the inner ring and the outer ring, and the complexity of the system is increased because a braking device matched with the biasing mechanism needs to be additionally designed.
Halliburton corporation discloses a biasing device of a static directional rotary steering drilling tool, which comprises an inner eccentric ring and an outer eccentric ring, wherein the inner eccentric ring and the outer eccentric ring are driven to rotate by two motors through gear transmission respectively, and then a drill bit is controlled to point to a desired direction. When the double eccentric rings reach the desired position, the proposal uses a vector control drive motor to maintain the desired bit direction. In addition, the proposal is that a braking device is added on the motor or a self-locking mechanism is added in the gear transmission mechanism to lock the position of the double eccentric rings. The disadvantages are that: firstly, motor vector control belongs to a method for dynamically adjusting the direction of a drill bit, the method is complex, and the control effect is influenced by disturbance brought by the drill bit in the drilling process; secondly, the system complexity is increased by adding an additional braking device to the motor or the gear transmission mechanism to lock the position of the eccentric ring, and the structure of the braking device is not described in detail.
Weatherford discloses a static directional rotary steering drilling tool, which comprises a non-rotary outer cylinder, wherein hydraulic oil is output by 12 hydraulic pumps which are uniformly distributed along the axial direction and the circumferential direction of the non-rotary outer cylinder, and is injected into a hydraulic cavity under the control of an electromagnetic valve, so that the extending displacement of each piston is controlled, and the steering control of a drill bit is realized. The disadvantages are that: the guiding control of the electromagnetic valve belongs to a method for dynamically adjusting the direction of the drill bit, the guiding effect is influenced by the interference brought by the drill bit, and the accurate guiding control is difficult to realize.
Schleminger company discloses a static directional rotary steering drilling system, a hydraulic pump driven by drilling fluid provides hydraulic fluid with certain pressure, the hydraulic fluid is controlled to enter a hydraulic cylinder by using an electromagnetic servo valve, and then the positions of two groups of hydraulic pump pistons in the X-Y direction are controlled, so that a steering function is realized. The disadvantages are that: the hydraulic pump in the system is powered by the drilling fluid, the pressure fluctuation of the drilling fluid can influence the guiding effect, and the difficulty of accurate hydraulic guiding control is increased.
Southwest oil university discloses a push-type full-rotation guiding tool, which utilizes a motor to drive a gear to rotate, so that a through hole on the gear is communicated with a drilling fluid flow passage, and the drilling fluid acts on a spring to further drive three pistons which are uniformly distributed in a non-rotating outer cylinder to move. The disadvantages are that: this hydraulic control system receives drilling fluid pressure's influence easily, and a plurality of parts and drilling fluid contact, and life can receive the influence, and is higher to drilling fluid seal requirement.
The static directional rotary steering tool can be divided into two types according to the steering principle, one type is the steering action realized by controlling the rotation of the double eccentric rings adopted by the Halliburton company, and the invention belonging to the steering principle also relates to a rotary steering drilling tool invented by Tianjin university. The other is the guiding function which is realized by the invention of Weatherford company, Schummer company and the university of petroleum in southwest by controlling the movement of a piston through a hydraulic system, and the invention which belongs to the guiding principle also relates to a rotary guiding well drilling tool invented by China petrochemical company.
The existing technology has the following defects to be solved: firstly, a motor control method based on a double-eccentric-ring structure and a servo valve control method based on a hydraulic system both belong to dynamic guiding methods, and the control methods are complex and can be influenced by disturbance brought by a drill bit; the braking function of the biasing mechanism is realized by additionally adding braking devices, such as a clutch with double eccentric rings, a brake of a motor and a self-locking mechanism of gear transmission, which all increase the complexity of the system; when the bias guide mechanism based on the double eccentric rings is driven by the harmonic drive mechanism, the flexible parts in the harmonic drive mechanism are easy to fatigue and damage; design of the bias guide mechanism based on hydraulic control needs to consider the sealing problem of the drilling fluid, and the pressure fluctuation of the drilling fluid can influence the guide control
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a bias guide mechanism and a control method of a static directional rotary guide drilling tool, wherein the bias guide mechanism can overcome the influence of disturbance caused by a drill bit in the drilling process on a control guide effect, the control method is simple and easy to implement, and the control of a structural bend angle and a tool face angle can be realized.
The technical scheme of the invention is as follows: the utility model provides a static directional formula rotary steering drilling tool biasing guiding mechanism, includes drill bit connecting axle and irrotational urceolus, guiding mechanism still include flexible hose, biasing mechanism and slider connecting piece, flexible hose is connected with the drill bit connecting axle, and biasing mechanism installs in the irrotational urceolus, biasing mechanism includes aligning slider, spiral telescopic machanism, control motor, slider connecting piece cover is established at the drill bit connecting axle outsidely, the aligning slider passes through spiral telescopic machanism and is connected with control motor to install in the slider connecting piece, the aligning slider is the back-and-forth movement under control motor's drive, promotes the drill bit connecting axle.
Further, biasing mechanism still include gear synchronizer, spiral telescopic machanism includes initiative spiral telescopic machanism and driven spiral telescopic machanism, the control motor is connected with initiative spiral telescopic machanism, and initiative spiral telescopic machanism passes through gear synchronizer and is connected with driven spiral telescopic machanism, makes initiative spiral telescopic machanism and driven spiral telescopic machanism synchronous motion, initiative spiral telescopic machanism and driven spiral telescopic machanism are connected with the aligning slider respectively.
Furthermore, the driving spiral telescopic mechanism comprises a driving screw rod, a driving worm wheel and a driving worm, the driving worm is respectively connected with the control motor and the gear synchronizer, the driving screw rod is connected with the driving worm wheel, the driving worm is meshed with the driving worm wheel, and the driving screw rod is fixedly connected with the aligning sliding block; driven spiral telescopic machanism includes driven screw, driven worm wheel, driven worm is connected with gear synchronizer, and driven screw is connected with driven worm wheel, and driven worm is connected with driven worm wheel meshing, driven screw and aligning slider fixed connection.
Further, the gear synchronizer comprises a driving external gear, a driven external gear and an internal gear, the driving external gear is connected with the driving worm, the driven external gear is connected with the driven worm, and the driving external gear and the driven external gear are respectively in meshed connection with the internal gear.
Furthermore, the lead angle of the driving worm and the driving worm wheel is smaller than the friction angle; the lead angle of the driving worm wheel and the driving screw is smaller than the friction angle; the lead angle of the driven worm and the driven worm wheel is smaller than the friction angle; the lead angle of the driven worm wheel and the driven screw is smaller than the friction angle; the two ends of the driving worm wheel and the driven worm wheel are fixed through thrust type oil-free bushes respectively, and the two ends of the driving worm and the driven worm are fixed through deep groove ball bearings respectively.
Furthermore, the guiding mechanism comprises a guiding mechanism shell and two biasing mechanisms, the two biasing mechanisms are perpendicular to each other and are arranged in the non-rotating outer barrel, and the driving screw mechanism and the driven screw mechanism are arranged in the guiding mechanism shell in a sealing mode.
Furthermore, a limit switch is arranged on the spiral telescopic mechanism and is used for limiting the moving distance of the spiral telescopic mechanism driving the aligning sliding block; the limit switch is a Hall sensor and a magnet, the Hall sensor is arranged on the thrust type oilless bushing, and the magnet is arranged on the corresponding driving screw or the corresponding driven screw.
Furthermore, the diameter of the upper end of the drill connecting shaft is smaller than that of the lower end of the drill connecting shaft to form a step, the slider connecting piece is sleeved outside the drill connecting shaft and is connected with the needle roller bearing through a thrust ball bearing, one end of the thrust ball bearing is fixed at the step of the drill connecting shaft, the other end of the thrust ball bearing is fixed with an outer ring of the needle roller bearing, and the upper end of the drill connecting shaft is arranged inside the needle roller bearing.
Furthermore, the slider connecting piece in be equipped with fan ring groove, the aligning slider is fan ring form to install in fan ring groove, the fan thickness and the central angle of the inside fan ring groove of slider connecting piece are greater than the thickness and the central angle of aligning slider.
The control method based on the structure bend angle and the tool face angle of the offset guide mechanism of the static directional rotary steering drilling tool is characterized in that the angles of the structure bend angle and the tool face angle are controlled when a single joint is connected, and drilling is carried out according to a preset angle during drilling, and the control method specifically comprises the following steps:
the center position of the cross section of the bit connecting shaft is represented by P (x, Y), the tool face angle theta is an angle from the high side direction line OA as a start side and clockwise rotates to the line segment OC on the cross section circle near the bit, the angle between the extension line O 'D of the high side direction line O' A 'and the line segment O' P on the cross section circle at the spiral telescoping mechanism is theta ', and the angle between the extension line O' D and the Y axis is beta.
The change of the screw position changes the position of the center of a cross section, the moving range of the center of the cross section is a circle, the maximum radius of the circle is the designed maximum screw displacement, the length of a line segment O ' P from a point P (x, y) to an original point O ' determines the size of a structural bend angle alpha, and the length of the line segment O ' P is changed by changing the positions P (x, y) of X, Y two groups of screws to realize the change of the structural bend angle alpha from 0 degree to the designed maximum structural bend angle value; changing the angle between the extension line O 'D of the high-side direction line and the line segment O' P to realize that the tool face angle theta is changed within the range of 0-360 degrees; the structural bend angle alpha and the tool face angle theta satisfy the following equation:
when a single joint is connected, the position (x) of the center of a desired section circle is calculated by an XY direction decomposition module of the spiral telescopic mechanism according to a desired structural bend angle and a desired tool face angle1,y1) And the position (x) of the center of the current section2,y2) Calculating a difference to obtain the expansion amount (delta X, delta Y) required by the circle center of the section, wherein the expansion amount is the variation of the screw positions in the X direction and the Y direction, the current circle center position of the section can be a preset circle center position of the section, and if the circle center of the section is preset to be at a limit position by using a limit switch, the current circle center position of the section can also be a position recorded after the last guiding process is finished; the screw expansion and contraction quantity (delta x, delta y) is converted into X, Y axial direction pulse number N by a pulse number conversion unitx、NyWherein the parameters related to the spiral telescopic mechanism are a reduction ratio i of worm gear transmission and a lead S of spiral transmission, and the parameter related to the control motor 14 is a stepping angle lambda; x, Y axial direction pulse number Nx、NyThe position of the spiral telescopic mechanism is adjusted by controlling a corresponding control motor, so that the directions of the drill connecting shaft 1 and the drill 21 are changed, and finally the control of the structural bend angle alpha and the tool face angle theta is realized. In addition, whether the screw 6 reaches the limit position can be judged by the hall sensor 25 arranged on the spiral telescopic mechanism 22, the limit position can be used as the preset position of the next guiding process, the motor 14 stops rotating when the limit position is reached, and the hall sensor 25 has the function of clearing the accumulated step-out error of the motor.
The X, Y axial direction pulse number Nx、NyThe following equation is satisfied:
the invention has the beneficial effects that:
(1) according to the invention, four spiral telescopic mechanisms are uniformly arranged at intervals of 90 degrees in the circumferential direction, and the control of the structural bend angle and the tool face angle is realized by driving the screw rod to stretch in a worm gear transmission and spiral transmission mode, so that the guide function is realized.
(2) The spiral telescopic mechanism adopted by the invention has the function of amplifying the torque of the motor, and the double self-locking function between the worm gear and the worm and between the screw rod and the worm gear, which is arranged in the mechanism, can overcome the disturbance caused by the drill bit, so that the screw rod has the functions of positioning and supporting, the stability of the guiding effect is ensured, an additional braking mechanism is not required to be designed, dynamic guiding is not required in the drilling process, and the guiding difficulty is reduced.
(3) The gear synchronizer adopted by the invention enables the opposite worms to have the same speed through the transmission of the internal gear, thereby enabling the two screws to move in the same direction and realizing the synchronization function. The screw synchronization implementation scheme is simple and feasible, and the structure is compact.
(4) The stepping motor guiding control method adopted by the invention belongs to an open-loop control mode, the control method is simpler and easy to realize, the measurement requirement of the sensor is lower, the sensor only plays a role of a limit switch, and the control and measurement cost is low. The guiding control method is only applied to the single connection process, compared with the drilling process, the disturbance of the single connection process and the load applied to the motor are small and stable, the requirement of the system on electric energy is obviously reduced, and the service life of the guiding tool is prolonged.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is an enlarged schematic view at F;
FIG. 4 is a schematic view of a screw jack mechanism;
FIG. 5 is a schematic view of a gear synchronizer structure;
FIG. 6 is a schematic view of the structural and toolface angles of the present invention;
FIG. 7 is a schematic view of the present invention in an unbiased state;
FIG. 8 is a schematic view of the maximum bias position of the present invention;
FIG. 9 is a block diagram of a steering control method of the present invention;
wherein: 1-a drill bit connecting shaft; 2-thrust ball bearing; 3-driven spiral telescoping mechanism; 4-needle roller bearings; 5-a flexible hose; 6-gear synchronizer; 7-controlling the motor; 8-a driving spiral telescopic mechanism; 9-a slider connection; 10-non-rotating outer cylinder; 11-a drill bit; 12-aligning slide block; 13-a driving screw; 14-a driving worm gear; 15-a magnet; 16-thrust type oilless bushing; 17-a guide mechanism housing; 18-a driving screw; 19-external drive gear; 20-a coupler; 21-motor fixing seat; 22-a driven screw; 23-a driven external gear; 24-oilless liner; 25-oil free gasket; 26-a driven worm gear; 27-a follower worm; 28-deep groove ball bearing; 29-hall sensor; 30-internal gear; o, O '-the center of a section circle of the non-rotating outer cylinder, A, A' -the intersection point of a high side direction line and the section circle of the outer cylinder, B-a fulcrum on the drill connecting shaft, P, C-the intersection point of the axis of the drill connecting shaft and the section circle of the outer cylinder, D-the intersection point of an extension line of the high side direction line and the section circle of the outer cylinder, and X, Y-the directions of two groups of opposite spiral telescopic mechanisms; alpha-structural bend angle, theta-toolface angle, theta '-angle between high side direction line extension line O' D and line segment O 'P, and beta-angle between high side direction line extension line O' D and Y axis.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings; it should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
As shown in fig. 1 to 3, the offset guide mechanism of the static directional rotary guide drilling tool comprises a non-rotating outer cylinder 10, a drill bit 11, a drill bit connecting shaft 1, a flexible hose 5, a slider connecting piece 9, a guide mechanism shell 17 and two offset mechanisms, wherein the two offset mechanisms are arranged in two groups and are vertically arranged in the non-rotating outer cylinder 10, and the adjusting directions of the two offset mechanisms are the X direction and the Y direction respectively.
Specifically, the drill connecting shaft 1 is a hollow body, the hollow part is used as a circulation channel of drilling fluid, the lower end of the drill connecting shaft 1 is connected with a drill 11, the upper end of the drill connecting shaft is in threaded connection with the flexible hose 5, the drill connecting shaft 1 has an outer diameter change close to the upper end, and the diameter of the upper end of the drill connecting shaft is smaller than that of the lower end of the drill connecting shaft to form a. The drill bit connecting shaft is characterized in that the slider connecting piece 9 is sleeved outside the drill bit connecting shaft 1 and is connected with the needle bearing 4 through the thrust ball bearing 2, the thrust ball bearing 2 and the needle bearing 4 are used for bearing axial load and radial load from the drill bit connecting shaft 1, one end of the thrust ball bearing 2 is fixed at a step of the drill bit connecting shaft 1, the other end of the thrust ball bearing 2 is fixed with an outer ring of the needle bearing 4, the upper end of the drill bit connecting shaft 1 is arranged inside the needle bearing 4, a hollow hole of the slider connecting piece 9 is tightly connected with the outer ring of the needle bearing 4, and the needle bearing 4 is used for realizing relative rotation between.
The biasing mechanism comprises a self-aligning sliding block 12, a spiral telescopic mechanism, a gear synchronizer 6, a control motor 7 and a motor fixing seat 21, the spiral telescopic mechanism comprises a driving spiral telescopic mechanism 8 and a driven spiral telescopic mechanism 3, and the driving spiral telescopic mechanism 8 comprises a driving screw 13, a driving worm wheel 14 and a driving worm 18. The driven screw retracting mechanism 3 includes a driven screw 27, a driven worm wheel 26, and a driven worm 22. Slider connecting piece 9 is arranged in the position of guide drill bit connecting axle 1, and slider connecting piece 9 inside groove is arranged in to aligning slider 12, and it is fixed to adopt threaded connection with aligning slider 12 equally divide respectively for initiative screw 13 and 27 lower extremes of driven screw, and cylindrical magnet 15 has been inlayed to initiative screw 13 upper end inside, and initiative worm wheel 14 and the processing of driven worm wheel 26 inner chamber are the internal thread, and initiative screw 13 is arranged in inside the initiative worm wheel 14 to with initiative worm wheel 14 threaded connection. The driven screw 27 is disposed inside the driven worm wheel 26 and is screwed to the driven worm wheel 26. Both ends of the driving worm wheel 14 and the driven worm wheel 26 are fixed by thrust type oilless bushes 16 to realize the rotation motion of the driving worm wheel 14 and the driven worm wheel 26. The driving worm 18 is meshed with the driving worm wheel 14, and two ends of the driving worm 18 are fixed by deep groove ball bearings 29 so as to realize the autorotation motion of the driving worm 18. The driven worm 22 is meshed with the driven worm wheel 26, and both ends of the driven worm 22 are also fixed by deep groove ball bearings 29 so as to realize the self-rotation movement of the driven worm 22. The driving worm 18 is connected with the control motor 7 through a coupling 20, and the control motor 7 is fixed on the inner wall of the non-rotating outer cylinder 10 through a motor fixing seat 21.
The thrust oil-free bushing 16 on the driving worm wheel 14 is provided with a Hall sensor 29, the driving worm 18 is provided with a magnet 15, and the Hall sensor 29 and the magnet 15 can also be arranged on a driven spiral telescopic mechanism. The control motor 7 according to the embodiment of the present invention is preferably a stepping motor, the hall sensor 29 is disposed outside the thrust oil-free bushing 16, the magnet 15 is embedded inside the upper end of the driving screw 13, the expansion and contraction movement of the driving screw 13 including the magnet 15 causes a change in the surrounding magnetic field, the hall sensor 29 determines whether the driving screw 13 reaches the maximum retraction position by detecting the change in the magnetic field, and the control motor 7 stops rotating when the driving screw 13 reaches the maximum expansion and contraction position. The Hall sensor 9 plays a role of a limit switch, can limit the movement position of the driving screw 13, and also has the functions of preventing the control motor 7 from stalling and protecting the control motor 7.
As shown in fig. 5, the gear synchronizer includes a driving external gear 19, a driven external gear 23, and an internal gear 30. The driving worm 10 is provided with a flat key connected with the driving external gear 19 to drive the driving external gear 19 to rotate, the driving external gear 19 is meshed with the internal gear 30, the internal gear 30 is meshed with the driven external gear 23, the driven worm 22 is provided with a flat key connected with the driven external gear 12a to drive the driven external gear to rotate, the transmission of the gear synchronizer 6 enables the driving external gear 19 and the driven external gear 23 to rotate at the same speed, the driving worm 18 and the driven worm 22 are enabled to be in the same speed, and further the motion synchronization of the driving screw 18 and the driven screw 22 is achieved. An oilless bushing 24 is arranged outside the outer ring of the internal gear 30, and two ends of the internal gear 30 are fixed by oilless gaskets 25 to ensure that the internal gear 30 only has the function of autorotation.
The irrotational outer barrel 10 is a hollow annular body, the biasing mechanism is provided with two groups, the two groups of driving spiral telescopic mechanisms 8 and the two groups of driven spiral telescopic mechanisms 3 are arranged, the four spiral telescopic mechanisms are uniformly distributed in the irrotational outer barrel 10 at intervals of 90 degrees in the circumferential direction, the driving spiral mechanisms 8 and the driven spiral mechanisms 3 are correspondingly spaced at 180 degrees, closed transmission sealing is adopted in the guide mechanism shell 17, and the guide mechanism shell 17 is fixed on the inner wall of the irrotational outer barrel 10.
Fig. 4 further illustrates the guiding principle of the driving screw telescopic mechanism 8 and the driven screw telescopic mechanism 3. The driving spiral telescopic mechanism 8 and the driven spiral telescopic mechanism 3 have double self-locking functions. The driving worm 18 and the driving worm wheel 14 form a driving transmission mechanism, and a small lead angle is designed to be smaller than a friction angle, so that the driving worm wheel 14 and the driving worm 18 have a self-locking function in transmission, the driving worm wheel 14 can be driven only through the driving worm 18, and the driving worm 8 cannot be driven by the driving worm wheel 14. The driving worm wheel 14 and the driving screw 13 form a driving screw transmission mechanism, and the driving screw transmission has a self-locking function by designing a smaller thread lead angle similarly to the design of worm and gear transmission, and the driving screw 13 can only be driven by the driving worm wheel 14 to move. Similarly, in the driven screw mechanism, the smaller lead angle is designed to be smaller than the friction angle, so that only the driven worm 22 can drive the driven worm wheel 26, and only the driven worm wheel 26 can drive the driven screw 27 to move. The disturbance caused by the drill bit 11 during the drilling process is transmitted to the axial direction of the driving screw 13 and the driven screw 27, and when the helix angle selected by the helical drive and the worm drive is smaller than the friction angle, no matter how large the axial load of the screw is, the relative axial movement between the worm wheel and the worm, the worm wheel and the screw is not generated, and the screw is not moved due to the axial load. The double self-locking function of the spiral telescopic mechanism can ensure that the mechanism can realize the positioning and supporting functions of the screw rod by depending on the self structure, further lock the position of the guide mechanism and keep the stability of a tool face angle and a structure bend angle. Meanwhile, the worm gear and worm transmission and the spiral transmission in the spiral telescopic mechanism have the speed reduction function, and the torque of the motor 7 can be amplified and controlled.
The principle of the spiral telescopic guiding of the embodiment of the invention is that the motor 7 is controlled to drive the driving worm 18 to rotate, the driving screw 13 is driven to stretch through worm and gear transmission and worm and gear screw spiral transmission, the driving screw 13 and the driven screw 27 which are opposite to each other extend and retract are realized through the gear synchronizer 6, the position of the sliding block connecting piece 9 is further determined, and the guiding function is realized. The shapes of four grooves inside the self-aligning sliding block 12 and the sliding block connecting piece 9 which are connected with the driving screw 13 and the driven screw 27 are all fan-shaped rings, the motion track of the sliding block connecting piece 9 is an arc taking a fulcrum B on the drill connecting shaft 1 as a circle center, the self-aligning sliding block 5 is an arc taking a point on the screw axis as a circle center, because the two arc tracks are not completely consistent, each position can not be ensured to be completely matched, the thickness and the circle center angle of the fan-shaped ring of the groove inside the sliding block connecting piece 9 are both larger than the thickness and the circle center angle of the fan-shaped ring of the self-aligning sliding block 12, when the position of the screw in one direction is changed, the self-aligning sliding block 12 connected with the screw can move in the groove inside the sliding block connecting piece 9 along with the screw, the self-aligning sliding block 12 has a self-aligning function, the angle change between the screw axis and the drill connecting, the screw motion in direction X, Y can be considered independent because the self-aligning slider 12 in the other direction will make a translational movement in the groove inside the slider connection 9. When the positions of the offset guide mechanisms in the X, Y shaft two directions are determined, the positions of the connected slide block connecting pieces 4 are also determined, and further the positions of the drill bit connecting shafts 1 are determined, and the control of the tool face angle and the structural bending angle is realized. When the offset guide mechanism enables the axis of the drill connecting shaft to be inconsistent with the axis of the non-rotating outer cylinder, the flexible hose 5 can compensate the inconsistency of the axes through self deformation.
Fig. 6 is a schematic view of a structural corner and a toolface angle in an embodiment of the present invention. The acting force of the spiral telescopic mechanism on the drill bit connecting shaft 1 acts on the drill bit 11 through a lever effect, a line segment O 'B is the axial distance from a fulcrum B on the drill bit connecting shaft 1 to the spiral telescopic mechanism, and an included angle formed by an axis PC of the drill bit connecting shaft 1 and an axis OO' of the non-rotating outer cylinder is a structural bend angle alpha. If the center O of a circle on the section of the non-rotating outer cylinder is taken as an origin, the directions of two groups of spiral extension mechanisms which are uniformly distributed on the circumference are respectively an X axis and a Y axis, a point P is the center of the section of the drill bit connecting shaft 1 at the spiral extension mechanism, the position of the drill bit connecting shaft 1 is also the position of a screw rod, the movement of the center position is controlled by the positions of two groups of opposite screw rods in the X, Y direction, a tool face angle theta is the angle of clockwise rotation to a line segment OC on a section circle near the drill bit by taking a high side direction line OA as a starting edge, and on the section circle at the spiral extension mechanism, the angle between an extension line O 'D of the high side direction line O' A 'and the line segment O' P is theta ', and the angle between the extension line O' D and.
It should be noted that the variation range of the center position P (x, y) of the cross section is a circle, the maximum radius of the circle is the designed maximum screw displacement, and the length of the line segment O 'P from the point P (x, y) to the origin O' determines the size of the structural bend angle α. The positions of the centers of the circles can be changed by changing the positions of X, Y two groups of screws, so that the length of the line segment O ' P can be changed to realize the change of the structural bend angle alpha from 0 degree to the designed maximum structural bend angle value, and the angle between the extension line O ' D of the high-side direction line and the line segment O ' P can also be changed to realize the change of the tool face angle theta in the range of 0-360 degrees.
Further, the structure bending angle α and the tool face angle θ satisfy the following equation:
fig. 7 and 8 are schematic position diagrams of the embodiment of the invention in an unbiased state and a maximum biased state, respectively. As shown in fig. 7, when the embodiment of the present invention is in the non-offset state, the center of the cross section is at (0,0), the bit connecting shaft axis PC and the non-rotating outer cylinder axis OO' are coincident, and the corresponding structural angle α and the tool face angle θ are both zero degrees. As shown in fig. 8, when the embodiment of the present invention is in the maximum offset state, the position of the center of the cross section is (0, ymax), the corresponding structural bend angle α is the designed maximum structural bend angle, and when the Y-axis direction is placed on the high side direction line extension line O' D, β is zero degree, and the tool face angle θ is zero degree.
The embodiment of the invention also provides a control method for the structural bend angle alpha and the tool face angle theta of the offset guide mechanism of the static directional rotary guide drilling tool, which is shown in fig. 9. The control motor 7 preferably is a stepping motor, and is a device for converting an electric pulse signal into an angular displacement, a rotation angle corresponding to one pulse signal is called a step angle, a motor control system adopts an open-loop control mode, the mode is simple to realize, the angular displacement of the control motor 7 is controlled by inputting a pulse number, a spiral telescopic mechanism is driven to move, and the functions of stretching and positioning the screw are realized by utilizing the corresponding relation between the pulse number and the screw displacement and the double self-locking function of the spiral telescopic mechanism. The preferred limit switch of the embodiment of the invention is a Hall sensor, and limit switches of other principles such as machinery, inductance, capacitance and the like can also realize the same function. The control method is implemented in the single joint connecting process, and the specific process is as follows: calculating the expected center position (x) of the cross section circle by the XY decomposition module of the spiral telescopic mechanism according to the expected structural bend angle and the tool face angle1,y1) And the center position (x) of the cross section2,y2) Calculating a difference to obtain the expansion amount (delta x, delta y) required by the circle center of the section, wherein the expansion amount is the expansion amount of a screw rod in the spiral expansion mechanism, the position of the current circle center of the section can be a preset position of the circle center of the section, and if a limit switch is used for presetting that the circle center of the section is at a limit position, the position of the circle center of the current section can also be a position recorded after the last guiding process is finished; the screw expansion and contraction quantity (delta x, delta y) is converted into X, Y axial direction pulse number N by a pulse number conversion unitx、NyWherein the parameters related to the spiral telescopic mechanism are a reduction ratio i of worm gear transmission and a lead S of spiral transmission, and the parameters related to the control motor 7 are a stepping angle lambda; x, Y axial direction pulse number Nx、NyInput to X, Y directional stepping motor control systemThe position of the spiral telescopic mechanism is adjusted by controlling a corresponding motor, so that the directions of the drill connecting shaft 1 and the drill 11 are changed, and finally the control of the structural bend angle alpha and the tool face angle theta is realized. In addition, whether the screw rod reaches the limit position or not can be judged through the Hall sensor 29 arranged on the spiral telescopic mechanism, the limit position can be used as the preset position of the next guiding process, the motor 7 is controlled to stop rotating when the limit position is reached, and the Hall sensor 29 has the function of clearing accumulated step-out errors of the motor.
Further, X, Y axial direction pulse number Nx、NyThe following equation is satisfied:
further, if the guide control precision needs to be further improved, an open-loop control method of the motor can be changed into a closed-loop control method, displacement sensors with different principles such as Hall, capacitance, photoelectricity and ultrasound can be selected, the screw displacement in the two directions of the X, Y shaft is detected and sent into a motor control system, and therefore the guide effect with higher precision is achieved.
The embodiment of the invention provides a static directional rotary steering drilling tool offset steering mechanism, in particular to an offset steering mechanism based on a double self-locking spiral telescopic principle in two directions of an X-Y axis, which can realize control of a structural bend angle and a tool face angle representing the direction of a drill bit in a drilling process and realize a steering function. The bias guide mechanism exists in the non-rotating outer cylinder, the working mode of the bias guide mechanism is static, the guide mechanism exerts action on the drill bit connecting shaft through a screw, and the guide mode of the bias guide mechanism is directional. The embodiment of the invention utilizes the anti-rotation device to restrain the outer cylinder from rotating and is connected with a drill stem or a drill rod system, and the drill bit is connected with a drill bit connecting shaft; the spiral telescopic offset guide mechanism is arranged in the outer cylinder, and the offset mechanism is driven by the control motor to change the position of the drill bit connecting shaft, so that the guide function is realized. The drilling process can be divided into a joint making process and a drilling process. In the process of connecting a single, by controlling the spiral telescopic offset guide mechanisms in two directions of the X, Y shaft, the change of a structural bend angle formed by the central line of the drill shaft and the central line of the outer cylinder from 0 degree to the designed maximum structural bend angle value can be realized, and the change of a tool face angle in the range of 0-360 degrees can also be realized. In the drilling process, the position of the offset mechanism does not need to be adjusted, the disturbance caused by the drill bit is overcome by utilizing the double self-locking action of the worm gear and worm transmission and the worm gear and screw transmission, the position of the offset guide mechanism is locked, and the stability of the face angle and the structural bend angle of the tool is kept.
The above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A static directional rotary steering drilling tool offset guide mechanism comprises a drill bit connecting shaft (1) and a non-rotating outer cylinder (10), and is characterized in that the guide mechanism further comprises a flexible hose (5), an offset mechanism and a slider connecting piece (9), the flexible hose (5) is connected with the drill bit connecting shaft (1), the offset mechanism is installed in the non-rotating outer cylinder (10), the offset mechanism comprises an aligning slider (12), a spiral telescopic mechanism and a control motor (7), the slider connecting piece (9) is sleeved outside the drill bit connecting shaft (1), the aligning slider (12) is connected with the control motor (7) through the spiral telescopic mechanism and installed in the slider connecting piece (9), and the aligning slider (12) moves back and forth under the driving of the control motor (7) to push the drill bit (1); the bias mechanism further comprises a gear synchronizer (6), the spiral telescopic mechanism comprises a driving spiral telescopic mechanism (8) and a driven spiral telescopic mechanism (3), the control motor (7) is connected with the driving spiral telescopic mechanism (8), the driving spiral telescopic mechanism (8) is connected with the driven spiral telescopic mechanism (3) through the gear synchronizer (6), so that the driving spiral telescopic mechanism (8) and the driven spiral telescopic mechanism (3) move synchronously, and the driving spiral telescopic mechanism (8) and the driven spiral telescopic mechanism (3) are respectively connected with the aligning sliding block (12); the driving spiral telescopic mechanism (8) comprises a driving screw (13), a driving worm wheel (14) and a driving worm (18), the driving worm (18) is respectively connected with the control motor (7) and the gear synchronizer (6), the driving screw (13) is connected with the driving worm wheel (14), the driving worm (18) is meshed with the driving worm wheel (14), and the driving screw (13) is fixedly connected with the aligning sliding block (12); driven spiral telescopic machanism (3) are including driven screw (27), driven worm wheel (26), driven worm (22) are connected with gear synchronizer (6), and driven screw (27) are connected with driven worm wheel (26), and driven worm (22) are connected with driven worm wheel (26) meshing, driven screw (27) and self-aligning slider (12) fixed connection.
2. The offset guide mechanism of the static directional rotary guide drilling tool is characterized in that the gear synchronizer (6) comprises a driving external gear (19), a driven external gear (23) and an internal gear (30), the driving external gear (19) is connected with a driving worm (18), the driven external gear (23) is connected with a driven worm (22), and the driving external gear (19) and the driven external gear (23) are respectively in meshed connection with the internal gear (30).
3. The offset steering mechanism of claim 1, wherein the lead angle of the worm driver (18) and the worm driver gear (14) is less than the friction angle; the lead angle of the driving worm wheel (14) and the driving screw (13) is smaller than the friction angle; the lead angle of the driven worm (22) and the driven worm wheel (26) is smaller than the friction angle; the lead angle of the driven worm wheel (26) and the driven screw rod (27) is smaller than the friction angle; two ends of the driving worm wheel (14) and the driven worm wheel (26) are fixed through thrust oil-free bushes (16) respectively, and two ends of the driving worm (18) and the driven worm (22) are fixed through deep groove ball bearings (28) respectively.
4. The offset guide mechanism of the static directional rotary steerable drilling tool according to claim 1, characterized in that the guide mechanism comprises a guide mechanism housing (17) and two offset mechanisms, the two offset mechanisms are vertically arranged in the non-rotating outer cylinder (10), and the driving spiral telescoping mechanism (8) and the driven spiral telescoping mechanism (3) are hermetically arranged in the guide mechanism housing (17).
5. The offset guide mechanism of a static directional rotary steerable drilling tool according to claim 3, wherein the spiral telescoping mechanism is provided with a limit switch for limiting the distance that the spiral telescoping mechanism drives the self-aligning sliding block (12) to move; the limit switch be hall sensor (29) and magnet (15), hall sensor (29) are installed on thrust type oilless bush (16), magnet (15) are installed on corresponding initiative screw rod (13) or driven screw rod (27).
6. The offset guide mechanism of the static directional rotary steerable drilling tool according to claim 1, characterized in that the diameter of the upper end of the drill connecting shaft (1) is smaller than the diameter of the lower end to form a step, the slider connecting piece (9) is sleeved outside the drill connecting shaft (1) and connected with the needle bearing (4) through the thrust ball bearing (2), one end of the thrust ball bearing (2) is fixed at the step of the drill connecting shaft (1), the other end of the thrust ball bearing (2) is fixed with the outer ring of the needle bearing (4), and the upper end of the drill connecting shaft (1) is arranged inside the needle bearing (4).
7. The offset guide mechanism of the static directional rotary steering drilling tool according to claim 1, wherein a fan ring groove is formed in the sliding block connecting piece (9), the aligning sliding block (12) is in a fan ring shape and is installed in the fan ring groove, and the fan thickness and the central angle of the fan ring groove in the sliding block connecting piece (9) are larger than those of the aligning sliding block (12).
8. The method for controlling the structural bend angle and the tool face angle of the offset steering mechanism of the static directional rotary steerable drilling tool according to any one of claims 1 to 7, wherein the angles of the structural bend angle and the tool face angle are controlled during joint connection, and drilling is performed according to a preset angle during drilling, and the method for controlling the offset steering mechanism of the static directional rotary steerable drilling tool comprises the following steps:
the center position of the section of the drill connecting shaft is represented by P (x, Y), a tool face angle theta is an angle from a high-side direction line OA as a starting side to a line segment OC in a clockwise rotation manner on the section circle near the drill, an angle between an extension line O 'D of the high-side direction line O' A 'and the line segment O' P is theta 'and an angle between the extension line O' D and the Y axis is beta on the section circle at the spiral telescopic mechanism;
the change of the screw rod position changes the position of the center of a cross section, the moving range of the center of the cross section is a circle, the maximum radius of the circle is the designed maximum screw rod displacement, the length of a line segment O ' B is the distance from a fulcrum B on a drill bit connecting shaft to the center O ' of the cross section of the outer cylinder at the offset guide mechanism, the length of the line segment O ' P from a point P (x, y) to an original point O ' determines the size of a structural bend angle alpha, and the change of the length of the line segment O ' P from 0 degree to the designed maximum structural bend angle value is realized by changing the positions P (x, y) of X, Y two groups of screw rods; changing the angle between the extension line O 'D of the high-side direction line and the line segment O' P to realize that the tool face angle theta is changed within the range of 0-360 degrees; the structural bend angle alpha and the tool face angle theta satisfy the following equation:
when a single joint is connected, the position (x) of the center of a desired section circle is calculated by an XY direction decomposition module of the spiral telescopic mechanism according to a desired structural bend angle and a desired tool face angle1,y1) And the position (x) of the center of the current section2,y2) Calculating the difference to obtain the required expansion amount (delta x, delta y) of the circle center of the section, and the expansion is carried outThe quantity is the variable quantity of the screw rod position in the X direction and the Y direction, wherein the current section circle center position is the preset section circle center position, the limit switch is used for presetting the section circle center at the limit position, and the current section circle center position or the position recorded after the last guiding process is finished; the screw expansion and contraction quantity (delta x, delta y) is converted into X, Y axial direction pulse number N by a pulse number conversion unitx、NyThe parameters related to the spiral telescopic mechanism are a reduction ratio i of worm and gear transmission and a lead S of spiral transmission, and the parameters related to the control of the control motor (7) are a stepping angle lambda; x, Y axial direction pulse number Nx、NyThe angle of the drill bit connecting shaft (1) and the direction of the drill bit (21) are changed by inputting the angle of the drill bit into an X, Y-direction stepping motor control system and adjusting the position of a spiral telescopic mechanism by controlling a corresponding control motor, and finally the control of a structural bend angle alpha and a tool face angle theta is realized; in addition, whether the screw (6) reaches the limit position is judged through a Hall sensor (29) arranged on the spiral telescopic mechanism (22), the limit position is used as a preset position of the next guiding process, when the limit position is reached, the motor (7) is controlled to stop rotating, and the Hall sensor (29) has the function of clearing accumulated step-out errors of the motor;
the X, Y axial direction pulse number Nx、NyThe following equation is satisfied:
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| CN110284836B (en) * | 2019-08-14 | 2024-09-06 | 四川同达合盛能源技术有限公司 | Eccentric actuating mechanism |
| CN112252972B (en) * | 2020-09-30 | 2022-01-25 | 中国地质大学（武汉） | Eccentric ring type horizontal directional core drilling tool and direction control device thereof |
| CN112252971B (en) * | 2020-09-30 | 2022-01-25 | 中国地质大学（武汉） | Spline type horizontal directional drilling engineering geological exploration steering control device |
| CN112360350B (en) * | 2020-12-10 | 2022-01-04 | 西南石油大学 | Mechanical rotary guiding drilling tool |
| CN113585971B (en) * | 2021-09-03 | 2022-08-16 | 中国石油大学(北京) | Guiding control device and rotary guiding drilling tool |
| CN114439454A (en) * | 2021-12-09 | 2022-05-06 | 潍坊市宇宏石油机械有限公司 | Multilateral well drilling and completion device and using method |
| CN117188965B (en) * | 2023-07-25 | 2024-04-26 | 新疆中能创投能源开发有限公司 | Rotary steering drilling device |
| CN116905970B (en) * | 2023-09-12 | 2023-11-21 | 奥瑞拓能源科技股份有限公司 | Screw drilling tool with drill bit guide |
| CN118241984B (en) * | 2024-04-26 | 2024-10-01 | 成都希能能源科技有限公司 | Directional rotary steering drilling tool |
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| CN102900364B (en) * | 2012-09-20 | 2014-10-15 | 天津大学 | Static pointing type rotary guiding drilling tool |
| DE102017102118A1 (en) * | 2017-02-03 | 2018-08-09 | Ltb Leitungsbau Gmbh | Device for holding and guiding a rotating rod |
| CN107939290B (en) * | 2017-12-11 | 2024-01-05 | 德州联合石油科技股份有限公司 | Static pointing type rotary steering drilling tool actuating mechanism |
| CN108222833B (en) * | 2017-12-18 | 2019-01-25 | 中国科学院地质与地球物理研究所 | Two-way load mud bearing arrangement and the rotary steerable tool for utilizing the bearing arrangement |
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