Hydraulic control decoding and reversing method of underground traction robot

Abstract

The present invention discloses a method for hydraulically controlled decoding and reversing of a downhole traction robot, comprising a decoding process and a reversing process. The decoding process includes the following steps: S1, a surface hydraulic signal generating system sends a hydraulic control signal to activate the traction robot; S2, the traction robot pulls the coiled tubing forward; S3, during the traction of the coiled tubing, a traction force measuring device measures traction information in real time and transmits it to the surface hydraulic signal generating system in real time; S4, the surface hydraulic signal generating system controls the downhole traction robot to pull the coiled tubing forward based on the measured traction information. The reversing process includes: the surface hydraulic signal generating system sends a hydraulic control signal to the hydraulic control decoding and reversing system, which activates the reversing portion of the hydraulic control decoding and reversing system to control the reversing of the traction robot. The present invention can decode the surface hydraulic control signal through the movement of a piston and a valve core, thereby cleverly achieving control of the downhole traction robot.

Description

Technical Field

[0001] The present invention relates to an underground long-distance hydraulic control decoding and reversing method, in particular to a hydraulic control decoding and reversing method applied to an underground traction robot to control traction force and traction speed, belonging to the field of oil and gas development equipment. Background Art

[0002] Downhole robots pulling coiled tubing can effectively address the two major bottlenecks faced in long horizontal drilling: severe drill string pressure and difficulty extending horizontal sections. To meet downhole traction requirements, hydraulically controlled downhole traction robots are equipped with two support cylinders and two telescopic cylinders. This requires four four-way valves and two electro-proportional relief valves to properly control the traction robot's movement.

[0003] For example, Chinese patent publication number CN107477306A discloses an electro-hydraulic control system for a continuous tubing traction robot, which was published on December 15, 2017. The hydraulic control system includes a fuel tank, a micro motor, a micro hydraulic pump, a valve group, and an electronic control component of the valve group. The motor is powered by an armored cable from the ground, the motor is connected to the hydraulic pump, the fuel tank supplies hydraulic oil, and the hydraulic pump is connected to the valve group, wherein the outlet of the hydraulic pump is connected to four one-way valves, the one-way valves are respectively connected to four three-position four-way solenoid reversing valves, and the four three-position four-way solenoid reversing valves are respectively connected to the front and rear telescopic cylinders and the front and rear support cylinders.

[0004] When the downhole traction robot is pulling the coiled tubing, the most important factor affecting the stability of the traction operation is the stability of the downhole traction robot control system. The reasons for the failure of the downhole traction robot control system are very complex and can be roughly divided into the following categories:

[0005] (1) The high temperature and high pressure environment at the bottom of the well corrodes the sealing part of the control system, thereby destroying the downhole robot control system and causing the downhole robot to malfunction.

[0006] (2) The high temperature environment at the bottom of the well causes the chips in the control system to become hot, and the control system cannot effectively dissipate heat, causing the control system to malfunction, thereby disrupting the normal movement of the underground traction robot.

[0007] (3) The underground control system is controlled by cables. The depth is several thousand meters and the traction robot is in motion, which may cause leakage and disconnection.

[0008] In summary, the main problems with existing downhole robot traction coiled tubing technology are as follows: 1. The large number of four-way valves used in the traction robot's electro-hydraulic control system results in a large radial dimension of the traction robot, making it impossible to apply the traction robot to well sections with smaller diameters, and thus greatly limiting the application of the traction robot. 2. The use of multiple hydraulic control lines and multiple valve bodies to control multiple support cylinders and telescopic cylinders in multiple gears and directions to achieve control of the traction robot's traction speed and traction force increases the structural space of the downhole robot, increases costs, and has low control reliability. 3. The coiled tubing is prone to buckling, cannot adapt to bottomhole working conditions, and cannot form a closed-loop downhole traction coiled tubing. Summary of the Invention

[0009] The present invention aims to overcome the aforementioned problems of the prior art by providing a method for hydraulically controlled decoding and reversing a downhole traction robot. The present invention's hydraulically controlled decoding and reversing system for a downhole traction robot decodes surface hydraulic control signals through the movement of a piston and valve core. This simple and rapid decoding process allows for ingenious control of the downhole traction robot.

[0010] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0011] A method for hydraulically controlled decoding and reversing of an underground traction robot, characterized in that it includes a decoding process and a reversing process;

[0012] The decoding process includes the following steps:

[0013] S1. The ground hydraulic signal generating system sends a hydraulic control signal to start the traction robot through the hydraulic control decoding and reversing system;

[0014] S2, the traction robot pulls the coiled tubing forward;

[0015] S3. During the traction process of the coiled tubing, the traction force measuring device measures the traction information in real time and transmits the measured traction information to the surface hydraulic signal generating system in real time;

[0016] S4. The surface hydraulic signal generating system controls the downhole traction robot to pull the coiled tubing forward in an optimal manner based on the traction information measured by the traction force measuring device;

[0017] The reversing process includes: when the traction robot needs to reverse, the ground hydraulic signal generating system sends a hydraulic control signal to the hydraulic control decoding and reversing system, and the reversing part of the hydraulic control decoding and reversing system starts working to control the reversing of the traction robot.

[0018] The step S2 specifically includes:

[0019] S21: The traction robot determines factors that affect the traction of the coiled tubing by the traction robot and transmits this information to the surface hydraulic signal generation system;

[0020] S22: The ground hydraulic signal generating system adjusts the pressure and sequence of different hydraulic control pipelines according to these signals. The hydraulic information controls the movement of the traction robot's support cylinder or telescopic cylinder through the hydraulic control decoding and reversing system, so that the traction robot pulls the continuous oil pipe forward at the optimal traction speed and optimal traction force.

[0021] The step S4 specifically includes:

[0022] S41: The traction robot measures the traction force and wellbore characteristics using the traction force measurement device, calculates and analyzes the degree of coiled tubing buckling and the roughness of the wellbore, and transmits the result information to the surface hydraulic signal generation system in real time;

[0023] S42: The ground hydraulic signal generating system calculates the pressure required to be provided to different hydraulic pipelines and the order of pressure according to the result information, and then controls the hydraulic control decoding and reversing system in real time to control the traction speed and traction force of the traction robot in real time.

[0024] The hydraulic control decoding and reversing system includes a valve body, a valve core, a piston, a valve body end cover, a valve core end cover, a large spring, a small spring and a reversing device;

[0025] The right end of the inner chamber of the valve body is a closed end, and the left end is an open end. The open end of the valve body is sealed and fixedly connected to the valve body end cover. An upper chamber is opened on the outer wall of the upper end of the valve body, and the inner chamber is inside the valve body;

[0026] The valve core is arranged in the inner chamber, and the outer wall of the valve core is in sliding sealing cooperation with the inner chamber; the right end of the inner chamber of the valve core is a closed end, and the left end is an open end, and the open end of the valve core is sealed and fixedly connected to the valve core end cover; one end of the large spring is connected to the right end of the valve core, and the other end is fixedly connected to the inner chamber; the piston is arranged in the inner chamber of the valve core, and one end of the small spring is fixedly connected to the valve core end cover, and the other end is fixedly connected to the piston;

[0027] The reversing device includes a reversing valve body, a reversing spring, a reversing valve body cover plate and a reversing channel. The reversing valve body is located in the upper chamber of the valve body. The upper chamber is closed by the reversing valve body cover plate. The reversing valve body is fixedly connected to one end of the reversing spring, and the other end of the reversing spring is fixedly connected to the upper chamber.

[0028] An oil return pipeline, pipeline A and pipeline B are provided on the cover plate of the reversing valve body. Two groups of reversing valve body pipeline ports are provided on the upper surface of the reversing valve body, and each group of reversing valve body pipeline ports has three. When the reversing valve body is in the initial state, the three reversing valve body pipeline ports of the first group are respectively connected with the corresponding oil return pipeline, pipeline A and pipeline B, and the reversing valve body pipeline port corresponding to pipeline A is connected with the valve body oil outlet channel, and the other two reversing valve body pipeline ports are connected through the channel in the reversing valve body; when the reversing valve body is in the reversing working state, the three reversing valve body pipeline ports of the second group are respectively connected with the corresponding oil return pipeline, pipeline A and pipeline B, and the reversing valve body pipeline port corresponding to pipeline A is connected with the valve body oil outlet channel, and the reversing valve body pipeline port corresponding to pipeline A is also connected with the reversing valve body pipeline port connected with the return oil pipeline through the channel in the reversing valve body;

[0029] The upper end of the valve body is provided with a valve body oil outlet channel and a reversing channel of the reversing device. The inner chamber of the valve body and the upper chamber are connected through the valve body oil outlet channel. The reversing channel is connected to the upper chamber on the left end of the reversing valve body. The lower end of the valve body is provided with a right oil inlet channel and a left oil inlet channel connected to the inner chamber.

[0030] The lower end of the valve core is provided with a valve core right channel and a valve core left channel respectively matching the right oil inlet channel and the left oil inlet channel, and the upper end of the valve core is provided with a valve core oil outlet channel matching the valve body oil outlet channel.

[0031] The left oil inlet channel is connected to pipeline 1 of the ground hydraulic signal generating system through a hydraulic control pipeline, the right oil inlet channel is connected to pipeline 2 of the ground hydraulic signal generating system through a hydraulic control pipeline, the return oil pipeline is connected to pipeline 3 of the ground hydraulic signal generating system through a hydraulic control pipeline, the reversing channel is connected to pipeline 4 of the ground hydraulic signal generating system through a hydraulic control pipeline, and pipeline A and pipeline B are connected to the support cylinder or telescopic cylinder of the downhole traction robot through a hydraulic control pipeline.

[0032] When the valve core is in the initial state, the small spring is in a naturally extended state, the large spring is in a compressed state, and the valve core is at the leftmost end position of the inner chamber of the valve body.

[0033] When the piston is in the initial state, the piston and the left channel of the valve core do not completely overlap, and part of the left channel of the valve core is connected to the left end chamber of the piston; the left channel of the valve core and the left oil inlet channel do not completely overlap, and the left channel of the valve core is connected to part of the left oil inlet channel; the oil outlet channel of the valve core is connected to the right channel of the valve core, and the oil outlet channel of the valve core is not connected to the oil outlet channel of the valve body.

[0034] Two reversing valve baffles are arranged in the upper chamber of the valve body. The reversing valve baffles are arranged at the right end of the upper chamber and are symmetrically arranged.

[0035] The left oil inlet channel is connected to the left oil inlet pipeline, and the left oil inlet pipeline is connected to the first pipeline of the ground hydraulic signal generating system through a hydraulic control line; the right oil inlet channel is connected to the right oil inlet pipeline, and the right oil inlet pipeline is connected to the second pipeline of the ground hydraulic signal generating system through a hydraulic control line.

[0036] The first group of reversing valve body pipeline ports includes reversing valve body pipeline port D, reversing valve body pipeline port E and reversing valve body pipeline port F. The reversing valve body pipeline port E and reversing valve body pipeline port F are connected through the channel inside the reversing valve body; when the reversing valve body is in the initial state, the reversing valve body is at the leftmost end of the upper chamber, the upper end of the reversing valve body pipeline port D is connected to the pipeline A, and the lower end is connected to the valve body oil outlet channel, the reversing valve body pipeline port E is connected to the oil return pipeline, and the reversing valve body pipeline port F is connected to the pipeline B.

[0037] The second group of reversing valve body pipeline ports include reversing valve body pipeline port A, reversing valve body pipeline port B and reversing valve body pipeline port C. The reversing valve body pipeline port A and the reversing valve body pipeline port B are connected through a channel in the reversing valve body; when the reversing valve body is in the reversing working state, the reversing valve body moves to the right under the action of the liquid pressure in the reversing channel, the reversing spring is in a compressed state, the upper end of the reversing valve body pipeline port A is connected with the pipeline A, and the lower end is connected with the oil outlet channel of the valve body, the reversing valve body pipeline port B is connected with the return oil pipeline, the reversing valve body pipeline port C is connected with the pipeline B, and the right end of the reversing valve body is limited by the reversing valve baffle.

[0038] The reversing valve body cover plate is provided with three reversing cover plate oil outlet passages, and the return oil pipeline, pipeline A and pipeline B are respectively connected to the three cover plate oil outlet passages.

[0039] When the hydraulic control decoding and reversing system is in the decoding state, the reversing valve body is at the leftmost end of the upper chamber of the valve body, the valve core is at the right end position of the valve body inner cavity, the large spring and the small spring are in a compressed state, the piston and the left channel of the valve core are in a completely overlapping state, the valve core oil outlet channel is connected with the valve body oil outlet channel, and the valve core right channel is connected with the right oil inlet channel. The hydraulic medium enters the support cylinder or telescopic cylinder of the downhole traction robot through the right oil inlet pipeline, the right oil inlet channel, the right channel of the valve core, the inner cavity of the valve core, the valve core oil outlet channel, the valve body oil outlet channel, the reversing valve body oil outlet channel, the reversing cover plate oil outlet channel, the pipeline A and the hydraulic control pipeline in sequence.

[0040] The advantages of adopting the present invention are:

[0041] (1) The present invention can decode the uphole hydraulic control signal by the movement of the piston and the valve core. The decoding process is simple and fast, thereby cleverly realizing the control of the downhole traction robot.

[0042] (2) The reversing function is performed after decoding the hydraulic control signal, which can reduce the volume of the reversing valve body, save downhole space, and facilitate the installation of other downhole tools.

[0043] (3) The ingenious integrated installation of the hydraulic control decoding valve body components and the reversing valve body components saves space while increasing the stability and reliability of the device.

[0044] (4) The hydraulic control decoding and reversing principles are cleverly used to realize the motion control of the downhole traction robot using hydraulic control, avoiding the influence of the high temperature and high pressure environment at the bottom of the well on the traditional electric control method and increasing the stability of the control.

[0045] (5) A hydraulic signal is generated by the ground hydraulic signal generating system. The hydraulic signal is decoded and reversed by the downhole traction robot hydraulic control system and then controls the movement of the traction robot. The traction force measuring device measures the force of the traction robot and other related information in real time and transmits the information to the ground hydraulic signal generating system in real time. The control system then adjusts the hydraulic pressure to adjust the traction force and speed of the traction robot, thus achieving the optimal movement mode of the traction robot and solving the problem of continuous tubing buckling.

[0046] (6) This solution can adapt to the bottom hole working conditions, form a closed-loop downhole traction coiled tubing, and intelligently and continuously traction coiled tubing, with stable, safe and reliable control.

[0047] In summary, the present invention achieves multi-position and directional control of multiple support cylinders and telescopic cylinders using a small number of hydraulic control lines and valve bodies, saving downhole robot structural space, saving costs, improving work efficiency and reliability, and effectively addressing the impact of the high-temperature and high-pressure environment at the bottom of the well on the downhole traction robot control system. By implementing decoding and directional control of the telescopic cylinders and support cylinders of the downhole traction robot using a purely hydraulic method, efficient and stable motion control of the downhole traction robot can be achieved, thereby enabling the downhole traction robot to stably and continuously pull the coiled tubing forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a cross-sectional diagram of the initial position of the hydraulic control decoding and reversing system of the underground traction robot;

[0049] Figure 2 This is a top view of the hydraulic control decoding and reversing system of the underground traction robot;

[0050] Figure 3 This is a three-dimensional view of the hydraulic control decoding and reversing system of the underground traction robot;

[0051] Figure 4 It is the main view of the reversing valve body and its corresponding cross-sectional view;

[0052] Figure 4A for Figure 4 A-A section diagram in the figure;

[0053] Figure 4B for Figure 4 The B-B section in the figure;

[0054] Figure 4C for Figure 4 C-C section in the figure;

[0055] Figure 4D for Figure 4 D-D cross-section in the figure;

[0056] Figure 5 is a three-dimensional view of the valve body;

[0057] Figure 6 It is a three-dimensional view of the valve core;

[0058] Figure 7 This is a cross-sectional diagram of the end position of the hydraulic control decoding and reversing system of the underground traction robot;

[0059] Figure 8 This is a simplified diagram of the traction robot structure;

[0060] Figure 9 It is the ground hydraulic signal generating system and pipeline.

[0061] In the figure: 1, right oil inlet channel, 2, left oil inlet channel, 3, right channel of valve core, 4, left channel of valve core, 5, valve core, 6, piston, 7, valve body end cover, 8, valve core end cover, 9, small spring, 10, reversing valve body, 11, reversing channel, 12, reversing pipe, 13, pipe B, 14, pipe A, 15, reversing valve body cover, 16, reversing spring, 17, large spring, 18, valve body, 19, right oil inlet pipe, 20, left oil inlet pipe, 21, oil return pipe, 22, reversing valve body pipe port A, 22A, reversing valve body pipe port upper end, 22B, reversing valve body pipe port lower end, 23, reversing valve body pipe port B, 24, reversing valve body pipe port C, 25, reversing valve body pipe port E, 26, reversing valve body pipe port F, 27, reversing valve body pipe port D , 28. Reversing valve baffle, 29. Valve core oil outlet channel, 30. Valve body oil outlet channel, 31. Reversing valve body oil outlet channel A, 32. Reversing cover oil outlet channel A, 33. Channel A, 34. Channel B, 35. Channel C, 36. Channel D, 37. Left support cylinder, 38. Left support arm, 39. Left telescopic cylinder, 40. Control short section, 41. Right telescopic cylinder, 42. Right support arm, 43. Right telescopic cylinder, 44. Pipeline A, 45. Pipeline B, 46. Pipeline C, 47. Pipeline D, 48. Pipeline E, 49. Pipeline F, 50. Pipeline G, 51. Pipeline H, 52. Traction force measuring device, 53. Ground hydraulic signal generating system, 53A, pipeline 1, 53B, pipeline 2, 53C, pipeline 3, 53D, pipeline 4. DETAILED DESCRIPTION

[0062] Example 1

[0063] The present invention will be further described below with reference to the accompanying drawings.

[0064] according to Figure 1-9 As shown, a novel method for hydraulic decoding and reversing of a downhole traction robot includes a surface hydraulic signal generating system 53, hydraulic control pipelines, a traction robot hydraulic decoding and reversing system, a traction force measuring device 52, and a downhole traction robot. The surface hydraulic signal generating system 53 is connected to the left oil inlet pipe 20, right oil inlet pipe 19, reversing pipe 12, and return oil pipe 21 of the traction robot's hydraulic decoding and reversing system via hydraulic control pipelines. Pipelines A14 and B13 of the traction robot's hydraulic decoding and reversing system are connected to pipelines A44 and B45, or pipelines C46 and D47, of the traction robot's support or telescopic cylinders. The front end of the coiled tubing is connected to the gravity measuring device 52 at the left end of the traction robot. The traction robot is powered by hydraulic pressure, and the surface hydraulic signal generating system 53 controls the start and stop of the traction robot via hydraulic signals. Pipelines E48, F49, G50, and H51 are connected in the same manner to another downhole traction robot hydraulic decoding and reversing system.

[0065] The traction force measuring device 52 is internally provided with a tension sensor and a data transmitter, etc., which can monitor the force of the traction robot in real time and transmit it to the ground hydraulic signal generating system 53 in real time, thereby controlling the traction speed and traction force of the traction robot in real time.

[0066] like Figure 1-9 As shown, the method for controlling the traction force and traction speed of an underground traction robot includes the following steps:

[0067] S1, the ground hydraulic signal generating system 53 sends a hydraulic control signal to start the traction robot;

[0068] S2, the traction robot pulls the coiled tubing forward;

[0069] S3. During the traction process of the coiled tubing, the traction force measuring device 52 measures the traction force and wellbore surface characteristics in real time, and transmits this information to the surface hydraulic signal generating system 53 in real time;

[0070] S4. The surface hydraulic signal generating system 53 controls the downhole traction robot to pull the coiled tubing forward at an optimal speed and traction force according to the traction force measured by the traction force measuring device 52 and the well wall surface feature information.

[0071] S5: The traction robot stops pulling the coiled tubing forward.

[0072] The step S2 specifically includes the following steps:

[0073] S21: The traction robot determines the depth of the coiled tubing, the pulling force, the surface characteristics of the well wall, and other factors that affect the traction robot's traction of the coiled tubing, and transmits this information to the surface hydraulic signal generating system 53;

[0074] S22: The surface hydraulic signal generating system 53 adjusts the pressure and sequence of different hydraulic control pipelines according to these signals. The hydraulic information is used to control the movement of the supporting cylinder (37, 43) and telescopic cylinder (39, 41) of the traction robot through the hydraulic control decoding and reversing system of the downhole traction robot, thereby achieving the optimal traction speed and traction force of the traction robot to pull the continuous oil pipe forward.

[0075] The step S4 specifically includes the following steps:

[0076] S41: The traction robot measures the traction force and well wall characteristics using the traction force measuring device 52, calculates and analyzes the coiled tubing buckling degree, well wall roughness, and other results, and transmits these results to the surface hydraulic signal generating system 53 in real time;

[0077] S42: The surface hydraulic signal generating system 53 calculates the pressure required to be provided to different hydraulic pipelines and the order of pressure based on this information, and then controls the hydraulic control decoding and reversing system of the downhole traction robot in real time, thereby controlling the traction speed and traction force of the traction robot in real time.

[0078] according to Figure 8 As shown, the traction robot consists of a left support cylinder 37, a left support arm 38, a left telescopic cylinder 39, a control sub 40, a right telescopic cylinder 41, a right support arm 42, a right support cylinder 43, and hydraulic control lines. Each of the left support cylinder 37, the left telescopic cylinder 39, the right telescopic cylinder 41, and the right support cylinder 43 corresponds to a set of hydraulic control decoding and reversing systems for the downhole traction robot.

[0079] The hydraulic control decoding and reversing system of the underground traction robot is installed in the control short section 40, which controls the support cylinder and telescopic cylinder of the traction robot. The basic working process of the traction robot includes 6 motion processes and 7 motion states.

[0080] State a: The right telescopic cylinder 41 pulls the entire robot to the right, and the left telescopic cylinder 39 drives the left supporting cylinder 37 to move to the right;

[0081] State b: the left support arm 38 completes the supporting action using the left support cylinder 37;

[0082] State c: the right support arm 42 and the right telescopic cylinder 43 are retracted and move to the right;

[0083] State d: the right telescopic cylinder 41 pulls the entire robot to move to the right;

[0084] State e: the right support arm 42 and the right support cylinder 43 complete the supporting action together;

[0085] State f: the left support arm 38 and the right telescopic cylinder 41 are retracted and move to the right;

[0086] State g: Repeat steps a–f.

[0087] according to Figure 1-9 As shown, taking the hydraulic control decoding and reversing system of the underground traction robot to control the traction force of the underground traction robot as an example, at the beginning (such as Figure 1 As shown), the ground hydraulic signal generating system 53 pipeline 1 (marked 53A in the figure) is connected to the left oil inlet pipeline 20 through a hydraulic pipeline, the ground hydraulic signal generating system 53 pipeline 2 (marked 53B in the figure) is connected to the right oil inlet pipeline 19 through a hydraulic pipeline, the ground hydraulic signal generating system 53 pipeline 3 (marked 53C in the figure) is connected to the return oil pipeline 21 through a hydraulic pipeline, the ground hydraulic signal generating system 53 reversing pipeline 4 (marked 53D in the figure) is connected to the reversing pipeline 12 through a hydraulic control pipeline, pipeline A14 is connected to pipeline A44 through a hydraulic control pipeline, and pipeline B13 is connected to pipeline B45 through a hydraulic control pipeline.

[0088] First, the surface hydraulic signal generating system 53 pipeline 1 (marked 53A in the figure) provides a certain amount of hydraulic pressure, and the hydraulic medium enters the downhole traction robot hydraulic control decoding and reversing system through the left oil inlet pipeline 20. Under the action of the hydraulic pressure, the valve core 5 and the piston 6 will move to the right. When the right channel 3 of the valve core is connected with the right oil inlet channel 1, the valve core 5 and the piston 6 stop moving to the right (at this time, the piston 6 and the valve core oil outlet channel 29 are in a coincidence state). While maintaining the pressure supply of pipeline 1 (marked 53A in the figure), the surface hydraulic signal generating system 53 pipeline 2 (marked 53B in the figure) starts to provide a certain amount of hydraulic pressure through the right oil inlet pipeline 19 to enter the downhole traction robot hydraulic control decoding and reversing system. Under the action of the hydraulic pressure of pipeline 2 (marked 53B in the figure), the piston 6 will move to the left and the valve core 5 will move to the right. When a certain hydraulic pressure is reached, the valve core 5 moves to the right end limit position and is blocked (such as Figure 7As shown in the figure), the valve core 5 will no longer move to the right when the hydraulic pressure of the pipeline is increased. At this time, the valve oil outlet channel 29 is connected with the valve body oil outlet channel 30 and the right oil inlet channel 1, and the piston 6 coincides with the valve core left channel 4. At this time, whether the pipeline 1 (marked 53A in the figure) supplies pressure has no effect on the hydraulic control decoding and reversing system of the downhole traction robot. It continues to supply pressure to the pipeline 2 (marked 53B in the figure). The hydraulic medium passes through the right oil inlet pipeline 19, the right oil inlet channel 1, the valve core right channel 3, the valve oil outlet channel 29, the valve body oil outlet channel 30, the reversing valve body oil outlet channel A31, the reversing cover plate oil outlet channel A32, and the pipeline A44 in sequence and enters the left chamber of the left support cylinder 37. Under the action of the hydraulic pressure, the piston of the left support cylinder 37 moves to the right, so that the left support arm 38 presses against the well wall. Support, by providing different amounts of pressure to the pipeline 2 (marked 53B in the figure), different amounts of supporting force can be provided to the well wall, so that the traction robot can apply different pulling forces to the continuous oil pipe. The ground hydraulic signal generating system 53 can change the traction force of the traction robot by changing the hydraulic pressure of the pipeline 2 (marked 53B in the figure) in real time according to the real-time monitoring information of the traction force measuring device 52. The support arm can be retracted through the reversing pipeline 4 (marked 53D in the figure). When the traction robot is stuck in the rock, the traction force measuring device 52 transmits the information to the ground hydraulic signal generating system 53, and then the ground hydraulic signal generating system 53 controls the retraction of the left support arm 38 and the right support arm 42 to facilitate the recovery of the traction robot.

[0089] according to Figure 1-9As shown, taking the downhole traction robot's hydraulic control decoding and reversing system controlling its traction speed as an example, under the aforementioned conditions, pipeline 2 (marked 53B in the figure) continuously supplies pressure, and the left support arm 38 supports the wellbore. At this point, the left oil inlet pipeline 20 of the other downhole traction robot's hydraulic control decoding and reversing system is connected to pipeline 1 (marked 53A in the figure) of the surface hydraulic signal generating system 53 via a hydraulic pipeline. Pipeline 2 (marked 53B in the figure) of the surface hydraulic signal generating system 53 is connected to the right oil inlet pipeline 19 via a hydraulic pipeline. Pipeline 3 (marked 53C in the figure) of the surface hydraulic signal generating system 53 is connected to the oil return pipeline 21 via a hydraulic pipeline. Reversing pipeline 4 (marked 53D in the figure) of the surface hydraulic signal generating system 53 is connected to the reversing pipeline 12 via a hydraulic control pipeline. Pipeline A14 is connected to pipeline C46 via a hydraulic control pipeline, and pipeline B13 is connected to pipeline D47 via a hydraulic control pipeline. Similarly, according to the aforementioned method for controlling the traction force of the traction robot, the left telescopic cylinder can be moved to the right by providing hydraulic pressure to the hydraulic control decoding and reversing system of the downhole traction robot through the ground hydraulic signal generating system 53, and the traction speed of the traction robot can be controlled by changing the size of the provided hydraulic pressure. Through the above method, the downhole traction robot hydraulic control decoding and reversing system can be used to adopt hydraulic control to realize the control of the traction force and traction speed of the downhole traction robot. The motion information of the traction robot is transmitted to the ground hydraulic signal generating system 53 in real time through the traction force measuring device 52, and then the hydraulic pressure of different pipelines and the order of applying hydraulic pressure are adjusted in real time through the ground hydraulic signal generating system 53, thereby realizing closed-loop control of the traction force and traction speed of the traction robot.

[0090] Example 2

[0091] This embodiment describes the hydraulic control decoding and reversing system of the underground traction robot in conjunction with the accompanying drawings.

[0092] according to Figure 1 、 Figure 2 、 Figure 3 As shown, the outermost layer of the hydraulic control decoding and reversing system of the new downhole traction robot is a valve body 18 and a valve body end cover 7. The valve body 18 has a right oil inlet channel 1 and a left oil inlet channel 2 at its lower end. The right oil inlet channel 1 and the left oil inlet channel 2 are both connected to the valve body 18 chamber. A reversing channel 11 and a valve body oil outlet channel 30 are formed at the upper end of the valve body 18; the right oil inlet pipeline 19 and the left oil inlet pipeline 20 are connected to the lower end of the valve body 18, and the reversing pipeline 12 is connected to the reversing channel 11 at the upper end of the valve body 18; a reversing cover plate oil outlet channel A32 is formed on the reversing valve body cover plate 15, and a pipeline B13, a pipeline A14 and an oil return pipeline 21 are welded on the reversing valve body cover plate 15. The pipelines B13 and A14 are connected to the oil inlet and outlet pipelines of the support cylinder or telescopic cylinder of the traction robot through hydraulic control pipelines.

[0093] The valve core end cover 8 is installed at the left end of the valve core 5 and the valve core end cover 8 is fixedly connected to the left end of the small spring 9, and the right end of the small spring 9 is fixedly connected to the piston 6. The piston 6 can move left and right in the inner channel of the valve core 5; the right end of the valve core 5 is fixedly connected to the left end of the large spring 17, and the right end of the large spring 17 is fixedly connected to the groove at the right end of the inner cavity of the valve body 18. The valve core 5 can move left and right in the inner chamber of the valve body 18; in the initial state, the small spring 9 is in a naturally extended state, the large spring 17 is in a compressed state, and the valve core 5 is at the leftmost end position of the inner chamber of the valve body 18; the valve core 5 is in its A right valve core channel 3 and a left valve core channel 4 are opened at the lower end, and a valve core oil outlet channel 29 is opened at the upper end of the valve core 5; in the initial state, the piston 6 and the left valve core channel 4 are not completely overlapped, and the left end of the left valve core channel 4 is still partially connected to the left end chamber of the piston 6, and the left valve core channel 4 and the left oil inlet channel 2 of the valve body are also not completely overlapped. The left valve core channel 4 is connected to the left end of the left oil inlet channel 2 of the valve body by a small part, the valve core oil outlet channel 29 is connected to the right valve core channel 3, and the valve core oil outlet channel 29 is completely staggered with the valve body oil outlet channel 30.

[0094] Alternatively, the spring rate and diameter of the small spring 9 and the large spring 17 are selected based on the calculation of the hydraulic pressures at both ends of the piston 6, the valve core 5, and the reversing valve body 10, to ensure that the decoding function can be reliably realized.

[0095] In the above scheme, the reversing device composed of the reversing valve body 10, the reversing spring 16, the reversing valve body cover 15 and the reversing channel in the upper chamber of the valve body 18 can utilize the valve body and the valve core to realize the hydraulic control reversing function after the hydraulic control decoding is realized, thereby reducing the volume of the hydraulic control reversing valve and saving underground space.

[0096] As an option, the pipes in the hydraulically controlled reversing valve body 10 should be divided into two groups, the right group of pipes is in a non-reversing state when connected, and the left group of pipes is in a reversing state when connected. In order to facilitate processing, the reversing valve body can be manufactured by segmented splicing.

[0097] Figure 4As shown, the first group of reversing valve body pipeline ports includes reversing valve body pipeline port D27, reversing valve body pipeline port E25 and reversing valve body pipeline port F26, and the reversing valve body pipeline port E25 and reversing valve body pipeline port F26 are connected through the channel A34 in the reversing valve body; when the reversing valve body is in the initial state, the reversing valve body 10 is at the leftmost end of the upper chamber, the upper end of the reversing valve body pipeline port D27 is connected to the pipeline A14 through the channel B33 inside the reversing valve body 10, and the lower end is connected to the valve body oil outlet channel 30, the upper end of the reversing valve body pipeline port E25 is connected to the return oil pipeline 21, and the lower end of the reversing valve body pipeline port F26 is connected to the pipeline B13. The second group of reversing valve body pipeline ports includes a reversing valve body pipeline port A22 (including the upper end 22A of the reversing valve pipeline port and the lower end 22B of the reversing valve body pipeline port A, the upper and lower ends (22A, 22B) of the reversing valve body pipeline port A are at the same position on the upper and lower planes of the reversing valve body and are not connected), a reversing valve body pipeline port B23 and a reversing valve body pipeline port C24, the upper end 22A of the reversing valve body pipeline port A and the reversing valve body pipeline port B23 are connected through a channel C35 in the reversing valve body; the lower end 22B of the reversing valve body pipeline port A and the reversing valve body pipeline port C24 are connected. Port C24 is connected through the channel D36 in the reversing valve body; when the reversing valve body is in the reversing working state, the reversing valve body 10 moves to the right under the action of the hydraulic pressure in the reversing channel 11, the reversing spring 16 is in a compressed state, the upper end 22A of the reversing valve body pipeline port A is connected to the pipeline A14, the lower end 22B of the reversing valve body pipeline port A is connected to the valve body oil outlet channel 30, the reversing valve body pipeline port B23 is connected to the return oil pipeline 21, the reversing valve body pipeline port C24 is connected to the pipeline B13, and the right end of the reversing valve body 10 is limited by the reversing valve baffle 28.

[0098] according to Figure 5 、 Figure 6As shown, the reversing valve body 10, the reversing spring 16, and the reversing valve baffle 28 are installed in the inner cavity formed by the upper end of the valve body 18 and the reversing valve body cover plate 15; the right end of the reversing valve body 10 is fixedly connected to the left end of the reversing spring 16, and the right end of the reversing spring 16 is fixedly connected to the right end of the upper chamber of the valve body 18; the right end of the reversing channel 11 is connected to the upper chamber of the valve body 18; the reversing valve baffle 28 is installed at the right end of the upper chamber of the valve body 18, and the two reversing valve baffles 28 are symmetrically arranged. The upper surface of the reversing valve body is provided with a reversing valve body pipeline port A22, a reversing valve body pipeline port B23, a reversing valve body pipeline port C24, a reversing valve body pipeline port E25, a reversing valve body pipeline port F26, and a reversing valve body pipeline port D27; the reversing valve body pipeline port A22, the reversing valve body pipeline port B23, the reversing valve body pipeline port C24, the reversing valve body pipeline port E25, the reversing valve body pipeline port F26, and the reversing valve body pipeline port D27 are for the reversing valve Six outlets on the upper surface of the channel of the body 10; when the reversing valve body 10 is in the original state, the reversing valve body 10 is at the leftmost end of the upper chamber of the valve body 18, the reversing valve body pipeline port D27 is connected to the pipeline A14, the lower end of the reversing valve body pipeline port D27 is connected to the valve body oil outlet channel 30, the reversing valve body pipeline port E25 is connected to the return oil pipeline 21, and the reversing valve body pipeline port F26 is connected to the pipeline B13; when the reversing valve is in the reversing working state, the reversing valve body 10 will move to the right under the action of the hydraulic pressure in the reversing channel 11, and the reversing spring 16 is in a compressed state. At this time, the reversing valve body pipeline port A22 is connected to the pipeline A14, the reversing valve body pipeline port B23 is connected to the return oil pipeline 21, and the reversing valve body pipeline port C24 is connected to the pipeline B13. The right end of the reversing valve body 10 is blocked by the reversing valve baffle 28, and the pipe port directly below the reversing valve body pipeline port A22 is connected to the valve body oil outlet channel 30.

[0099] according to Figure 7As shown, when the hydraulic control decoding and reversing system of the new downhole traction robot is in the final decoding state, the valve core 5 is at the right end position of the inner cavity of the valve body 18, the large spring 17 and the small spring 9 are both in a compressed state, the piston 6 and the valve core left channel 4 are in a completely overlapping state, so that the valve core left channel 4 is blocked, the valve core oil outlet channel 29 is connected with the valve body oil outlet channel 30, and the valve core right channel 3 is connected with the right oil inlet channel 1. Hydraulic medium is added to the inner cavity of the valve core 5 and the piston 6 through the right oil inlet pipeline 19. The hydraulic medium will pass through the valve core oil outlet channel 29, the valve body oil outlet channel 30 and then through the reversing valve body 10 into the downhole traction robot support cylinder or telescopic cylinder to control the motion of the downhole traction robot. The control principle for achieving different gears is: when the hydraulic medium is within a certain pressure range, the support cylinder or telescopic cylinder of the downhole traction robot will enter a certain gear, at which time it will apply a supporting force under this gear to the well wall, and the telescopic cylinder will also apply a dragging force under this gear to the continuous oil pipe; when the hydraulic medium is within another pressure range, the hydraulic control decoding and reversing system of the downhole traction robot will enter another gear, and the different gear motion control of the support cylinder and telescopic cylinder of the downhole traction robot can be achieved by applying hydraulic media of different pressures.

[0100] The hydraulic control decoding and reversing system of the underground traction robot takes the decoding and reversing process of a certain gear of the traction robot support cylinder and telescopic cylinder as an example. First, hydraulic pressure is added to the left oil inlet channel 2 of the valve body through the left oil inlet pipe 20. The hydraulic medium will enter the left end chamber of the piston 6 through the left channel 4 of the valve core. The middle of the end cover of the valve core 5 is hollow. Under the action of the hydraulic pressure, the valve core 5 will move to the right, and the piston 6 will also move to the right appropriately under the action of the hydraulic pressure. When the valve core 5 moves to a certain position, the valve core 5 will stop moving under the action of the spring force of the large spring 17, and the activity Plug 6 will also stop moving under the action of small spring 9. When the valve core 5 is in this position, the right channel 3 of the valve core has just started to connect. At this time, the valve core oil outlet channel 29 and the valve body oil outlet channel 30 are still in a staggered state. Keep applying hydraulic pressure to the left oil inlet pipeline 20. The valve core 5 and piston 6 will remain stationary. Then apply hydraulic pressure to the right oil inlet pipeline 19. Since the valve core oil outlet channel 29 is blocked, the right end chamber of the piston 6 will be in a pressure-holding state. When the pressure reaches a certain level, the piston 6 will move to the left. Since the left channel 4 of the valve core is still in a pressure-holding state, the piston 6 will move to the left. When the spool 5 is in the right position, the right oil inlet pipe 19 and the right oil inlet channel 1 are in full communication with each other, and the oil outlet channel 29 of the spool is fully communicated with the oil outlet channel 30 of the valve body. If the spool 5 is in the right position, the oil inlet pipe 19 and the right oil inlet channel 1 are in full communication with each other, and the oil outlet channel 29 of the spool is fully communicated with the oil outlet channel 30 of the valve body, the oil inlet pipe 19 will continue to be applied to the right oil inlet pipe 19, and the oil inlet channel 30 of the valve body will continue to be applied to the right oil inlet pipe 19. The hydraulic medium will enter the reversing valve body 10 through the valve core oil outlet channel 29 and the valve body oil outlet channel 30. At this time, if the reversing control is not performed, the hydraulic medium will directly pass through the valve core oil outlet channel 29, the valve body oil outlet channel 30, the reversing valve body oil outlet channel A31, the reversing cover plate oil outlet channel A32 and the pipeline A14 to directly control the gear position of the downhole traction robot support cylinder or telescopic cylinder. By applying different levels of hydraulic pressure, the downhole traction robot support cylinder or telescopic cylinder can respectively apply different supporting forces and traction forces to the well wall and the coiled tubing;

[0101] If reversing control is required based on decoding, hydraulic pressure is applied to the reversing pipe 12. Under the action of the hydraulic pressure in the reversing channel 11, the reversing valve body 10 will move to the right, and the reversing spring 16 will be in a compressed state. At this time, the reversing valve body pipe port A22 is connected to the pipe A14, the reversing valve body pipe port B23 is connected to the return oil pipe 21, and the reversing valve body pipe port C24 is connected to the pipe B13. The right end of the reversing valve body 10 is blocked by the reversing valve baffle 28, and the pipe port directly below the reversing valve body pipe port A22 is connected to the valve body oil outlet channel 30. At this time, the hydraulic medium flowing out from the valve core oil outlet channel 29 and the valve body oil outlet channel 30 will flow from the pipe B13 into the downhole traction robot support cylinder or telescopic cylinder, and then flow back to the return oil pipe 21 through the reversing valve body pipe port A22 and the reversing valve body pipe port B23, thereby realizing the reversing control of the downhole traction robot support cylinder or telescopic cylinder, thereby realizing the reset of the downhole traction robot support mechanism and telescopic mechanism.

[0102] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A method for hydraulic decoding and reversing of an underground traction robot, characterized in that: Including decoding process and commutation process; The decoding process includes the following steps: S1. The ground hydraulic signal generating system sends a hydraulic control signal to start the traction robot through the hydraulic control decoding and reversing system; S2, the traction robot pulls the coiled tubing forward; S3. During the traction process of the coiled tubing, the traction force measuring device measures the traction information in real time and transmits the measured traction information to the surface hydraulic signal generating system in real time; S4. The surface hydraulic signal generating system controls the downhole traction robot to pull the coiled tubing forward in an optimal manner based on the traction information measured by the traction force measuring device; The commutation process includes: When the traction robot needs to reverse, the ground hydraulic signal generating system sends a hydraulic control signal to the hydraulic control decoding and reversing system, and the reversing part of the hydraulic control decoding and reversing system starts to work to control the reversing of the traction robot; The hydraulic control decoding and reversing system comprises a valve body (18), a valve core (5), a piston (6), a valve body end cover (7), a valve core end cover (8), a large spring (17), a small spring (9) and a reversing device; The right end of the inner chamber of the valve body (18) is a closed end, and the left end is an open end. The open end of the valve body (18) is sealed and fixedly connected to the valve body end cover (7). An upper chamber is opened on the outer wall of the upper end of the valve body (18), and the inner chamber is inside the valve body (18); The valve core (5) is arranged in the inner chamber, and the outer wall of the valve core (5) is in sliding sealing cooperation with the inner chamber; the right end of the inner chamber of the valve core (5) is a closed end, and the left end is an open end, and the open end of the valve core (5) is sealed and fixedly connected to the valve core end cover (8); one end of the large spring (17) is connected to the right end of the valve core (5), and the other end is fixedly connected to the inner chamber; the piston (6) is arranged in the inner chamber of the valve core (5), and one end of the small spring (9) is fixedly connected to the valve core end cover (8), and the other end is fixedly connected to the piston (6); The reversing device comprises a reversing valve body (10), a reversing spring (16), a reversing valve body cover plate (15) and a reversing channel (11); the reversing valve body (10) is located in an upper chamber of the valve body (18); the upper chamber is closed by the reversing valve body cover plate (15); the reversing valve body (10) is fixedly connected to one end of the reversing spring (16); and the other end of the reversing spring (16) is fixedly connected to the upper chamber; The reversing valve body cover plate (15) is provided with an oil return pipe (21), a pipe A (14) and a pipe B (13). The upper surface of the reversing valve body (10) is provided with two groups of reversing valve body pipe openings, each group of reversing valve body pipe openings having three. When the reversing valve body (10) is in an initial state, the three reversing valve body pipe openings of the first group are respectively connected to the corresponding oil return pipe (21), pipe A (14) and pipe B (13), and the reversing valve body pipe opening corresponding to pipe A (14) is connected to the valve body oil outlet channel. , the other two reversing valve body pipeline ports are connected through the channel in the reversing valve body (10); when the reversing valve body (10) is in the reversing working state, the three reversing valve body pipeline ports of the second group are respectively connected with the corresponding return oil pipeline (21), pipeline A (14) and pipeline B, and the reversing valve body pipeline port corresponding to pipeline A is connected with the valve body oil outlet channel, and the reversing valve body pipeline port corresponding to pipeline A is also connected with the reversing valve body pipeline port connected with the return oil pipeline (21) through the channel in the reversing valve body (10); The upper end of the valve body (18) is provided with a valve body oil outlet channel and a reversing channel of the reversing device. The inner chamber of the valve body (18) and the upper chamber are communicated through the valve body oil outlet channel. The reversing channel is communicated with the upper chamber at the left end of the reversing valve body (10). The lower end of the valve body (18) is provided with a right oil inlet channel and a left oil inlet channel communicated with the inner chamber. The lower end of the valve core (5) is provided with a valve core right channel and a valve core left channel respectively cooperating with the right oil inlet channel and the left oil inlet channel, and the upper end of the valve core (5) is provided with a valve core oil outlet channel cooperating with the valve body oil outlet channel.

2. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 1, characterized in that: The step S2 specifically includes: S21: The traction robot determines factors that affect the traction of the coiled tubing by the traction robot and transmits this information to the surface hydraulic signal generation system; S22: The ground hydraulic signal generating system adjusts the pressure and sequence of different hydraulic control pipelines according to these signals. The hydraulic information controls the movement of the traction robot's support cylinder or telescopic cylinder through the hydraulic control decoding and reversing system, so that the traction robot pulls the continuous oil pipe forward at the optimal traction speed and optimal traction force.

3. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 2, characterized in that: The step S4 specifically includes: S41: The traction robot measures the traction force and wellbore characteristics using the traction force measurement device, calculates and analyzes the degree of coiled tubing buckling and the roughness of the wellbore, and transmits the result information to the surface hydraulic signal generation system in real time; S42: The ground hydraulic signal generating system calculates the pressure required to be provided to different hydraulic pipelines and the order of pressure according to the result information, and then controls the hydraulic control decoding and reversing system in real time to control the traction speed and traction force of the traction robot in real time.

4. The method for hydraulically controlling decoding and reversing a downhole traction robot according to claim 3, characterized in that: The left oil inlet channel (2) is connected to the pipeline 1 (53A) of the ground hydraulic signal generating system (53) through the hydraulic control pipeline, the right oil inlet channel (1) is connected to the pipeline 2 (53B) of the ground hydraulic signal generating system (53) through the hydraulic control pipeline, the return oil pipeline (21) is connected to the pipeline 3 (53C) of the ground hydraulic signal generating system (53) through the hydraulic control pipeline, the reversing channel (11) is connected to the pipeline 4 (53D) of the ground hydraulic signal generating system (53) through the hydraulic control pipeline, and the pipeline A (14) and the pipeline B (13) are connected to the support cylinder or telescopic cylinder of the downhole traction robot through the hydraulic control pipeline.

5. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 4, characterized in that: When the valve core is in the initial state, the small spring (9) is in a naturally extended state, the large spring (17) is in a compressed state, and the valve core (5) is at the leftmost end of the inner chamber of the valve body (18); two reversing valve baffles (28) are provided in the upper chamber of the valve body, the reversing valve baffles (28) are provided at the right end of the upper chamber and the two reversing valve baffles (28) are symmetrically arranged; the left oil inlet channel is connected to the left oil inlet pipeline (20), and the left oil inlet pipeline (20) is connected to the first pipeline of the ground hydraulic signal generating system through the hydraulic control pipeline; the right oil inlet channel is connected to the right oil inlet pipeline (19), and the right oil inlet pipeline (19) is connected to the second pipeline of the ground hydraulic signal generating system through the hydraulic control pipeline; three reversing cover plate oil outlet channels A (32) are provided through the reversing valve body cover plate (15), and the return oil pipeline (21), pipeline A (14) and pipeline B (13) are respectively connected to the three reversing cover plate oil outlet channels A (32).

6. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 5, characterized in that: When the piston (6) is in the initial state, the piston (6) and the valve core left channel (4) do not completely overlap, and a portion of the valve core left channel (4) is communicated with the left end chamber of the piston (6); the valve core left channel (4) and the left oil inlet channel (2) do not completely overlap, and the valve core left channel (4) is communicated with a portion of the left oil inlet channel (2); the valve core oil outlet channel (29) is communicated with the valve core right channel 3, and the valve core oil outlet channel (29) is not communicated with the valve body oil outlet channel.

7. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 6, characterized in that: The first group of reversing valve body pipeline ports includes a reversing valve body pipeline port D (27), a reversing valve body pipeline port E (25) and a reversing valve body pipeline port F (26), and the reversing valve body pipeline port E (25) and the reversing valve body pipeline port F (26) are connected through a channel in the reversing valve body; when the reversing valve body is in an initial state, the reversing valve body (10) is at the leftmost end of the upper chamber, the upper end of the reversing valve body pipeline port D (27) is connected to the pipeline A (14), and the lower end is connected to the valve body oil outlet channel (30), the reversing valve body pipeline port E (25) is connected to the oil return pipeline (21), and the reversing valve body pipeline port F (26) is connected to the pipeline B (13).

8. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 7, characterized in that: The second group of reversing valve body pipeline ports includes a reversing valve body pipeline port A (22), a reversing valve body pipeline port B (23) and a reversing valve body pipeline port C (24). The reversing valve body pipeline port A (22) and the reversing valve body pipeline port B (23) are connected through a channel in the reversing valve body. When the reversing valve body is in a reversing working state, the reversing valve body (10) moves to the right under the action of the hydraulic pressure of the reversing channel (11), the reversing spring (16) is in a compressed state, the upper end of the reversing valve body pipeline port A (22) is connected to the pipeline A (14), and the lower end is connected to the valve body oil outlet channel (30), the reversing valve body pipeline port B (23) is connected to the oil return pipeline (21), the reversing valve body pipeline port C (24) is connected to the pipeline B (13), and the right end of the reversing valve body (10) is limited by the reversing valve baffle (28).

9. The method for hydraulic control decoding and reversing of an underground traction robot according to claim 8, characterized in that: When the hydraulic control decoding and reversing system is in the decoding state, the reversing valve body (10) is at the leftmost end of the upper chamber of the valve body (18), the valve core (5) is at the right end position of the inner cavity of the valve body (18), the large spring (17) and the small spring (9) are in a compressed state, the piston (6) and the valve core left channel (4) are in a completely overlapping state, the valve core oil outlet channel (29) is connected to the valve body oil outlet channel (30), the valve core right channel (3) is connected to the right oil inlet channel (1), and the hydraulic medium enters the support cylinder or telescopic cylinder of the downhole traction robot through the right oil inlet pipeline (19), the right oil inlet channel (1), the valve core right channel (3), the inner cavity of the valve core (5), the valve core oil outlet channel (29), the valve body oil outlet channel (30), the reversing valve body oil outlet channel A (31), the reversing cover plate oil outlet channel A (32), the pipeline A (14) and the hydraulic control pipeline in sequence.

Images