Casing damage well patching device with inner and outer sliding support and casing damage well patching method

Abstract

The application discloses a casing damage well patching device with inner and outer sliding supports and a casing damage well patching method. When the casing damage well patching device is used for patching, a top plate is brought into abutment with a well wall by controlling a top plate air cylinder through a control device, and a drill bit assembly is used to clean a casing damage position by controlling the drill bit assembly through the control device. After the cleaning is completed, a rotating motor assembly is controlled to rotate a box body through the control device, so that one side of a pressing plate is rotated to the casing damage position. A pushing air cylinder assembly and a grouting pipe clamping assembly are controlled to press the pressing plate on the casing damage position, and the casing damage position is completely shielded by the pressing plate. Then, a grouting pump and a pressurizing pump are controlled to spray cement mortar in a grouting tank on the casing damage position through the control device, so that grouting of the casing damage position is completed and the patching purpose is achieved. During the grouting process, the pressing plate is used to form a closed space for the casing damage position and to form a shaping effect on the cement mortar sprayed into the casing damage position.

Description

Technical Field

[0001] This invention relates to the field of oil and gas field development technology, and particularly to a casing damage well plugging device and method with internal and external sliding supports. Background Technology

[0002] During oil and gas field development, mud casing is prone to damage and leaks after long-term use. The existing plugging method basically involves lowering a plugging pipe, attaching the plugging pipe to the damaged area of ​​the casing, and then injecting cement mortar along the plugging pipe to perform the plugging operation. For example, patent document 1, publication number "CN110761729A", discloses a plugging construction method, including the following steps: The construction string is run into the well; The reverse connection step: reverse connection refers to rotating the tubing in the forward direction. Since the release tool and tubing are connected in the forward direction, the release tool and tubing will not separate. However, the release tool and the plugging pipe are connected in the reverse direction, so the plugging pipe will detach from the release tool, completing the reverse connection; The step of determining whether the reverse connection is successful: the release is judged by the well washing pressure. If the well washing pressure is lower than the pressure before reverse connection, the reverse connection is successful. If it remains unchanged, continue rotating the tubing in the forward direction to release the release tool; The subsequent cement slurry injection step: cement slurry is injected downwards from the tubing. The cement slurry enters the plugging pipe through the inner tube of the tubing. Due to the action of the one-way valve, it can only enter the annular space between the plugging pipe and the casing through the one-way valve for plugging and reinforcement construction. For example, patent document 2, publication number: "CN111485844A", discloses a method for continuous plugging of multiple leakage points in oil and water wells, including the following steps: (1) Prepare the plugging construction string, which includes a lower plugging pipe, a release tool, an upper plugging pipe, and a construction tubing connected sequentially from bottom to top with threaded connections; wherein the length of the lower plugging pipe can cover the entire oil layer to be plugged section with a 20-30m margin above and below, and the length of the upper plugging pipe can cover the entire shallow section to be plugged with a 20-30m margin above and below; (2) Inject cement slurry into the construction tubing using existing technology, and inject displacement fluid. The cement slurry and displacement fluid fall directly into the bottom of the plugging construction string and return upward through the lower end of the lower plugging pipe to the annular space between the casing and the plugging pipe; (3) Lower the entire plugging construction string to the bottom of the well and lower the load to 0, so that the weight of the construction tubing is entirely on the release tool, because there is a disconnection gap. After being pressurized, the upper insertion pipe has room to move. The downward shear pin is cut off, the construction tubing is lifted, the upper and lower insertion pipes are separated, and the tubing string is disconnected; the well is flushed to wash out excess cement slurry and complete the lower plugging construction; (4) the construction tubing, upper plugging pipe and upper insertion pipe are lifted together to the shallow section to be plugged; (5) the existing suspended bridging method or plugging method is used to form a sand surface 30m below the leak point, and cement slurry is injected, and the cement is transferred from the upper plugging pipe (6) Replace the bottom from bottom to top into the annular space between the plug and the casing; lower the connected construction tubing, the upper plug, and the upper insert to the sand surface, rotate the construction tubing in the forward direction to separate the construction tubing string from the upper plug; the upper plug is supported by the sand surface to maintain its original position, and the construction tubing is pulled out of the wellbore and allowed to solidify; (7) Run in the existing drilling plug string to treat the residual cement plug and sand surface in the wellbore and restore the oil and water well diameter; (8) Run in the production tubing string to restore the oil and water well production.

[0003] Patent document 1 describes the plugging operation using the tubing without removing it, while patent document 2 describes removing the tubing first, then inserting the drill plug string to complete the plugging before inserting the tubing again. However, in either case, a plugging pipe needs to be inserted, and the length of the plugging pipe is generally several meters or tens of meters, making it difficult to insert and operate. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a casing damage well plugging device with internal and external sliding supports and a casing damage well plugging method.

[0005] The technical solution of the present invention is as follows:

[0006] A casing damage plugging device with internal and external sliding supports includes:

[0007] The housing has a lower rotating seat at the bottom.

[0008] The lower rotating seat is fixed to the rotating motor assembly located at the lower part of the lower rotating seat. Driven by the rotating motor assembly, the box body can be rotated at any angle through the lower rotating seat.

[0009] The rotating motor assembly has a rotating base at its lower part, and a control device is provided at the lower part of the rotating base.

[0010] An upper rotating seat is provided on the upper part of the box body and the upper rotating seat is fixed to the box body. A traction seat is provided on the upper part of the upper rotating seat. A bearing seat is embedded inside the traction seat. The upper rotating seat and the bearing seat are fixed by a rotating shaft. When the box body rotates with the rotating base, the upper rotating seat rotates synchronously through the matching arrangement of the rotating shaft and the bearing seat.

[0011] Wheel assembly is provided at the top and bottom of the first and second sides of the box, respectively. The wheel assembly acts on the well wall so that the casing damage plugging device with inner and outer sliding support rises or falls along the well wall under the action of the rope.

[0012] The third side of the housing is provided with a U-shaped groove. Cover plate buckles are symmetrically arranged on the vertical side wall of the U-shaped groove. An arc-shaped cover plate is arranged inside the cover plate buckle. The arc-shaped cover plate is engaged with the cover plate buckle. Several oil pipe wheel sets are evenly arranged on the arc surface of the U-shaped groove and the concave surface of the arc-shaped cover plate. The arc surface of the U-shaped groove and the arc-shaped cover plate are engaged to form a hollow circle for locking the oil pipe.

[0013] The tubing wheel assembly includes a hollow sliding cavity and an adjusting rod. One end of the adjusting rod is disposed inside the sliding cavity and is slidably connected to the sliding cavity. An adjusting spring is disposed inside the sliding cavity. One end of the adjusting spring is connected to the inner wall of the sliding cavity, and the other end of the adjusting spring is connected to the adjusting rod. A second universal wheel is disposed at the end of the adjusting rod away from the sliding cavity. The second universal wheel rolls along the outer wall of the tubing. A mounting base is disposed at the end of the sliding cavity away from the adjusting rod. The mounting base is connected to the concave surface of the arc-shaped surface of the U-shaped groove / arc cover plate.

[0014] Furthermore, a movable component is provided on the first outer side of the housing, and a drill assembly is provided on the movable component; a first camera assembly is provided above and below the drill assembly and on the housing; and

[0015] A set of push cylinder assemblies is provided on the second outer side of the housing. An arc-shaped pressure plate is provided at the front end of the push cylinder assembly. The pressure plate reciprocates with the push cylinder assembly.

[0016] A grouting pipe clamping assembly is provided between a group of pushing cylinder assemblies. The grouting pipe clamping assembly is used to fix the grouting pipe and move synchronously with the reciprocating motion of the pressure plate.

[0017] The pressure plate is provided with grouting holes, and the grouting pipe is fixed in the grouting holes; wherein, a plurality of pressure sensors are arranged evenly on the side of the pressure plate and centered on the grouting holes;

[0018] A second camera assembly is provided at both the upper and lower ends of the pressure plate and on the housing.

[0019] A grouting tank is installed inside the box, and an output end is provided at the bottom of the grouting tank. The output end is connected to the input end of the grouting pump through a pipeline, and the output end of the grouting pump is connected to the grouting pipe through a pipe coil.

[0020] A pressure pump is provided at the grouting pump, and the output end of the pressure pump is located at the output end of the grouting pump, which is used to pressurize the cement mortar output by the grouting pump.

[0021] The casing damage plugging device with internal and external sliding supports has a base fixing device on both sides of the rotating base. The base fixing device includes a top plate cylinder. The output end of the top plate cylinder is connected to a top plate push rod. The end of the top plate push rod is provided with an arc-shaped top plate. The top plate abuts against the well wall under the action of the top plate cylinder to fix the rotating base.

[0022] During grouting, the control device controls the top plate cylinder to make the top plate abut against the well wall, and the control device controls the drill bit assembly to clean the casing damage area. After cleaning, the control device controls the rotating motor assembly to rotate the housing, thereby rotating one side of the pressure plate to the casing damage area. This pushes the cylinder assembly and the grouting pipe clamping assembly to press the pressure plate onto the casing damage area under the control of the control device, completely covering the casing damage area with the pressure plate. Then, the control device controls the grouting pump and the pressurizing pump to spray the cement mortar inside the grouting tank onto the casing damage area. During the grouting process, the control device controls the regular up, down, left, and right movements of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, thus completing the grouting of the casing damage area to achieve the purpose of sealing. At the same time, the control device collects real-time pressure data from the pressure sensor on the outside of the pressure plate to determine the degree of grouting. During the grouting process, the pressure plate is used to form a closed space for the casing damage area and to shape the cement mortar injected into the casing damage area.

[0023] Furthermore, the upper part of the lower rotating seat is fixed to the lower part of the housing;

[0024] A lower groove is provided at the lower part of the lower rotating seat and in the middle of the lower rotating seat. A coupling seat is provided inside the lower groove, and a lower coupling is fixed inside the coupling seat.

[0025] The rotating motor assembly includes:

[0026] The motor base has fixing ears on both sides, which are fixed to the rotating base by bolts. The upper part of the rotating base has a motor base fixing groove, and the motor base is fixed in the motor base fixing groove.

[0027] A rotating motor is installed inside the motor base, and the motor shaft of the rotating motor is fixed to the coupling.

[0028] Furthermore, the lower part of the upper rotating seat is fixed to the upper part of the housing;

[0029] A rotating shaft is provided at the upper part of the upper rotating seat and in the middle of the upper rotating seat;

[0030] A bearing seat fixing groove is provided at the lower part of the traction seat, and a rotating bearing seat is provided in the bearing seat fixing groove. The rotating shaft is fixed inside the rotating bearing seat.

[0031] Furthermore, the wheel assembly includes:

[0032] A wheel set push cylinder is provided at the front of the wheel set push cylinder. A wheel set fixing plate is provided at the front end of the wheel set push rod. A wheel set motor is provided at the front end of the wheel set fixing plate. The output end of the wheel set motor is fixed to the wheel set coupling. A wheel set self-adaptive component is fixed at the front end of the wheel set coupling.

[0033] The adaptive wheel assembly includes:

[0034] The wheelset mounting base has a hollow interior, forming a linearly sliding cavity;

[0035] An adaptive fixing rod is provided with a limiting ear at one end. The end of the adaptive fixing rod with the limiting ear is fixed inside the cavity. A spring is provided inside the cavity, and one end of the spring is fixed inside the cavity, while the other end abuts against the end of the adaptive fixing rod with the limiting ear.

[0036] The other end of the adaptive fixing rod is fixed to the omnidirectional wheel.

[0037] Furthermore, the movable component includes: a frame fixed to the outside of the housing, and a rectangular frame is provided on the outside of the frame;

[0038] A base is provided at the bottom of the frame, a horizontal linear motor is provided at one end of the base, and a linear bearing housing is provided at the other end of the base; a lower slide rail is provided on the base, and the lower slide rail is arranged between the horizontal linear motor and the linear bearing housing.

[0039] The transverse linear lead screw has one end fixed to the motor shaft of the transverse linear motor via a linear coupling, and the other end fixed in a linear bearing housing;

[0040] A transverse linear nut is provided on the transverse linear lead screw, the transverse linear nut is embedded inside a transverse sliding plate, and the transverse sliding plate is matched and installed with the lower rail;

[0041] An upper slide rail is provided on the upper part of the frame, an upper slider is provided on the upper slide rail, and a vertical bearing seat is embedded in the upper slider.

[0042] A vertical linear motor is installed on the horizontal sliding plate. The motor shaft of the vertical linear motor is connected to a vertical linear lead screw through a vertical coupling. The end of the vertical linear lead screw is fixed in a vertical bearing seat.

[0043] A vertical linear nut is provided on the vertical linear lead screw, and the vertical linear nut is embedded in the vertical slide plate. A drill bit assembly is provided on the vertical slide plate.

[0044] Furthermore, the drill bit assembly includes: a drill bit pushing cylinder, a drill bit pushing rod disposed on the drill bit pushing cylinder, a drill bit pushing fixing plate disposed at the front end of the drill bit pushing rod, a drill bit rotating motor disposed on the drill bit pushing fixing plate, and a drill bit rotating motor having a drill bit connected to its front end via a drill bit coupling.

[0045] Furthermore, a partition is provided inside the box and on one side of the pressure plate, and upright plates are provided on the partition at the top, middle and bottom positions;

[0046] The upper and lower upright plates are used to install the push cylinder assembly;

[0047] The vertical plate in the middle position is used to install the grouting pipe clamping assembly;

[0048] The push cylinder assembly includes: a pressure plate push cylinder, wherein a pressure plate push rod is provided at the front end of the pressure plate push cylinder, and the front end of the pressure plate push rod is fixed to the pressure plate;

[0049] The grouting pipe clamping assembly includes: a grouting clamping cylinder, a grouting clamping push rod at the front end of the grouting clamping cylinder, a clamping seat on the grouting clamping push rod, a horizontal moving component on the clamping seat, a vertical moving component on the horizontal moving component, a clamping cylinder on the vertical moving component, a gripper on the clamping cylinder, a sleeve on the gripper, the grouting pipe being located inside the sleeve, and one end of the grouting pipe being connected to a pipe coil.

[0050] The present invention also provides a method for plugging casing-damaged wells, using the aforementioned casing-damaged well plugging device with internal and external sliding supports, comprising the following steps:

[0051] 1) Connect the control device to the host computer and use the host computer to set the actions of the control device;

[0052] 2) After clamping the tubing into the U-shaped groove of the casing damage well plugging device with internal and external sliding support and clamping the tubing with the cover plate, place the casing damage well plugging device with internal and external sliding support at the wellhead position. Drive the control device to control the wheel assembly to extend and act on the well wall, and with the assistance of the rope, temporarily fix the casing damage well plugging device with internal and external sliding support at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank. Then, under the action of the wheel assembly and with the assistance of the rope, lower the casing damage well plugging device with internal and external sliding support to the casing damage location along the well wall.

[0053] 3) Obtain images of the damaged area through the first camera assembly or the second camera assembly, transmit the images to the host computer via the control device, and process the images to obtain the actual situation of the damaged area;

[0054] 4) Determine whether to clean the damaged area based on the actual condition of the damaged area. If cleaning is required, drive the control device to control the horizontal linear motor and / or vertical linear motor to move the position of the drill bit assembly so that the drill bit can clean the damaged area.

[0055] 5) After cleaning, the control device controls the top plate cylinder to make the top plate abut against the well wall, and controls the rotating motor assembly to rotate the box, thereby rotating one side of the pressure plate to the casing damage area. The cylinder assembly and the grouting pipe clamping assembly are simultaneously pressed against the casing damage area under the control of the control device, completely covering the casing damage area with the pressure plate. Then, the control device controls the grouting pump and the pressurizing pump to spray the cement mortar inside the grouting tank onto the casing damage area. During the grouting process, the control device controls the regular up, down, left, and right movement of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, thus completing the grouting of the casing damage area to achieve the purpose of sealing. At the same time, the control device collects real-time pressure data from the pressure sensor on the outside of the pressure plate to determine the degree of grouting. During the grouting process, the pressure plate is used to form a closed space for the casing damage area and to shape the cement mortar sprayed into the casing damage area.

[0056] Using the casing damage plugging device with internal and external sliding supports provided by this invention, segmented and continuous plugging operations can be performed on leaks and cracks in the casing. After the casing damage plugging device with internal and external sliding supports is lowered, a cement mortar delivery pipe can be connected and lowered into the oil well together. Cement mortar can be delivered to the grouting tank through the delivery pipe. In order to achieve long-distance delivery, a pressure pump can be used to pressurize the delivery during the delivery process to carry out continuous plugging operations. Compared with directly lowering the plugging pipe, when the casing damage plugging device with internal and external sliding supports is lowered, the control device controls the wheel group on the wheel assembly to push the cylinder to adjust the position of the universal wheels, so that the universal wheels on the casing damage plugging device with internal and external sliding supports act on the well wall. With the assistance of ropes or steel wires, it is slowly lowered into the well under the action of an external power support. Its operation is simple.

[0057] Because each wheel assembly is equipped with a wheel assembly adaptive component, the wheel assembly adaptive component includes: a wheel assembly fixing seat, which is hollow inside to form a linearly sliding cavity; an adaptive fixing rod, one end of which has a limiting ear and is fixed inside the cavity, and a spring is installed inside the cavity, with one end of the spring fixed inside the cavity and the other end abutting against the end of the adaptive fixing rod with the limiting ear; the other end of the adaptive fixing rod is fixed to the omnidirectional wheel. When the omnidirectional wheel moves down or up along the well wall, the adaptive fixing rod will adaptively adjust according to the changes in the well wall (e.g., uneven well wall, or different well diameters, but the difference is not large, such as not exceeding 20-30cm). Specifically, when the well diameter becomes smaller or there are protrusions in the well wall, the adaptive fixing rod will compress the spring to adjust the length of the omnidirectional wheel extending forward. At the same time, under the weight of the casing well plugging device with internal and external sliding supports, the wheel assembly is forced not to be directly stuck on the well wall.

[0058] During plugging operations, this application allows for the cleaning of smaller cracks, holes, and other areas where plugging with plugging tubing is inconvenient. This enables plugging operations to be performed using the casing damage well plugging device with internal and external sliding supports provided in this application. Furthermore, during plugging operations, this application utilizes a high-pressure jetting process, resulting in a denser and more uniform plugging area, which is more conducive to the formation of mud consolidation.

[0059] In the process of sealing, this application controls the vertical and horizontal moving components to move regularly up, down, left, and right during the grouting process to control the direction of the grouting pipe spray, so as to achieve uniform grouting of the damaged area and achieve the purpose of sealing; by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate, the degree of grouting is judged and the grouting operation is controlled, making the grouting control more precise.

[0060] In this application, during the grouting process, the pressure plate is used to form a closed space for the damaged area to prevent splashing during grouting. At the same time, the closed space formed by the pressure plate makes it easier to perform high-pressure jet grouting and shapes the cement mortar sprayed into the damaged area. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the structure of the present invention;

[0062] Figure 2 This is a schematic diagram of the wheel assembly in this invention;

[0063] Figure 3 This is a schematic diagram of the grouting pipe clamping assembly in this invention;

[0064] Figure 4 This is a schematic diagram of the structure of the moving component in this invention;

[0065] Figure 5 This is a schematic diagram of the box structure in this invention;

[0066] Figure 6 This is a schematic diagram of the assembly of the housing and oil pipe of the present invention;

[0067] Figure 7 This is a schematic diagram of the tubing turbine assembly structure;

[0068] Figure 8 This is a diagram showing the layout of the grouting holes and pressure sensors at the pressure plate location in this invention. Detailed Implementation

[0069] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0070] Example 1:

[0071] according to Figure 1 As shown, the technical solution provided in this embodiment is as follows:

[0072] A casing damage plugging device with internal and external sliding supports includes:

[0073] The housing 20 has a lower rotating seat 10 at its lower part.

[0074] The lower rotating seat 10 is fixed to the rotating motor assembly 8 located at the lower part of the lower rotating seat 10. Under the drive of the rotating motor assembly 8, the box 20 is rotated at any angle through the lower rotating seat 10.

[0075] The rotating motor assembly 10 is provided with a rotating base 7 at its lower part, and a control device 1 is provided at the lower part of the rotating base 7.

[0076] An upper rotating seat 19 is provided on the upper part of the housing 20 and the upper rotating seat 19 is fixed to the housing 20. A traction seat 21 is provided on the upper part of the upper rotating seat 19. A bearing seat 26 is embedded inside the traction seat 21 and a bearing is provided inside the bearing seat 26. The upper rotating seat 19 and the bearing seat 26 are fixed by a rotating shaft 22. That is, the rotating shaft 22 is fixed inside the bearing seat 26. When the housing 20 rotates with the lower rotating seat 10, the upper rotating seat 19 rotates synchronously through the matching arrangement of the rotating shaft 22 and the bearing seat 26.

[0077] A movable component is provided on the first outer side of the housing, and a drill assembly is provided on the movable component; a first camera assembly is provided above and below the drill assembly and on the housing; and

[0078] A set of push cylinder assembly 12 is provided on the second outer side of the housing 20 (opposite to the first outer side). An arc-shaped pressure plate 13 is provided at the front end of the push cylinder assembly 12. The pressure plate 13 reciprocates with the action of the push cylinder assembly 12.

[0079] A grouting pipe clamping assembly 14 is provided between a group of pushing cylinder assemblies 12. The grouting pipe clamping assembly 14 is used to fix the grouting pipe 144 and move synchronously with the reciprocating motion of the pressure plate 13.

[0080] The pressure plate 13 is provided with a grouting hole 15, and the grouting pipe 144 is fixed in the grouting hole 15; wherein, a plurality of pressure sensors 501 are arranged evenly on the outside of the pressure plate 13 and centered on the grouting hole 15.

[0081] A second camera assembly 11 is provided at both the upper and lower ends of the pressure plate 13 and on the housing 20;

[0082] A grouting tank 27 is provided inside the housing 20. An output end is provided at the lower part of the grouting tank 27. The output end is connected to the input end of the grouting pump 4 through a pipeline. The output end of the grouting pump 4 is connected to the grouting pipe 144 through the pipe coil 37.

[0083] A booster pump 5 is installed at the grouting pump 4. The output end of the booster pump 5 is located at the output end of the grouting pump 4 and is used to pressurize the cement mortar output by the grouting pump 4. At the same time, the input end of the booster pump 5 is provided with an air inlet on one side of the housing 20. The air inlet is connected to the input end of the booster pump through an air inlet pipe to provide the air required for pressurization to the booster pump.

[0084] Wheel assembly 6 is provided on the top and bottom of the first and second sides of the housing 20, respectively. The wheel assembly 6 acts on the well wall so that the casing damage plugging device with inner and outer sliding support rises or falls along the well wall under the action of the rope.

[0085] The rotating base 6 is provided with base fixing devices on both sides. The base fixing devices include top plate cylinders 71. The output end of the top plate cylinder 71 is connected to a top plate push rod 72. The end of the top plate push rod 72 is provided with an arc-shaped top plate 73. The top plate 73 abuts against the well wall under the action of the top plate cylinder 71 to fix the rotating base 6. The top plate 73 is arc-shaped, with the well opening as a reference, at least 1 / 4 of the arc size of the well opening, and no more than 1 / 2. The height is 1-5 meters; the preferred height is 1-3 meters, which can maximize the friction between the top plate and the well wall to ensure the stability of the rotating base.

[0086] like Figure 5-7 As shown, a U-shaped groove 201 is provided on the third side of the box body. A cover plate buckle 203 is symmetrically arranged on the vertical side wall of the U-shaped groove. An arc-shaped cover plate 204 is provided inside the cover plate buckle 203. The arc-shaped cover plate 204 is engaged with the cover plate buckle 203. A plurality of oil pipe wheel sets 202 are evenly arranged on the arc surface of the U-shaped groove and the concave surface of the arc-shaped cover plate 204. The arc surface of the U-shaped groove and the arc-shaped cover plate 204 are engaged to form a hollow circle for holding the oil pipe 300.

[0087] The tubing wheel assembly 202 includes a hollow sliding cavity 2023 and an adjusting rod 2022. One end of the adjusting rod is disposed inside the sliding cavity and is slidably connected to the sliding cavity. An adjusting spring 2024 is disposed inside the sliding cavity. One end of the adjusting spring is connected to the inner wall of the sliding cavity, and the other end of the adjusting spring is connected to the adjusting rod. A second universal wheel 2021 is disposed at the end of the adjusting rod away from the sliding cavity. The second universal wheel 2021 rolls along the outer wall of the tubing 300. A mounting base 2025 is disposed at the end of the sliding cavity 2023 away from the adjusting rod. The mounting base is connected to the concave surface of the arc-shaped surface / arc cover plate of the U-shaped groove.

[0088] Because the tubing wheel assembly 202 is equipped with an adjusting rod, when the second universal wheel moves down or up along the outer wall of the tubing 300, the adjusting rod will adaptively adjust according to the changes in the outer wall of the tubing (for example, the diameter at the interface of the tubing is different, but the difference is not large, such as not exceeding 3-5cm). Specifically, when the diameter of the tubing becomes smaller or larger, the adjusting rod will compress the adjusting spring to control the length of the second universal wheel extending forward. At the same time, under the weight of the casing damage well plugging device with internal and external sliding support, the second universal wheel will not be directly stuck on the outer wall of the tubing.

[0089] During grouting, the control device 1 controls the top plate cylinder 71 to make the top plate 73 abut against the well wall, and the control device 1 controls the drill bit assembly to clean the casing damage area. After cleaning, the control device 1 controls the rotating motor assembly to rotate the housing 20, thereby rotating one side of the pressure plate 13 to the casing damage area. The cylinder assembly 12 and the grouting pipe clamping assembly 14 are pushed simultaneously under the control of the control device 1 to press the pressure plate 13 onto the casing damage area, completely covering the casing damage area with the pressure plate 13. Then, the control device 1 controls the grouting pump 4. The pressurizing pump 5 sprays cement mortar from inside the grouting tank 27 onto the damaged area. During the grouting process, the control device 1 controls the regular up, down, left, and right movements of the grouting pipe clamping assembly 14 to control the spraying direction of the grouting pipe 144, thus completing the grouting of the damaged area to achieve the purpose of sealing. At the same time, the control device 1 judges the degree of grouting by collecting real-time pressure data from the pressure sensor 501 on the outside of the pressure plate. During the grouting process, the pressure plate 13 is used to form a closed space for the damaged area and to shape the cement mortar sprayed into the damaged area.

[0090] In the above, the upper part of the lower rotating seat 10 is fixed to the lower part of the housing 20;

[0091] A lower groove is provided at the lower part of the lower rotating seat 10 and in the middle of the lower rotating seat 10. A coupling seat 9 is provided inside the lower groove, and a lower coupling is fixed inside the coupling seat 9.

[0092] The rotating motor assembly includes:

[0093] The motor base 8 has fixing ears on both sides. The fixing ears are fixed to the rotating base 7 by bolts 2. The upper part of the rotating base 7 is provided with a motor base fixing groove, and the motor base 8 is fixed in the motor base fixing groove.

[0094] A rotating motor is installed inside the motor base, and the motor shaft of the rotating motor is fixed to the coupling.

[0095] The lower part of the upper rotating seat 19 is fixed to the upper part of the housing 20;

[0096] A rotating shaft 22 is provided on the upper part of the upper rotating seat 19 and in the middle of the upper rotating seat 20;

[0097] A bearing housing fixing groove is provided at the lower part of the traction seat 21, and a rotating bearing seat 26 is provided in the bearing housing fixing groove. The rotating shaft 22 is fixed inside the rotating bearing seat and is matched and installed with the bearing provided inside the rotating bearing seat.

[0098] When the rotating motor rotates, it drives the lower coupling to rotate. Since the lower coupling is fixed in the lower groove of the lower rotating seat 10, the rotation of the lower coupling will drive the lower rotating seat 10 to rotate as well. In order to allow the housing 20 to rotate freely, a certain gap is provided between the motor seat 8 and the lower rotating seat 10 in this application. The rotation is achieved under the support and connection of the lower coupling. To ensure the power requirements, a high-power rotating motor can be selected. The power requirement can be determined based on the total mass of the housing after the cement mortar is injected. When the housing 20 rotates, since the upper rotating seat 19 above the housing 20 is fixed in the bearing seat 26 via the rotating shaft 22, the traction seat 21 does not rotate under the action of the bearing; only the housing 20 rotates.

[0099] In the above, the wheel assembly includes:

[0100] A wheel set push cylinder 60 is provided at the front of the wheel set push cylinder 60, a wheel set push rod 62 is provided at the front end of the wheel set push rod 62, a wheel set fixing plate 61 is provided at the front end of the wheel set fixing plate 61, a wheel set motor 69 is provided at the front end of the wheel set fixing plate 61, the output end of the wheel set motor 69 is fixed to the wheel set coupling 63, and a wheel set self-adaptive component is fixed at the front end of the wheel set coupling 63.

[0101] like Figure 2 As shown, the wheel set adaptive component includes:

[0102] A wheel set push cylinder 60 is provided at the front of the wheel set push cylinder, a wheel set push rod 62 is provided at the front end of the wheel set push rod, a wheel set fixing plate 61 is provided at the front end of the wheel set fixing plate, a wheel set motor 69 is provided at the front end of the wheel set fixing plate, the output end of the wheel set motor is fixed to the wheel set coupling 63, and a wheel set self-adaptive component is fixed at the front end of the wheel set coupling.

[0103] The adaptive wheel assembly includes:

[0104] The wheelset mounting base 65 has a hollow interior, forming a linearly sliding cavity;

[0105] An adaptive fixing rod 67 is provided at one end with a limiting ear 68. The end of the limiting ear is fixed inside the cavity. A spring 64 is provided inside the cavity, with one end of the spring fixed inside the cavity and the other end abutting against the end of the adaptive fixing rod with the limiting ear.

[0106] The other end of the adaptive fixing rod is fixed to the universal wheel 66.

[0107] Since each wheel assembly 6 is equipped with a wheel assembly self-adaptive component, when the omnidirectional wheel 66 moves down or up along the well wall, the self-adaptive fixing rod 67 will adaptively adjust according to the changes in the well wall (such as uneven well wall, or different well diameters, but the difference is not large, such as not exceeding 20-30cm). Specifically, when the well diameter becomes smaller or there are protruding positions on the well wall, the self-adaptive fixing rod 67 will compress the spring 64 to adjust the length of the omnidirectional wheel 66 extending forward. At the same time, under the weight of the casing well plugging device with internal and external sliding support, the wheel assembly is forced not to be directly stuck on the well wall.

[0108] This application provides a wheel set motor 69 at the rear end of the wheel set adaptive component. The purpose of the wheel set motor 69 is that, when the omnidirectional wheel 66 slides along the well wall, if the omnidirectional wheel 66 gets stuck, in addition to adjusting the extension and retraction length of the wheel set push rod by pushing the cylinder of the wheel set, the omnidirectional wheel can also be rotated by rotating the wheel set motor, so as to ensure that it is not stuck in the recessed position of the well wall.

[0109] In the above, the moving component includes: a frame 28 fixed to the outside of the box, and a rectangular frame 29 provided on the outside of the frame;

[0110] like Figure 4 As shown, a base 290 is provided at the bottom of the frame 29. A horizontal linear motor 295 is provided at one end of the base 290, and a linear bearing seat 294 is provided at the other end of the base 290. A bearing is provided inside the linear bearing seat 294, and a lower slide rail 291 is provided on the base 290. The lower slide rail 291 is arranged between the horizontal linear motor and the linear bearing seat.

[0111] One end of the transverse linear lead screw 293 is fixed to the motor shaft of the transverse linear motor 295 via a linear coupling, and the other end is fixed in the bearing inside the linear bearing housing;

[0112] A transverse linear nut is provided on the transverse linear lead screw 293. The transverse linear nut is embedded in a transverse slide plate 292, and the transverse slide plate 292 is matched and installed with the lower slide rail 291.

[0113] Regarding the transverse slide plate 292, if the straight nut is embedded inside the transverse slide plate 292, then through holes are correspondingly provided on both sides of the transverse slide plate 292, and the through holes are on the same axis as the straight nut. The through holes are used for the installation of the transverse straight lead screw. Alternatively, the structure can be such that the straight nut is fixed to one side of the transverse slide plate 292, for example... Figure 4 In the middle, the front and rear sides of the horizontal skateboard 292.

[0114] An upper slide rail 301 is provided on the upper part of the frame 29, an upper slider 303 is provided on the upper slide rail 301, and a vertical bearing seat 302 is embedded in the upper slider 303.

[0115] A vertical linear motor 296 is provided on the horizontal sliding plate 292. The motor shaft of the vertical linear motor 296 is connected to a vertical linear lead screw 299 through a vertical coupling. The end of the vertical linear lead screw 299 is fixed in the vertical bearing seat 302.

[0116] A vertical linear nut is provided on the vertical linear lead screw 299, and the vertical linear nut is embedded in the vertical slide plate 298. A drill bit assembly 297 is provided on the vertical slide plate.

[0117] The drill bit assembly includes: a drill bit pushing cylinder 30, a drill bit pushing rod 31 disposed on the drill bit pushing cylinder 30, a drill bit pushing fixing plate disposed at the front end of the drill bit pushing rod 31, a drill bit rotating motor 32 disposed on the drill bit pushing fixing plate, and a drill bit 33 connected to the front end of the drill bit rotating motor 32 via a drill bit coupling.

[0118] When the drill bit 33 moves, the horizontal linear motor 295 is started by the control device 1. The horizontal linear motor 295 drives the horizontal linear screw 293 to rotate. When the horizontal linear screw 293 rotates, the horizontal linear nut set on the horizontal linear screw 293 moves horizontally back and forth along the horizontal linear screw 293, thereby driving the horizontal slide plate 292 to move horizontally back and forth along the lower slide rail 291. The horizontal slide plate 292 moves horizontally back and forth along the lower slide rail 291 at the same time, driving the upper slide block 303 to move synchronously along the upper slide rail 301, so as to adjust the horizontal position of the drill bit.

[0119] Then, the vertical linear motor 296 is started, and the vertical linear motor 296 drives the vertical linear screw 299 to rotate, thereby causing the vertical linear nut set on the upper part of the vertical linear screw to move vertically up and down. Since the vertical linear nut is embedded in the vertical slide plate, the vertical slide plate moves vertically up and down along the vertical linear nut, thereby allowing the drill bit set on the vertical slide plate to complete the vertical adjustment.

[0120] When the drill bit 33 is started, the drill bit push cylinder 30 drives the drill bit push rod 31 to move back and forth to adjust the position of the drill bit 33, and the drill bit rotation motor 32 starts to drive the drill bit to work and clean.

[0121] In the above, a partition 18 is provided inside the box 20 and on one side of the pressure plate, and upright plates 17 are provided on the upper, middle and lower positions of the partition;

[0122] The upper and lower upright plates 17 are used to install the push cylinder assembly;

[0123] The vertical plate in the middle position is used to install the grouting pipe clamping assembly;

[0124] The push cylinder assembly includes: a pressure plate push cylinder, which is fixed on the upper and lower upright plates. The front end of the pressure plate push cylinder is provided with a pressure plate push rod, and the front end of the pressure plate push rod is fixed to the pressure plate.

[0125] On the housing 20, there is a first opening through which the pressure plate push rod passes;

[0126] like Figure 3 As shown, the grouting pipe clamping assembly 14 includes: a grouting clamping cylinder 140, which is fixed on the middle vertical plate; a grouting clamping push rod 141 is provided at the front end of the grouting clamping cylinder 140, a clamping seat 142 is provided on the grouting clamping push rod 141, a horizontal moving assembly 147 is provided on the clamping seat, a vertical moving assembly 148 is provided on the horizontal moving assembly, a clamping cylinder 143 is provided on the vertical moving assembly, a gripper 146 is provided on the clamping cylinder 143, a clamping sleeve 145 is provided on the gripper 146, the grouting pipe 144 is located inside the clamping sleeve 145, and one end of the grouting pipe 144 is connected to the pipe coil.

[0127] When the pressure plate 13 moves, the pressure plate pushes the cylinder and the grouting clamping cylinder 140 to move simultaneously, thereby moving the pressure plate to the position in contact with the well wall. In order to facilitate the implementation of this application and achieve the best effect, the pressure plate is set in an arc shape, with the well opening as a reference, at least 1 / 4 of the arc size of the well opening, and no more than 1 / 2; the height is 1-5 meters; the preferred height is 1-3 meters.

[0128] The aforementioned horizontal and vertical moving components can be arranged as follows.

[0129] A horizontal cylinder is fixed to the clamping seat, and a horizontal push rod is mounted on the horizontal cylinder. A horizontal fixing plate is mounted at the front end of the horizontal push rod, and a vertical cylinder is mounted on the horizontal fixing plate. A vertical push rod is mounted on the vertical cylinder, and a vertical fixing plate is mounted on the vertical push rod. The clamping cylinder is fixed to the vertical fixing plate. The horizontal cylinder drives the horizontal push rod to move back and forth horizontally, thus moving the grouting pipe horizontally to the left and right. The vertical cylinder drives the vertical push rod to move up and down vertically, thus moving the grouting pipe up and down. To achieve the best grouting effect, refer to... Figure 8 The grouting holes on the pressure plate are L-shaped channels. To ensure the stability of the grouting pipe during the grouting process, the grouting pipe is located inside the grouting hole and is equipped with a baffle 500. A soft rubber sleeve 16 is provided on the other side of the grouting pipe located in the grouting hole.

[0130] Regarding the installation of the grouting pipe, when the grouting pipe is installed in the grouting hole, it can be moved along the L-shaped sliding track, for example... Figure 8 The slide consists of sections AB and BC. Taking slide AB as an example, assuming the initial position of the grouting pipe is at position B, when the vertical cylinder drives the vertical push rod to move vertically, the grouting pipe 144 on the clamping cylinder 143 will also move accordingly, moving from position B to position A. Upon reaching position A, the vertical cylinder continues to drive the vertical push rod to move vertically. At this point, the grouting pipe 144 cannot move upwards at position A due to the limiting effect, and will tilt downwards, changing the direction of grouting. To ensure proper use of the grouting pipe, the front end of the grouting pipe 144 (the part matching the grouting hole) uses a steel pipe, and the rear end uses a rubber hose. Similarly, at position B, when the vertical cylinder drives the vertical push rod to move downwards vertically, the grouting pipe 144 cannot move downwards at position B due to the limiting effect, and will tilt upwards, changing the direction of grouting.

[0131] The coil 37 is made of rubber tubing. In this application, perforations for the coil 37 are provided on both the partition plate and the housing, and the diameter of the perforation is at least 3-5 times the diameter of the coil. This ensures that after the grouting clamping cylinder 140 retracts, a large section of the coil will not be stuck outside. Even if a portion is stuck outside the housing, it will not have any impact.

[0132] In the above, the first camera assembly and the second camera assembly have the same structure, both including:

[0133] The glass housing 36 houses a camera 35 and a light source 34. The light source 34 provides illumination for the shooting environment underground, while the camera 35 acquires real-time images of the well wall.

[0134] The principle of this application is as follows:

[0135] Continue to refer to Figure 6 The U-shaped groove of the casing damage plugging device with internal and external sliding supports is connected to the tubing 300, and the casing damage plugging device with internal and external sliding supports is placed at the wellhead. The drive control device 1 controls the wheel assembly 6 to extend and act on the well wall, and with the assistance of the rope, temporarily fix the casing damage plugging device with internal and external sliding supports at the wellhead. The mixed cement mortar is injected through the inlet on the grouting tank. Then, under the action of the wheel assembly and with the assistance of the rope, the casing damage plugging device with internal and external sliding supports is lowered along the well wall to the casing damage site. In order to achieve continuous grouting operation, a cement mortar can be connected. The delivery pipe is lowered into the oil well along with the grouting pipe, allowing cement mortar to be delivered to the grouting tank. For long-distance delivery, a booster pump can be used during the delivery process for continuous plugging operations. Compared to directly lowering the plugging pipe, the casing damage plugging device with internal and external sliding supports uses a control device to control the wheel assembly's cylinders to adjust the position of the casters, ensuring that all casters on the device act against the well wall. With the assistance of ropes or wires and the support of an external power bracket, it is slowly lowered into the well. Its operation is simple. When lowering the casing damage plugging device with internal and external sliding supports, power and communication cables are also lowered into the well along with the device.

[0136] In this application, the traction seat 21 is provided with a first fixed end 23 and a second fixed end 25; the first fixed end 23 is used for fixing ropes or steel wires, and the second fixed end 25 is used for fixing power supply cables or communication cables.

[0137] Under illumination, images of the damaged area are acquired using either a first or second camera assembly. These images are then transmitted to a host computer via a control device. The host computer processes the images to obtain the actual condition of the damaged area, such as whether it is a crack or a hole, the size and length of the crack, etc. Based on the actual condition of the damaged area, a decision is made on whether cleaning is necessary. If cleaning is required, the control device is activated to move the horizontal and / or vertical linear motors to shift the position of the drill bit assembly, allowing the drill bit to clean the damaged area. After cleaning, the control device controls the rotary motor assembly to rotate the housing, thereby rotating one side of the pressure plate towards the damaged area. The cylinder assembly and the grouting pipe clamping assembly, under the control of the control device, simultaneously press the pressure plate onto the damaged area, completely covering it. Then, the control device controls the grouting pump and the pressurizing pump to spray cement mortar from inside the grouting tank onto the damaged area. During the grouting process, the control device controls the regular up, down, left, and right movements of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, thus completing the grouting of the damaged area and achieving the purpose of sealing. At the same time, the control device judges the degree of grouting by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate. During the grouting process, the pressure plate forms a closed space for the damaged area and shapes the cement mortar injected into the damaged area.

[0138] Example 2:

[0139] Based on the casing damage well plugging device with internal and external sliding supports provided in Embodiment 1, this application also provides a casing damage well plugging method, including the following steps:

[0140] 1) Connect the control device to the host computer and use the host computer to set the actions of the control device;

[0141] 2) Place the casing damage plugging device with internal and external sliding support along one side of the tubing at the wellhead. Drive the control device to extend the wheel assembly to act on the well wall and assist the rope to temporarily fix the casing damage plugging device with internal and external sliding support at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank. Then, under the action of the wheel assembly and the assistance of the rope, lower the casing damage plugging device with internal and external sliding support to the casing damage location along the well wall.

[0142] 3) Obtain images of the damaged area through the first camera assembly or the second camera assembly, transmit the images to the host computer via the control device, and process the images to obtain the actual situation of the damaged area;

[0143] 4) Determine whether to clean the damaged area based on the actual condition of the damaged area. If cleaning is required, drive the control device to control the horizontal linear motor and / or vertical linear motor to move the position of the drill bit assembly so that the drill bit can clean the damaged area.

[0144] 5) After cleaning, the control device controls the rotating motor assembly to rotate the housing, thereby rotating one side of the pressure plate to the damaged area. Simultaneously, the control device pushes the cylinder assembly and the grouting pipe clamping assembly to press the pressure plate onto the damaged area, completely covering it. Then, the control device controls the grouting pump and pressurizing pump to spray cement mortar from inside the grouting tank onto the damaged area. During grouting, the control device controls the regular up, down, left, and right movements of the grouting pipe clamping assembly to control the spray direction of the grouting pipe, completing the grouting of the damaged area to achieve the sealing purpose. Simultaneously, the control device collects real-time pressure data from the pressure sensor on the outside of the pressure plate to determine the degree of grouting. During grouting, the pressure plate forms a closed space around the damaged area and shapes the cement mortar injected into it.

[0145] Using the casing damage plugging device with internal and external sliding supports provided by this invention, segmented and continuous plugging operations can be performed on leaks and cracks in the casing. After the casing damage plugging device with internal and external sliding supports is lowered, a cement mortar delivery pipe can be connected and lowered into the oil well together. Cement mortar can be delivered to the grouting tank through the delivery pipe. In order to achieve long-distance delivery, a pressure pump can be used to pressurize the delivery during the delivery process to carry out continuous plugging operations. Compared with directly lowering the plugging pipe, when the casing damage plugging device with internal and external sliding supports is lowered, the control device controls the wheel group on the wheel assembly to push the cylinder to adjust the position of the universal wheels, so that the universal wheels on the casing damage plugging device with internal and external sliding supports act on the well wall. With the assistance of ropes or steel wires, it is slowly lowered into the well under the action of an external power support. Its operation is simple.

[0146] During plugging operations, this application allows for the cleaning of smaller cracks, holes, and other areas where plugging with plugging tubing is inconvenient. This enables plugging operations to be performed using the casing damage well plugging device with internal and external sliding supports provided in this application. Furthermore, during plugging operations, this application utilizes a high-pressure jetting process, resulting in a denser and more uniform plugging area, which is more conducive to the formation of mud consolidation.

[0147] In the process of sealing, this application controls the vertical and horizontal moving components to move regularly up, down, left, and right during the grouting process to control the direction of the grouting pipe spray, so as to achieve uniform grouting of the damaged area and achieve the purpose of sealing; by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate, the degree of grouting is judged and the grouting operation is controlled, making the grouting control more precise.

[0148] In this application, during the grouting process, the pressure plate is used to form a closed space for the damaged area to prevent splashing during grouting. At the same time, the closed space formed by the pressure plate makes it easier to perform high-pressure jet grouting and shapes the cement mortar sprayed into the damaged area.

[0149] The principle of this application is as follows:

[0150] Reference Figure 5 The tubing 300 is clamped into the U-shaped groove of the casing damage plugging device with internal and external sliding supports. After the tubing is clamped with a cover plate, the casing damage plugging device with internal and external sliding supports is placed at the wellhead. The drive control device 1 controls the wheel assembly 6 to extend and act on the well wall, assisting the rope, to temporarily fix the casing damage plugging device with internal and external sliding supports at the wellhead. The mixed cement mortar is injected through the inlet on the grouting tank. Then, under the action of the wheel assembly and with the assistance of the rope, the casing damage plugging device with internal and external sliding supports is lowered along the well wall to the casing damage site. In order to achieve continuous grouting operation, a [missing information - likely a device name] can be connected. The cement mortar delivery pipe is lowered into the oil well along with the casing mortar. The cement mortar can be delivered to the grouting tank via the delivery pipe. To achieve long-distance delivery, a booster pump can be used during the delivery process for continuous plugging operations. Compared to directly lowering the plugging pipe, the casing damage plugging device with internal and external sliding supports uses a control device to control the wheel assembly's cylinders to adjust the position of the casters. This ensures that all casters on the casing damage plugging device with internal and external sliding supports act against the well wall. With the assistance of ropes or wires and the support of an external power bracket, it is slowly lowered into the well. Its operation is simple. When lowering the casing damage plugging device with internal and external sliding supports, the power supply cable and communication cable are also lowered into the well along with the device.

[0151] In this application, a first fixed end 23 and a second fixed end 25 are provided on the traction seat 21; the first fixed end 23 is used for fixing ropes or steel wires, and the second fixed end 25 is used for fixing power supply cables or communication cables.

[0152] Under illumination, images of the damaged area are acquired using either a first or second camera assembly. These images are then transmitted to a host computer via a control device. The host computer processes the images to obtain the actual condition of the damaged area, such as whether it is a crack or a hole, the size and length of the crack, etc. Based on the actual condition of the damaged area, a decision is made on whether cleaning is necessary. If cleaning is required, the control device is activated to move the horizontal and / or vertical linear motors to shift the position of the drill bit assembly, allowing the drill bit to clean the damaged area. After cleaning, the control device controls the rotary motor assembly to rotate the housing, thereby rotating one side of the pressure plate towards the damaged area. The cylinder assembly and the grouting pipe clamping assembly, under the control of the control device, simultaneously press the pressure plate onto the damaged area, completely covering it. Then, the control device controls the grouting pump and the pressurizing pump to spray cement mortar from inside the grouting tank onto the damaged area. During the grouting process, the control device controls the regular up, down, left, and right movements of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, thus completing the grouting of the damaged area and achieving the purpose of sealing. At the same time, the control device judges the degree of grouting by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate. During the grouting process, the pressure plate forms a closed space for the damaged area and shapes the cement mortar injected into the damaged area.

[0153] Example 3:

[0154] This application also provides a control system for controlling the aforementioned casing damage well plugging device with internal and external sliding supports, the control system comprising:

[0155] host computer, and

[0156] Control device, the control device having:

[0157] A housing with integrally formed connecting plates on both sides of the housing. The connecting plates are used to fix the housing to the rotating base at the bottom of the casing damage well plugging device with inner and outer sliding supports.

[0158] The following are provided inside the housing:

[0159] Power control module, control logic module, and operation control module;

[0160] The operation control module is connected to the control logic module, and the control logic module is connected to the host computer via an interface through a cable or a wireless communication module.

[0161] The power control module includes:

[0162] The first power supply mode control unit is used to connect to the power system via cable to form the first power supply mode to supply power to the casing well plugging device and control device with internal and external sliding supports;

[0163] The second power supply mode control unit is used to supply power to the casing damage well plugging device and control device by connecting to a backup power source located inside the housing to form a second power supply mode; and

[0164] Fault switching unit;

[0165] Under normal circumstances, the fault switching unit is connected to the first power supply mode control unit and disconnected from the second power supply mode control unit. The first power supply mode is used to supply power to the casing well plugging device and control device with internal and external sliding supports. When the first power supply mode fails, the fault switching unit is connected to the second power supply mode control unit to enable the second power supply mode to supply power to the casing well plugging device and control device with internal and external sliding supports.

[0166] The operation control module includes the following operation modes:

[0167] Used for operation based on host computer, the control logic module drives the operation control module to control the wheel assembly to extend and act on the well wall;

[0168] And, used for operation based on host computer, the control logic module drives the operation control module to control the first camera component or the second camera component to obtain images of the damaged area, the images are acquired by the operation control module and then transmitted to the host computer by the control logic module, the host computer processes the images to obtain the actual situation of the damaged area;

[0169] And, used for operation based on the host computer, the control logic module drives the operation control module to control the horizontal linear motor and / or vertical linear motor to move the position of the drill bit assembly so that the drill bit can clean the damaged parts;

[0170] And, used for operation based on the host computer, the control logic module drives the operation control module to control the top plate cylinder so that the top plate abuts against the well wall;

[0171] And, used for operation based on the host computer, the control logic module drives the operation control module to control the rotation motor assembly to rotate the box at any angle;

[0172] And, used for operation based on the host computer, the control logic module drives the operation control module to control the push cylinder assembly and the grouting pipe clamping assembly to press the pressure plate on the damaged part and completely cover the damaged part with the pressure plate;

[0173] And, used for operation based on the host computer, the control logic module drives the operation control module to control the grouting pump and the pressurizing pump to spray the cement mortar inside the grouting tank onto the damaged part;

[0174] And, used for operation based on the host computer, the control logic module drives the operation control module to control the vertical moving component and the horizontal moving component to move up, down, left and right in a regular manner during the grouting process to control the spray direction of the grouting pipe, so as to complete the uniform grouting of the damaged part to achieve the purpose of sealing;

[0175] And, used for operation based on the host computer, the control logic module drives the operation of the control module to determine the degree of grouting and control the grouting operation by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate.

[0176] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A casing damage well plugging device with internal and external sliding supports, characterized in that, include: The housing has a lower rotating seat at the bottom. The lower rotating seat is fixed to the rotating motor assembly located at the lower part of the lower rotating seat. Driven by the rotating motor assembly, the box body can be rotated at any angle through the lower rotating seat. The rotating motor assembly has a rotating base at its lower part, and a control device is provided at the lower part of the rotating base. An upper rotating seat is provided on the upper part of the box body and the upper rotating seat is fixed to the box body. A traction seat is provided on the upper part of the upper rotating seat. A bearing seat is embedded inside the traction seat. The upper rotating seat and the bearing seat are fixed by a rotating shaft. When the box body rotates with the rotating base, the upper rotating seat rotates synchronously through the matching arrangement of the rotating shaft and the bearing seat. Wheel assembly is provided at the top and bottom of the first and second outer sides of the box, respectively. The wheel assembly acts on the well wall so that the casing damage plugging device with inner and outer sliding support rises or falls along the well wall under the action of the rope. The third side of the housing is provided with a U-shaped groove. Cover plate buckles are symmetrically arranged on the vertical side wall of the U-shaped groove. An arc-shaped cover plate is arranged inside the cover plate buckle. The arc-shaped cover plate is engaged with the cover plate buckle. Several oil pipe wheel sets are evenly arranged on the arc surface of the U-shaped groove and the concave surface of the arc-shaped cover plate. The arc surface of the U-shaped groove and the arc-shaped cover plate are engaged to form a hollow circle for locking the oil pipe. The tubing wheel assembly includes a hollow sliding cavity and an adjusting rod. One end of the adjusting rod is disposed inside the sliding cavity and is slidably connected to the sliding cavity. An adjusting spring is disposed inside the sliding cavity. One end of the adjusting spring is connected to the inner wall of the sliding cavity, and the other end of the adjusting spring is connected to the adjusting rod. A second universal wheel is disposed at the end of the adjusting rod away from the sliding cavity. The second universal wheel rolls along the outer wall of the tubing. A mounting base is disposed at the end of the sliding cavity away from the adjusting rod. The mounting base is connected to the concave surface of the arc-shaped surface of the U-shaped groove / arc cover plate.

2. The casing damage well plugging device with internal and external sliding supports according to claim 1, characterized in that, A movable component is provided on the first outer side of the housing, and a drill assembly is provided on the movable component; a first camera assembly is provided above and below the drill assembly and on the housing; and A set of push cylinder assemblies is provided on the second outer side of the housing. An arc-shaped pressure plate is provided at the front end of the push cylinder assembly. The pressure plate reciprocates with the push cylinder assembly. A grouting pipe clamping assembly is provided between a group of pushing cylinder assemblies. The grouting pipe clamping assembly is used to fix the grouting pipe and move synchronously with the reciprocating motion of the pressure plate. The pressure plate is provided with grouting holes, and the grouting pipe is fixed in the grouting holes; wherein, a plurality of pressure sensors are arranged evenly on the side of the pressure plate and centered on the grouting holes; A second camera assembly is provided at both the upper and lower ends of the pressure plate and on the housing. A grouting tank is installed inside the box, and an output end is provided at the bottom of the grouting tank. The output end is connected to the input end of the grouting pump through a pipeline, and the output end of the grouting pump is connected to the grouting pipe through a pipe coil. A pressure pump is provided at the grouting pump, and the output end of the pressure pump is located at the output end of the grouting pump, which is used to pressurize the cement mortar output by the grouting pump. The rotating base is provided with base fixing devices on both sides. The base fixing device includes a top plate cylinder. The output end of the top plate cylinder is connected to a top plate push rod. The end of the top plate push rod is provided with an arc-shaped top plate. The top plate abuts against the well wall under the action of the top plate cylinder to fix the rotating base. During grouting, the control device controls the top plate cylinder to make the top plate abut against the well wall, and the control device controls the drill bit assembly to clean the casing damage area. After cleaning, the control device controls the rotating motor assembly to rotate the housing, thereby rotating one side of the pressure plate to the casing damage area. This pushes the cylinder assembly and the grouting pipe clamping assembly to press the pressure plate onto the casing damage area under the control of the control device, completely covering the casing damage area with the pressure plate. Then, the control device controls the grouting pump and the pressurizing pump to spray the cement mortar inside the grouting tank onto the casing damage area. During the grouting process, the control device controls the regular up, down, left, and right movements of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, so as to complete the grouting of the casing damage area and achieve the purpose of sealing. At the same time, the control device collects real-time pressure data from the pressure sensor on the outside of the pressure plate to determine the degree of grouting. During the grouting process, the pressure plate is used to form a closed space for the casing damage area and to shape the cement mortar injected into the casing damage area.

3. The casing damage well plugging device with internal and external sliding supports according to claim 1, characterized in that, The upper part of the lower rotating seat is fixed to the lower part of the box body; A lower groove is provided at the lower part of the lower rotating seat and in the middle of the lower rotating seat. A coupling seat is provided inside the lower groove, and a lower coupling is fixed inside the coupling seat. The rotating motor assembly includes: The motor base has fixing ears on both sides, which are fixed to the rotating base by bolts. The upper part of the rotating base has a motor base fixing groove, and the motor base is fixed in the motor base fixing groove. A rotating motor is installed inside the motor base, and the motor shaft of the rotating motor is fixed to the coupling.

4. The casing damage well plugging device with internal and external sliding supports according to claim 1, characterized in that, The lower part of the upper rotating seat is fixed to the upper part of the box body; A rotating shaft is provided at the upper part of the upper rotating seat and in the middle of the upper rotating seat; A bearing seat fixing groove is provided at the lower part of the traction seat, and a rotating bearing seat is provided in the bearing seat fixing groove. The rotating shaft is fixed inside the rotating bearing seat.

5. The casing damage well plugging device with internal and external sliding supports according to claim 1, characterized in that, The wheel assembly includes: A wheel set push cylinder is provided at the front of the wheel set push cylinder. A wheel set fixing plate is provided at the front end of the wheel set push rod. A wheel set motor is provided at the front end of the wheel set fixing plate. The output end of the wheel set motor is fixed to the wheel set coupling. A wheel set self-adaptive component is fixed at the front end of the wheel set coupling. The adaptive wheel assembly includes: The wheelset mounting base has a hollow interior, forming a linearly sliding cavity; An adaptive fixing rod is provided with a limiting ear at one end. The end of the adaptive fixing rod with the limiting ear is fixed inside the cavity. A spring is provided inside the cavity, and one end of the spring is fixed inside the cavity, while the other end abuts against the end of the adaptive fixing rod with the limiting ear. The other end of the adaptive fixing rod is fixed to the omnidirectional wheel.

6. The casing damage well plugging device with internal and external sliding supports according to claim 2, characterized in that, The moving component includes: a frame fixed to the outside of the box, and a rectangular frame provided on the outside of the frame; A base is provided at the bottom of the frame, a horizontal linear motor is provided at one end of the base, and a linear bearing housing is provided at the other end of the base; a lower slide rail is provided on the base, and the lower slide rail is arranged between the horizontal linear motor and the linear bearing housing. The transverse linear lead screw has one end fixed to the motor shaft of the transverse linear motor via a linear coupling, and the other end fixed in a linear bearing housing; A transverse linear nut is provided on the transverse linear lead screw, the transverse linear nut is embedded inside a transverse sliding plate, and the transverse sliding plate is matched and installed with the lower rail; An upper slide rail is provided on the upper part of the frame, an upper slider is provided on the upper slide rail, and a vertical bearing seat is embedded in the upper slider. A vertical linear motor is installed on the horizontal sliding plate. The motor shaft of the vertical linear motor is connected to a vertical linear lead screw through a vertical coupling. The end of the vertical linear lead screw is fixed in a vertical bearing seat. A vertical linear nut is provided on the vertical linear lead screw, and the vertical linear nut is embedded in the vertical slide plate. A drill bit assembly is provided on the vertical slide plate.

7. The casing damage well plugging device with internal and external sliding supports according to claim 6, characterized in that, The drill bit assembly includes: a drill bit pushing cylinder, a drill bit pushing rod disposed on the drill bit pushing cylinder, a drill bit pushing fixing plate disposed at the front end of the drill bit pushing rod, a drill bit rotating motor disposed on the drill bit pushing fixing plate, and a drill bit rotating motor having a drill bit connected to its front end via a drill bit coupling.

8. The casing damage well plugging device with internal and external sliding supports according to claim 1, characterized in that, A partition is provided inside the box and on one side of the pressure plate, and vertical plates are provided on the upper, middle and lower positions of the partition; The upper and lower upright plates are used to install the push cylinder assembly; The vertical plate in the middle position is used to install the grouting pipe clamping assembly; The push cylinder assembly includes: a pressure plate push cylinder, wherein a pressure plate push rod is provided at the front end of the pressure plate push cylinder, and the front end of the pressure plate push rod is fixed to the pressure plate; The grouting pipe clamping assembly includes: a grouting clamping cylinder, a grouting clamping push rod at the front end of the grouting clamping cylinder, a clamping seat on the grouting clamping push rod, a horizontal moving component on the clamping seat, a vertical moving component on the horizontal moving component, a clamping cylinder on the vertical moving component, a gripper on the clamping cylinder, a sleeve on the gripper, the grouting pipe being located inside the sleeve, and one end of the grouting pipe being connected to a pipe coil.

9. A method for plugging casing-damaged wells, using the casing-damaged well plugging device with internal and external sliding supports as described in claim 7, characterized in that, Includes the following steps: 1) Connect the control device to the host computer and use the host computer to set the actions of the control device; 2) After clamping the tubing into the U-shaped groove of the casing damage well plugging device with internal and external sliding supports and clamping the tubing with the cover plate, place the casing damage well plugging device with internal and external sliding supports at the wellhead position. Drive the control device to control the wheel assembly to extend and act on the well wall, and with the assistance of the rope, temporarily fix the casing damage well plugging device with internal and external sliding supports at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank, and then, under the action of the wheel assembly and with the assistance of the rope, lower the casing damage well plugging device with internal and external sliding supports to the casing damage location along the well wall. 3) Obtain images of the damaged area through the first camera assembly or the second camera assembly, transmit the images to the host computer via the control device, and process the images to obtain the actual situation of the damaged area; 4) Determine whether to clean the damaged area based on the actual condition of the damaged area. If cleaning is required, drive the control device to control the horizontal linear motor and / or vertical linear motor to move the position of the drill bit assembly so that the drill bit can clean the damaged area. 5) After cleaning, the control device controls the top plate cylinder to make the top plate abut against the well wall, and controls the rotating motor assembly to rotate the box, thereby rotating one side of the pressure plate to the casing damage area. The cylinder assembly and the grouting pipe clamping assembly are simultaneously pressed against the casing damage area under the control of the control device, completely covering the casing damage area with the pressure plate. Then, the control device controls the grouting pump and the pressurizing pump to spray the cement mortar inside the grouting tank onto the casing damage area. During the grouting process, the control device controls the regular up, down, left, and right movement of the grouting pipe clamping assembly to control the direction of the grouting pipe spray, so as to complete the grouting of the casing damage area and achieve the purpose of sealing. At the same time, the control device judges the degree of grouting by collecting real-time pressure data from the pressure sensor on the outside of the pressure plate. During the grouting process, the pressure plate is used to form a closed space for the casing damage area and to shape the cement mortar sprayed into the casing damage area.

Images