Sleeve damage well plugging device, sleeve damage well plugging method and control system

Abstract

The present invention discloses a plugging device for casing damaged wells, a plugging method for casing damaged wells, and a control system. When the plugging device for casing damaged wells performs plugging, the control device controls the drill bit assembly to clean the damaged part of the casing. After the cleaning is completed, the control device controls the rotation motor assembly to act to rotate the box body so as to rotate one side of the pressing plate to the damaged part of the casing. The pushing cylinder assembly and the grouting pipe clamping assembly simultaneously press the pressing plate against the damaged part of the casing under the control of the control device, and completely shield the damaged part of the casing with the pressing plate. Then, the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank onto the damaged part of the casing to complete the grouting of the damaged part and achieve the plugging purpose. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part of the casing and play a shaping role for the cement mortar sprayed into the damaged part of the casing.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas field exploitation, and particularly to a plugging device for casing damage wells, a plugging method for casing damage wells, and a control system. Background Art

[0002] During the exploitation of oil and gas fields, the mud casing is prone to breakage and leakage after long-term use. The existing plugging methods basically involve lowering a plugging pipe, attaching the plugging pipe to the damaged part of the casing, and then injecting cement mortar along the plugging pipe for plugging operations. For example, Patent Document 1 with the publication number "CN110761729A" discloses a plugging construction method, which includes the following steps: the step of lowering the construction string into the well: lowering the construction string into the well; the step of initial back-off: initial back-off means rotating the tubing clockwise. Since the releasing tool is connected to the tubing with a right-hand thread, the releasing tool and the tubing will not come apart, while the releasing tool and the plugging pipe are connected with a left-hand thread, so the plugging pipe will disengage from the releasing tool, completing the back-off; the step of judging whether the back-off is successful: judging the success of releasing by the washing well pressure. If the washing well pressure is lower than the pressure before back-off, the back-off is successful; if it remains unchanged, continue to rotate the tubing clockwise to release; the step of subsequent cement injection: injecting a cement slurry plugging agent downward from the tubing. The cement slurry enters the plugging pipe through the inner pipe of the tubing. Due to the effect of the one-way leather cup, it can only enter the annular space between the plugging pipe and the casing through the check valve for plugging and reinforcement construction. Another example is Patent Document 2 with the publication number "CN111485844A" which discloses a continuous plugging construction method for multiple leak points in oil and water wells, including the following steps: (1) Prepare the plugging construction string. The entire plugging construction string includes a lower plugging pipe, a releasing tool, an upper plugging pipe, and a construction tubing that are threadedly connected in sequence from bottom to top; the length of the lower plugging pipe can cover the entire oil layer section to be plugged with a surplus of 20 - 30 m above and below, and the length of the upper plugging pipe can cover the entire shallow section to be plugged with a surplus of 20 - 30 m above and below; (2) Injecting cement slurry for well cementing and displacement fluid into the construction tubing through the existing technology. The cement slurry for well cementing and the displacement fluid directly fall to the bottom of the plugging construction string and return upward through the lower port of the lower plugging pipe to the annular space between the casing and the patching pipe; (3) Lowering the entire plugging construction string to the bottom of the well and lowering the load to 0, so that the weight of the construction tubing is all pressed on the releasing tool. Because there is a disconnection gap, the upper inserting pipe has a moving space after being pressed, shearing the shear pin downward, lifting the construction tubing, and separating the upper inserting pipe and the lower inserting pipe to achieve disconnection of the string; Conducting a normal washing well to wash out the excess cement slurry for well cementing to complete the lower plugging construction; (4) Lifting the construction tubing, the upper plugging pipe, and the upper inserting pipe together to the shallow section to be plugged; (5) Forming a sand surface 30 m below the leak point by using the existing technology of suspended bridging method or plugging method, and injecting cement slurry for well cementing normally, and displacing the cement from the bottom of the upper plugging pipe upward to the annular space between the plugging pipe and the casing; (6) Lowering the connected construction tubing, the upper plugging pipe, and the upper inserting pipe to the sand surface, rotating the construction tubing clockwise to separate the construction string from the upper plugging pipe; The upper plugging pipe maintains its original position due to the support of the sand surface. After lifting the construction tubing out of the wellbore, wait for setting; (7) Lowering the existing technology of drill plugging string to process the residual cement plug and sand surface in the wellbore and restore the borehole diameter of the oil and water well; (8) Lowering the production string to resume the production of the oil and water well.

[0003] In the above-mentioned Patent Document 1, plugging operation is carried out by using the tubing without removing the tubing. In Patent Document 2, the tubing needs to be removed first, and then a plugging string is lowered to complete the plugging, and then the tubing is lowered again. However, in either case, a plugging pipe needs to be lowered. The length of the plugging pipe generally reaches several meters or dozens of meters, making it difficult to lower the pipe and not easy to operate. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a plugging device for casing damage wells, a plugging method for casing damage wells, and a control system.

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

[0006] The plugging device for casing damage wells includes:

[0007] A box body, with a lower rotating seat arranged at the lower part of the box body,

[0008] The lower rotating seat is fixed to a rotating motor assembly arranged 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] Among them, a lower wheel group support is arranged at the lower part of the rotating motor assembly, and at least one group of symmetrically distributed lower wheel group assemblies is arranged on the lower wheel group support; a control device is arranged at the lower part of the lower wheel group support;

[0010] An upper rotating seat is arranged at the upper part of the box body, and the upper rotating seat is fixed to the box body. An upper wheel group support is arranged at the upper part of the upper rotating seat, and a bearing seat is embedded inside the upper wheel group support. The upper rotating seat is fixed to the bearing seat through a rotating shaft. When the box body rotates with the lower rotating seat, the upper rotating seat forms synchronous rotation through the matching setting of the rotating shaft and the bearing seat;

[0011] At least one group of symmetrically distributed upper wheel group assemblies is arranged on the upper wheel group support;

[0012] The cross-section of the box body is one of an equilateral triangle, a quadrilateral, and a regular hexagon. A moving component is arranged on one outer side surface of the box body, and a drill bit component is arranged on the moving component; first camera components are arranged above and below the drill bit component and on the box body; and

[0013] A group of push cylinder assemblies is arranged on another side surface of the box body, and an arc-shaped pressing plate is arranged at the front end of the push cylinder assemblies. The pressing plate reciprocates with the push cylinder assemblies;

[0014] A grouting pipe clamping assembly is arranged between a group of push cylinder assemblies. The grouting pipe clamping assembly is used for fixing the grouting pipe and moving synchronously with the reciprocating movement of the pressing plate;

[0015] The pressing plate is provided with grouting holes, and the grouting pipes are fixed in the grouting holes; among them, a plurality of uniformly arranged pressure sensors are provided on the side of the pressing plate with the grouting holes as the center;

[0016] Second camera assemblies are provided at both the upper and lower ends of the pressing plate and on the box body;

[0017] A grouting tank is arranged inside the box body. The lower part of the grouting tank is provided with an output end, and the output end is connected to the input end of the grouting pump through a pipeline. The output end of the grouting pump is connected to the grouting pipe through a pipe coil;

[0018] Among them, a pressure pump is arranged at the grouting pump, and the output end of the pressure pump is located at the output end of the grouting pump for pressurizing the cement mortar output by the grouting pump;

[0019] During grouting, the drill bit assembly is controlled by the control device to clean the damaged part. After cleaning, the control device controls the rotation motor assembly to act to rotate the box body so as to rotate one side of the pressing plate to the damaged part. The pushing cylinder assembly and the grouting pipe clamping assembly are simultaneously controlled by the control device to press the pressing plate against the damaged part, and the damaged part is completely covered by the pressing plate. Then, the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged part. During the grouting process, the control device controls the up, down, left, and right regular movements of the grouting pipe clamping assembly to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged part to achieve the purpose of plugging. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensors outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

[0020] Furthermore, the upper part of the lower rotating seat is fixed to the lower part of the box body;

[0021] A lower groove body is arranged at the lower part of the lower rotating seat and in the middle of the lower rotating seat. A coupling seat is arranged inside the lower groove body, and a lower coupling is fixed inside the coupling seat;

[0022] The rotation motor assembly includes:

[0023] A motor seat. Fixed ears are arranged on both sides of the motor seat. The fixed ears are fixed to the lower wheel set bracket through bolts, and a motor seat fixing groove is arranged at the upper part of the lower wheel set bracket. The motor seat is fixed in the motor seat fixing groove;

[0024] A rotation motor is arranged inside the motor seat, and the motor shaft of the rotation motor is fixed to the coupling;

[0025] Furthermore, the lower part of the upper rotating seat is fixed to the upper part of the box body;

[0026] A rotating shaft is provided at the upper part of the upper rotating seat and in the middle of the upper rotating seat.

[0027] A bearing seat fixing groove is provided at the lower part of the upper wheel set bracket. A rotating bearing seat is arranged in the bearing seat fixing groove, and the rotating shaft is fixed inside the rotating bearing seat.

[0028] Furthermore, the structures of the upper wheel set assembly and the lower wheel set assembly are the same, and both include:

[0029] A wheel set pushing cylinder. A wheel set push rod is arranged at the front part of the wheel set pushing cylinder. A wheel set fixing plate is arranged at the front end of the wheel set push rod. A wheel set motor is arranged at the front end of the wheel set fixing plate. The output end of the wheel set motor is fixed to a wheel set coupling, and a wheel set adaptive assembly is fixed to the front end of the wheel set coupling.

[0030] Wherein, the wheel set adaptive assembly includes:

[0031] A wheel set fixing seat, the inside of which is hollowly arranged to form a cavity for linear sliding.

[0032] An adaptive fixing rod, one end of which is provided with a limiting ear. The end with the limiting ear is fixed inside the cavity. A spring is arranged inside the cavity, and one end of the spring is fixed inside the cavity, and the other end abuts against the end of the adaptive fixing rod with the limiting ear.

[0033] The other end of the adaptive fixing rod is fixed to a universal wheel.

[0034] Furthermore, the moving assembly includes: a frame fixed outside the box body, and a rectangular frame is arranged on the outer side of the frame.

[0035] A base is arranged at the bottom of the frame. A horizontal linear motor is arranged at one end of the base, and a linear bearing seat is arranged at the other end of the base. A lower slide rail is arranged on the base, and the lower slide rail is arranged between the horizontal linear motor and the linear bearing seat.

[0036] A horizontal linear lead screw, one end of which is fixed to the motor shaft of the horizontal linear motor through a linear coupling, and the other end is fixed inside the linear bearing seat.

[0037] A horizontal linear nut is arranged on the horizontal linear lead screw, and the horizontal linear nut is embedded inside a horizontal slide plate, and the horizontal slide plate is matched and installed with the lower slide rail.

[0038] An upper slide rail is arranged at the upper part of the frame. An upper slide block is arranged on the upper slide rail, and a vertical bearing seat is embedded inside the upper slide block.

[0039] A vertical linear motor is arranged on the transverse slide 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.

[0040] A vertical linear nut is arranged on the vertical linear lead screw. The vertical linear nut is embedded in the vertical slide plate. A drill bit assembly is arranged on the vertical slide plate.

[0041] Further, the drill bit assembly includes: a drill bit pushing cylinder, a drill bit pushing push rod arranged on the drill bit pushing cylinder, a drill bit pushing fixing plate arranged at the front end of the drill bit pushing push rod, a drill bit rotating motor arranged on the drill bit pushing fixing plate. The front end of the drill bit rotating motor is connected to a drill bit through a drill bit coupling.

[0042] Further, a partition is arranged inside the box body and on one side of the pressing plate. Vertical plates are arranged at the upper, middle and lower positions of the partition.

[0043] Pushing cylinder assemblies are arranged on the vertical plates at the upper and lower positions.

[0044] A grouting pipe clamping assembly is arranged on the vertical plate at the middle position.

[0045] Among them, the pushing cylinder assembly includes: a pressing plate pushing cylinder. A pressing plate push rod is arranged at the front end of the pressing plate pushing cylinder. The front end of the pressing plate push rod is fixed to the pressing plate.

[0046] The grouting pipe clamping assembly includes: a grouting clamping cylinder, a grouting clamping push rod arranged at the front end of the grouting clamping cylinder, a clamping seat arranged on the grouting clamping push rod, a horizontal moving assembly arranged on the clamping seat, a vertical moving assembly arranged on the horizontal moving assembly, a clamping cylinder arranged on the vertical moving assembly, a clamping jaw arranged on the clamping cylinder, a clamping sleeve arranged on the clamping jaw. The grouting pipe is located inside the clamping sleeve. One end of the grouting pipe is connected to a pipe reel.

[0047] This application also provides a method for plugging casing damage wells. Using the above-mentioned casing damage well plugging device, it includes the following steps: 1) Connect the control device to the host computer, and set the actions of the control device through the host computer.

[0048] 2) Place the casing damage well plugging device along one side of the oil pipe at the wellhead position. Drive the control device to control the upper wheel set assembly and the lower wheel set assembly to extend respectively to act on the well wall, and with the assistance of a rope, temporarily fix the casing damage well plugging device at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank, and then lower the casing damage well plugging device along the well wall to the casing damage part under the action of the upper wheel set assembly and the lower wheel set assembly and with the assistance of the rope.

[0049] 3) Obtain an image of the damaged area through the first camera assembly or the second camera assembly, transmit the image to the host computer through the control device, and process the image by the host computer to obtain the actual situation of the damaged area;

[0050] 4) Based on the actual situation of the damaged area, determine whether to clean the damaged area. If cleaning is required, drive the control device to control the horizontal linear motor and / or the vertical linear motor to move the position of the drill bit assembly so that the drill bit cleans the damaged area;

[0051] 5) After cleaning, control the rotation motor assembly to act through the control device to rotate the box body so that one side of the pressing plate rotates to the damaged area. Push the cylinder assembly and the grouting pipe clamping assembly to press the pressing plate on the damaged area under the control of the control device, and completely cover the damaged area with the pressing plate. Then, control the grouting pump and the pressure pump through the control device to spray the cement mortar inside the grouting tank on the damaged area. During the grouting process, control the regular up, down, left, and right movement of the grouting pipe clamping assembly through the control device to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged area to achieve the purpose of plugging. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged area and play a shaping role for the cement mortar sprayed into the damaged area.

[0052] The present application also provides a control system for controlling the above-mentioned damaged well plugging device. The control system includes:

[0053] A host computer, and

[0054] A control device, the control device has:

[0055] A housing, on both sides of the housing, there are integrally provided connecting plates, and the connecting plates are used for fixing with the lower wheel set bracket arranged at the lower part of the damaged well plugging device;

[0056] Inside the housing, there are provided:

[0057] A power control module, a control logic module, and an operation control module;

[0058] The operation control module is connected to the control logic module, and the control logic module is connected to the host computer through an interface via a cable or a wireless communication module;

[0059] Among them, the power control module includes:

[0060] A first power supply mode control unit, which is used to access the power system through a cable to form a first power supply mode to supply power to the damaged well plugging device and the control device;

[0061] The second power supply mode control unit is used to form a second power supply mode by accessing a backup power supply arranged inside the housing to supply power to the casing damage well plugging device and the control device; and

[0062] A fault switching unit;

[0063] 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, and the first power supply mode is used to supply power to the casing damage well plugging device and the control device. After a fault occurs in the first power supply mode, the fault switching unit accesses the second power supply mode control unit to enable the second power supply mode to supply power to the casing damage well plugging device and the control device;

[0064] Wherein, the operation control module includes the following action modes:

[0065] For operating based on the upper computer, driving the operation control module through the control logic module to control the upper wheel set assembly and the lower wheel set assembly to respectively extend and act on the wellbore wall;

[0066] And, for operating based on the upper computer, driving the operation control module through the control logic module to control the first camera assembly or the second camera assembly to obtain an image of the casing damage part, and transmitting the image through the acquisition of the operation control module and then through the control logic module to the upper computer, and the upper computer processes the image to obtain the actual situation of the casing damage part;

[0067] And, for operating based on the upper computer, driving the operation control module through the control logic module to control the horizontal linear motor and / or the vertical linear motor to act to move the position of the group drill bit assembly so that the drill bit cleans the casing damage part;

[0068] And, for operating based on the upper computer, driving the operation control module through the control logic module to control the rotation motor assembly to act to rotate the box body at any angle;

[0069] And, for operating based on the upper computer, driving the operation control module through the control logic module to control the push cylinder assembly and the grouting pipe clamping assembly to simultaneously press the pressing plate on the casing damage part and completely cover the casing damage part with the pressing plate;

[0070] And, for operating based on the upper computer, driving the operation control module through the control logic module to control the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the casing damage part;

[0071] And, for the operation based on the host computer, the control logic module drives the operation control module to control the vertical movement component and the horizontal movement component to perform regular up, down, left, and right movements during the grouting process to control the injection direction of the grouting pipe, so as to complete the uniform grouting of the damaged part to achieve the purpose of plugging.

[0072] And, for the operation based on the host computer, the control logic module drives the operation control module to judge the grouting degree and control the grouting operation by collecting the real-time pressure data of the pressure sensor outside the pressing plate.

[0073] By using the casing damage plugging device provided by the present invention, segmented and continuous plugging operations can be carried out on the holes and cracks in the casing. After the casing damage plugging device is lowered, a conveying pipe for cement mortar can be connected and lowered into the oil well together. Cement mortar can be conveyed from the conveying pipe to the grouting tank. In order to achieve long-distance conveying, pressurized conveying can be carried out through a pressure pump during the conveying process to perform continuous plugging operations. Compared with directly lowering the plugging pipe, when the casing damage plugging device is lowered, the control device controls the wheel group pushing cylinders on the upper wheel group component and the lower wheel group component to adjust the position of the universal wheels, so that the universal wheels on the casing damage plugging device all act on the lower well wall, and with the assistance of ropes or steel wires, it is slowly lowered into the well under the action of an external power bracket, and its operation is simple.

[0074] Since wheel group adaptive components are provided on both the upper wheel group component and the lower wheel group component, the wheel group adaptive component includes: a wheel group fixing seat, the inside of which is hollow to form a cavity for linear sliding; an adaptive fixing rod, one end of which is provided with a limiting ear, and the end located at the limiting ear is fixed inside the cavity. A spring is arranged inside the cavity, and one end of the spring is fixed inside the cavity, and 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 universal wheel. When the universal wheel moves down or up along the well wall, the adaptive fixing rod will make adaptive adjustments with the change of the well wall (such as the well wall being uneven or the well diameter being different, but the difference is not large, such as not exceeding 20 - 30 cm). Specifically, when the well diameter becomes smaller or there are convex positions on the well wall, the adaptive fixing rod will compress the spring to adjust the length of the universal wheel protruding forward, and at the same time, under the self-weight of the casing damage plugging device, the upper wheel group component and the lower wheel group component will not directly get stuck on the well wall.

[0075] During the plugging operation of the present application, some small cracks, small holes, etc. that are not convenient for plugging operations with plugging pipes can be cleaned with a drill bit, so that the casing damage plugging device provided by the present application can be used for plugging operations. And during the plugging operation of the present application, using the high-pressure jetting process, the formed plugging part is more dense and uniform, which is more conducive to the formation of the mud consolidation body.

[0076] During the plugging operation of this application, during the grouting process, the vertical movement component and the horizontal movement component are controlled to perform regular up, down, left, and right movements to control the spraying direction of the grouting pipe, so as to complete uniform grouting at the damaged part to achieve the purpose of plugging; by collecting the real-time pressure data of the pressure sensor outside the pressing plate to judge the grouting degree and control the grouting operation, the grouting control is more accurate.

[0077] During the grouting process of this application, the pressing plate is used to form a closed space for the damaged part to prevent external splashing during the grouting process. At the same time, it is easier to perform high-pressure jet grouting by forming a closed space with the pressing plate for the damaged part, and it has a shaping effect on the cement mortar sprayed into the damaged part. Description of the Drawings

[0078] Figure 1 is a schematic structural diagram of the present invention;

[0079] Figure 2 is a schematic structural diagram of the lower wheel set assembly of the present invention;

[0080] Figure 3 is a schematic structural diagram of the grouting pipe clamping assembly of the present invention;

[0081] Figure 4 is a schematic structural diagram of the moving assembly of the present invention;

[0082] Figure 5 is a schematic diagram of the plugging device for damaged wells of the present invention;

[0083] Figure 6 is the layout diagram of the grouting holes and pressure sensors at the position of the pressing plate of the present invention. Detailed Embodiments

[0084] To deepen the understanding of the present invention, the following will further elaborate on the present invention in conjunction with embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0085] Embodiment 1:

[0086] According to Figures 1 - 5 as shown, the technical solution provided by this embodiment is as follows:

[0087] The plugging device for damaged wells includes:

[0088] The box body 20, and a lower rotating seat 10 is arranged at the lower part of the box body 20,

[0089] The lower rotating seat 10 is fixed to the rotating motor assembly 8 arranged below the lower rotating seat 10. Driven by the rotating motor assembly 8, the box body 20 can be rotated at any angle through the lower rotating seat 10;

[0090] Among them, a lower wheel set bracket 7 is provided at the lower part of the rotating motor assembly 10, and at least one set of symmetrically distributed lower wheel set assemblies 6 is provided on the lower wheel set bracket 7; a control device 1 is provided at the lower part of the lower wheel set bracket 6;

[0091] An upper rotating seat 19 is provided at the upper part of the box body 20, and the upper rotating seat 19 is fixed to the box body 20. An upper wheel set bracket 24 is provided at the upper part of the upper rotating seat 19. A bearing seat 26 is embedded inside the upper wheel set bracket 24. 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, and when the box body 20 rotates with the lower rotating seat 10, the upper rotating seat 19 forms a synchronous rotation through the matching setting of the rotating shaft 22 and the bearing seat 26;

[0092] At least one set of symmetrically distributed upper wheel set assemblies is provided on the upper wheel set bracket 24;

[0093] The cross-section of the box body 20 is one of an equilateral triangle, a quadrilateral, and a regular hexagon. A moving assembly is provided on one outer side of the box body, and a drill bit assembly is provided on the moving assembly; first camera assemblies are provided at the upper and lower positions of the drill bit assembly and on the box body; and

[0094] A set of push cylinder assemblies 12 is provided on another side of the box body 20. An arc-shaped pressing plate 13 is provided at the front end of the push cylinder assemblies 12. The pressing plate 13 reciprocates with the action of the push cylinder assemblies 12;

[0095] A grouting pipe clamping assembly 14 is provided between a set of push cylinder assemblies 12. The grouting pipe clamping assembly 14 is used for fixing the grouting pipe 144 and moving synchronously with the reciprocating movement of the pressing plate 13;

[0096] A grouting hole 15 is provided on the pressing plate 13, and the grouting pipe 144 is fixed in the grouting hole 15; among them, a plurality of uniformly arranged pressure sensors 501 are provided on the side of the pressing plate 13 with the grouting hole 15 as the center;

[0097] Second camera assemblies 11 are provided at the upper and lower ends of the pressing plate 13 and on the box body 20;

[0098] A grouting tank 27 is provided inside the box body 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 a pipe tray 37;

[0099] Among them, a pressure pump 5 is provided at the grouting pump 4. The output end of the pressure 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 pressure pump 5 is provided with an air intake port on one side of the box body 20, and is connected to the air intake port and the input end of the pressure pump through an air intake pipeline to provide the air required for pressurization for the pressure pump.

[0100] During grouting, the drill bit assembly is controlled by the control device 1 to clean the damaged part. After the cleaning is completed, the control device 1 controls the rotation motor assembly to act to rotate the box body 20 so that one side of the pressing plate 13 is rotated to the damaged part. The pushing cylinder assembly 12 and the grouting pipe clamping assembly 14 simultaneously press the pressing plate 13 against the damaged part under the control of the control device 1, and completely cover the damaged part with the pressing plate 13. Then, the control device 1 controls the grouting pump 4 and the pressure pump 5 to spray the cement mortar inside the grouting tank 27 onto the damaged part. During the grouting process, the control device 1 controls the regular up, down, left, and right movement of the grouting pipe clamping assembly 14 to control the spraying direction of the grouting pipe 144, so as to complete the grouting of the damaged part to achieve the purpose of plugging. At the same time, the control device 1 judges the grouting degree by collecting the real-time pressure data of the pressure sensor 501 outside the pressing plate. And during the grouting process, the pressing plate 13 is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

[0101] In the above, the upper part of the lower rotating seat 10 is fixed to the lower part of the box body 20;

[0102] A lower groove body 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 arranged inside the lower groove body, and a lower coupling is fixed inside the coupling seat 9;

[0103] The rotation motor assembly includes:

[0104] A motor seat 8. Fixed ears are arranged on both sides of the motor seat 8. The fixed ears are fixed to the lower wheel set bracket 7 through bolts 2, and a motor seat fixing groove is arranged at the upper part of the lower wheel set bracket 7. The motor seat 8 is fixed in the motor seat fixing groove;

[0105] A rotation motor is arranged inside the motor seat, and the motor shaft of the rotation motor is fixed to the coupling.

[0106] The lower part of the upper rotating seat 19 is fixed to the upper part of the box body 20;

[0107] A rotating shaft 22 is arranged at the upper part of the upper rotating seat 19 and in the middle of the upper rotating seat 20;

[0108] A bearing seat fixing groove is provided at the lower part of the upper wheel assembly bracket 24, and a rotating bearing seat 26 is provided in the bearing seat fixing groove. The rotating shaft 22 is fixed inside the rotating bearing seat and matched with the bearing provided inside the rotating bearing seat.

[0109] When the rotating motor rotates, the rotating motor 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 together. In order to allow the box 20 to rotate freely, in this application, a certain gap is set between the motor seat 8 and the lower rotating seat 10. At the same time, it rotates under the support and connection of the lower coupling. In order to ensure the power requirement, a high-power rotating motor can be selected. As for the power requirement, it can be determined according to the total mass of the box after the cement mortar is injected. When the box 20 rotates, since the upper rotating seat 19 above the box 20 and the upper wheel group bracket 24 are fixed in the bearing seat 26 through the rotating shaft 22, under the action of the bearing, the upper wheel group bracket 24 does not rotate, only the box 20 rotates.

[0110] In the above, the upper wheel assembly and the lower wheel assembly 6 have the same structure; both include:

[0111] The wheel group push cylinder 60 is provided with a wheel group push rod 62 at the front of the wheel group push cylinder 60, a wheel group fixing plate 70 is provided at the front end of the wheel group push rod 62, a wheel group motor 69 is provided at the front end of the wheel group fixing plate 70, the output end of the wheel group motor 69 is fixed to the wheel group coupling 63, and a wheel group adaptive component is fixed at the front end of the wheel group coupling 63;

[0112] Wherein, the wheel set adaptive component comprises:

[0113] The wheel set fixing seat 65 is hollow inside to form a linear sliding cavity;

[0114] An adaptive fixing rod 67, one end of which is provided with a limiting ear 68, one end of which is located at the limiting ear 68 and is fixed inside the cavity, a spring 64 is provided inside the cavity, one end of the spring 64 is fixed inside the cavity, and the other end of the spring 64 abuts against one end of the adaptive fixing rod with the limiting ear;

[0115] The other end of the adaptive fixing rod is fixed to the universal wheel 66 .

[0116] Taking the installation of the lower wheel assembly bracket 7 and the lower wheel assembly 6 as an example, cylinder grooves 61 are provided at both ends of the lower wheel assembly bracket 7, the wheel assembly pushing cylinder 60 is fixed in the cylinder groove 61, and a groove for the movement of the wheel assembly push rod 62 is opened at the front end of the cylinder groove 61.

[0117] Since both the upper wheel assembly and the lower wheel assembly 6 are provided with wheel adaptive assemblies, when the universal wheel moves down or up along the well wall, the adaptive fixing rod 67 will be adaptively adjusted as the well wall changes (for example, the well wall is uneven, or the diameters of the wells are different, but the difference is not large, for example, not more than 20-30 cm). Specifically, when the well diameter becomes smaller or there is a protrusion on the well wall, the adaptive fixing rod 67 will compress the spring 64 to regulate the length of the universal wheel 66 extending forward, and at the same time, under the self-weight of the casing damaged well plugging device, the upper wheel assembly and the lower wheel assembly will not be directly stuck on the well wall.

[0118] It should be noted that, since the well is lowered along one side of the oil pipe during the downhole process, the multiple upper wheel assemblies and the multiple lower wheel assemblies 6 are not extended and retracted synchronously, and the extension and retraction lengths are not consistent. Each wheel assembly pushing cylinder has an independent control unit connected to the control device, and the extension and retraction length can be controlled according to actual usage requirements.

[0119] The present application sets a wheel motor 69 at the rear end of the wheel adaptive component. The purpose of the wheel motor 69 is that when the universal wheel 66 is sliding along the well wall, if the universal wheel 66 is stuck, in addition to adjusting the telescopic length of the wheel push rod by the wheel pushing cylinder, the wheel motor can also be rotated to make the universal wheel rotate, thereby ensuring that it is not stuck in the recessed position of the well wall.

[0120] In the above, the moving assembly includes: a frame 28 fixed to the outside of the box, and a rectangular frame 29 is arranged on the outside of the frame;

[0121] 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, and the lower slide rail 291 is arranged between the horizontal linear motor and the linear bearing seat;

[0122] A transverse linear lead screw 293, one end of which is fixed to the motor shaft of the transverse linear motor 295 via a linear coupling, and the other end of which is fixed to a bearing in a linear bearing seat;

[0123] A transverse linear nut is provided on the transverse linear screw rod 293, and 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 sliding rail 291;

[0124] Regarding the transverse slide plate 292, if the linear nut is embedded inside the transverse slide plate 292, 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 linear nut. The through holes are used for the installation of the transverse linear lead screw. It can also be such a structure that the linear nut is fixed on one side of the transverse slide plate 292, for example, in Figure 4 the front side and the rear side of the transverse slide plate 292.

[0125] 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;

[0126] A vertical linear motor 296 is provided on the transverse slide plate 292. The motor shaft of the vertical linear motor 296 is connected to the 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;

[0127] A vertical linear nut is provided on the vertical linear lead screw 299. The vertical linear nut is embedded in the vertical slide plate 298, and a drill bit assembly 297 is provided on the vertical slide plate.

[0128] The drill bit assembly includes: a drill bit pushing cylinder 30, a drill bit pushing push rod 31 provided on the drill bit pushing cylinder 30, a drill bit pushing fixing plate provided at the front end of the drill bit pushing push rod 31, and a drill bit rotating motor 32 provided on the drill bit pushing fixing plate. The front end of the drill bit rotating motor 32 is connected to a drill bit 33 through a drill bit coupling.

[0129] When the drill bit 33 moves, the control device 1 controls the start of the transverse linear motor 295. The transverse linear motor 295 drives the transverse linear lead screw 293 to rotate. When the transverse linear lead screw 293 rotates, the transverse linear nut provided on the transverse linear lead screw 293 moves horizontally back and forth along the transverse linear lead screw 293, thereby driving the transverse slide plate 292 to move horizontally back and forth along the lower slide rail 291. When the transverse slide plate 292 moves horizontally back and forth along the lower slide rail 291, it simultaneously drives the upper slider 303 to move synchronously along the upper slide rail 301, so as to adjust the horizontal position of the drill bit provided thereon.

[0130] Then, the control device controls the start of the vertical linear motor 296. The vertical linear motor 296 drives the vertical linear lead screw 299 to rotate, so that the vertical linear nut provided on the upper part of the vertical linear lead screw moves 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, so that the drill bit provided on the vertical slide plate completes the vertical direction adjustment.

[0131] When the drill bit 33 is started, the drill bit pushes the cylinder 30 to drive the drill bit to push the push rod 31 to move back and forth to adjust the position of the drill bit 33, and the drill bit rotation motor 32 is started to drive the drill bit to work for cleaning.

[0132] In the above, a partition plate 18 is provided inside the box body 20 and on one side of the pressing plate, and vertical plates 17 are provided at the upper, middle, and lower positions of the partition plate;

[0133] The vertical plates 17 at the upper and lower positions are used to set the pushing cylinder assembly;

[0134] The vertical plate at the middle position is used to set the grouting pipe clamping assembly;

[0135] Among them, the pushing cylinder assembly includes: a pressing plate pushing cylinder, the pressing plate pushing cylinder is fixed on the upper and lower vertical plates, a pressing plate push rod is provided at the front end of the pressing plate pushing cylinder, and the front end of the pressing plate push rod is fixed to the pressing plate;

[0136] On the box body 20, a first opening through which the pressing plate push rod passes is correspondingly provided;

[0137] The grouting pipe clamping assembly 14 includes: a grouting clamping cylinder 140, the grouting clamping cylinder 140 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 clamping jaw 146 is provided on the clamping cylinder 143, a clamping sleeve 145 is provided on the clamping jaw 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 tray.

[0138] When the pressing plate 13 moves, the pressing plate pushing cylinder and the grouting clamping cylinder 140 act simultaneously and synchronously, so as to move the pressing plate to a position in contact with the well wall. In order to facilitate the best effect of the implementation of this application, the pressing plate is set to be arc-shaped, with the wellhead as a reference, at least 1 / 4 of the wellhead arc size, and at most not exceeding 1 / 2; the height is 1-5 meters; preferably the height is 1-3 meters.

[0139] Among them, the above horizontal moving assembly and vertical moving assembly can be arranged in the following manner.

[0140] A horizontal cylinder is fixed on the clamping seat. A horizontal push rod is arranged on the horizontal cylinder. A horizontal fixing plate is arranged at the front end of the horizontal push rod. A vertical cylinder is arranged on the horizontal fixing plate. A vertical push rod is arranged on the vertical cylinder. A vertical fixing plate is arranged on the vertical push rod. The clamping cylinder is fixed on the vertical fixing plate. Among them, the horizontal cylinder drives the horizontal push rod to move back and forth in the horizontal direction to realize the horizontal left and right movement of the grouting pipe. The vertical cylinder drives the vertical push rod to move up and down in the vertical direction to realize the up and down movement of the grouting pipe. In order to achieve the best grouting effect, refer to Figure 6 , the grouting holes arranged on the pressing plate are in an L-shaped slideway. In order to ensure the stability of the grouting pipe during the grouting process, the grouting pipe is located inside the grouting hole, and a baffle 500 is provided. A soft rubber sleeve 16 is arranged on the other side of the grouting pipe located in the grouting hole.

[0141] Regarding the setting of the grouting pipe, when the grouting pipe is installed in the grouting hole, it can move along with the L-shaped slideway. For example Figure 6 , for the AB section and BC section of the slideway, taking the slideway AB as an example, assuming that the initial position of the grouting pipe is at the B position of the slideway. When the vertical cylinder drives the vertical push rod to move upward in the vertical direction, the grouting pipe 144 on the clamping cylinder 143 will also move accordingly. The grouting pipe 144 will move from the B position to the A position. When it reaches the A position and continues to make the vertical cylinder drive the vertical push rod to move upward in the vertical direction, at this time, the grouting pipe 144 cannot move upward anymore at the A position due to the limiting effect, and the grouting pipe 144 will tilt downward to change the grouting direction. In order to ensure the good use of the grouting pipe, the front end part (the part matching the grouting hole) of the grouting pipe 144 uses a steel pipe, and the rear end part uses a rubber pipe. Similarly, at the B position, when the vertical cylinder drives the vertical push rod to move downward in the vertical direction, at this time, the grouting pipe 144 cannot move downward anymore at the B position due to the limiting effect, and the grouting pipe 144 will tilt upward to change the grouting direction.

[0142] The coiled pipe 37 uses a rubber pipe. In this application, perforations for the coiled pipe 37 are arranged on both the partition plate and the box body, and the aperture of the perforations is at least 3 - 5 times the diameter of the coiled pipe, which ensures that after the grouting clamping cylinder 140 retracts, the coiled pipe will not be stuck outside in large sections. Even if a part is stuck outside the box body, it does not matter.

[0143] In the above, the structures of the first camera assembly and the second camera assembly are the same, and both include:

[0144] A glass shell 36, inside which a camera 35 and a light source 34 are arranged. Among them, the light source 34 provides illumination for the shooting environment underground, and the camera 35 is used to obtain real-time images of the well wall.

[0145] The principle of this application is as follows:

[0146] Refer to Figure 5 , place the casing damage well plugging device on one side of the tubing 300 at the wellhead position. The driving control device 1 controls the upper wheel set assembly and the lower wheel set assembly 6 to extend respectively to act on the well wall, and with the assistance of a rope, temporarily fix the casing damage well plugging device at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank, and then lower the casing damage well plugging device along the well wall to the damaged part under the action of the upper wheel set assembly and the lower wheel set assembly and with the assistance of the rope. In order to achieve continuous grouting operation, a conveying pipe for cement mortar can be connected and lowered into the oil well together. The cement mortar can be conveyed from the conveying pipe to the grouting tank. At the same time, in order to achieve long-distance conveying, a pressure pump can be used for pressure conveying during the conveying process to carry out continuous plugging operation. Compared with directly lowering the plugging pipe, when the casing damage well plugging device is lowered, the control device controls the wheel set pushing cylinders on the upper wheel set assembly and the lower wheel set assembly to adjust the position of the universal wheels, so that the universal wheels on the casing damage well plugging device all act on the well wall, and it is slowly lowered into the well with the assistance of a rope or wire under the action of an external power bracket, and its operation is simple. When the casing damage well plugging device is lowered, the power supply cable and the communication cable are also lowered into the well together with the device.

[0147] In the present application, a towing seat 21 is further provided above the upper wheel set bracket, and a first fixed end 23 and a second fixed end 25 are provided on the towing seat 21; the first fixed end 23 is used for fixing the rope or wire, and the second fixed end 25 is used for fixing the power supply cable and the communication cable.

[0148] Under the illumination of the light source, the image of the damaged part is obtained through the first camera component or the second camera component, and the image is transmitted to the host computer through the control device. The host computer processes the image to obtain the actual situation of the damaged part; for example, whether it is a crack or a hole, the size and length of the crack, etc. Based on the actual situation of the damaged part, it is judged whether to clean the damaged part. If cleaning is required, the control device is driven to control the horizontal linear motor and / or the vertical linear motor to move the position of the group drill bit component so that the drill bit cleans the damaged part; after cleaning, the control device controls the rotation motor component to act to rotate the box body so that one side of the pressing plate rotates to the damaged part, and the pushing cylinder component and the grouting pipe clamping component simultaneously press the pressing plate on the damaged part under the control of the control device, and completely cover the damaged part with the pressing plate, and then the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged part. During the grouting process, the control device controls the regular movement of the grouting pipe clamping component up, down, left, and right to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged part to achieve the purpose of plugging. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

[0149] Embodiment 2:

[0150] Based on the damaged well plugging device provided in Embodiment 1, the present application also provides a method for plugging a damaged well, including the following steps:

[0151] 1) Connect the control device to the host computer, and set the actions of the control device through the host computer;

[0152] 2) Place the damaged well plugging device on one side of the oil pipe at the wellhead position, drive the control device to control the upper wheel set component and the lower wheel set component to extend respectively to act on the well wall, and with the assistance of a rope, temporarily fix the damaged well plugging device at the wellhead. Inject the well-mixed cement mortar through the inlet on the grouting tank, and then lower the damaged well plugging device along the well wall to the damaged part under the action of the upper wheel set component and the lower wheel set component and with the assistance of the rope;

[0153] 3) Obtain the image of the damaged part through the first camera component or the second camera component, transmit the image to the host computer through the control device, and the host computer processes the image to obtain the actual situation of the damaged part;

[0154] 4) Determine whether to clean the damaged part based on the actual situation of the damaged part. If cleaning is required, the drive control device controls the horizontal linear motor and / or the vertical linear motor to move the position of the group drill bit assembly so that the drill bit cleans the damaged part;

[0155] 5) After cleaning, the control device controls the rotation motor assembly to act to rotate the box body so that one side of the pressing plate is rotated to the damaged part. The pushing cylinder assembly and the grouting pipe clamping assembly simultaneously press the pressing plate against the damaged part under the control of the control device, and completely cover the damaged part with the pressing plate. Then, the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank onto the damaged part. During the grouting process, the control device controls the up, down, left, and right regular movements of the grouting pipe clamping assembly to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged part to achieve the plugging purpose. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

[0156] Using the casing damage plugging device provided by the present invention, segmented and continuous plugging operations can be carried out on the holes and cracks in the casing. After the casing damage plugging device is lowered, a conveying pipe for cement mortar can be connected and lowered into the oil well together. The cement mortar can be conveyed to the grouting tank by the conveying pipe. In order to achieve long-distance conveying, pressure can be applied during the conveying process by a pressure pump for continuous plugging operations. Compared with directly lowering the plugging pipe, when the casing damage plugging device is lowered, the control device controls the wheel group pushing cylinders on the upper wheel group assembly and the lower wheel group assembly to adjust the position of the universal wheels so that the universal wheels on the casing damage plugging device all act on the well wall, and with the assistance of a rope or wire and under the action of an external power bracket, it is slowly lowered into the well, and its operation is simple.

[0157] During the plugging operation of the present application, drill bit cleaning can be carried out on some small cracks, small holes, etc. that are not convenient for plugging operations with a plugging pipe, so that the casing damage plugging device provided by the present application can be used for plugging operations. And during the plugging operation of the present application, using the high-pressure spraying process, the formed plugging part is more dense and uniform, which is more conducive to the formation of the mud solidified body.

[0158] During the plugging operation of the present application, during the grouting process, the vertical movement component and the horizontal movement component are controlled to move regularly up, down, left, and right to control the spraying direction of the grouting pipe, so as to complete the uniform grouting of the damaged part to achieve the plugging purpose; the real-time pressure data of the pressure sensor outside the pressing plate is collected to judge the grouting degree and control the grouting operation, and the grouting control is more accurate.

[0159] During the grouting process of the present application, the pressing plate is used to form a closed space at the damaged casing part to prevent external splashing during the grouting process. At the same time, it is easier to carry out high-pressure jet grouting by forming a closed space with the pressing plate at the damaged casing part, and it plays a shaping role for the cement mortar sprayed into the damaged casing part.

[0160] The principle of the present application is as follows:

[0161] Refer to Figure 5 , place the damaged well plugging device along one side of the tubing 300 at the wellhead position. The driving control device 1 controls the upper wheel set assembly and the lower wheel set assembly 6 to extend respectively to act on the well wall, and with the assistance of a rope, temporarily fix the damaged well plugging device at the wellhead. Inject the stirred cement mortar through the inlet on the grouting tank, and then lower the damaged well plugging device along the well wall to the damaged part under the action of the upper wheel set assembly and the lower wheel set assembly and with the assistance of the rope; in order to achieve continuous grouting operation, a conveying pipe for cement mortar can be connected and lowered into the oil well together. The cement mortar can be conveyed to the grouting tank by the conveying pipe. At the same time, in order to achieve long-distance conveying, a pressure pump can be used for pressure conveying during the conveying process to carry out continuous plugging operation. Compared with directly lowering the plugging pipe, when the damaged well plugging device is lowered, the control device is used to control the wheel set pushing cylinders on the upper wheel set assembly and the lower wheel set assembly to adjust the position of the universal wheels, so that the universal wheels on the damaged well plugging device all act on the well wall, and it is slowly lowered into the well under the action of the rope or steel wire and the external power bracket, and its operation is simple. When the damaged well plugging device is lowered, the power supply cable and the communication cable are also lowered into the well together with the device.

[0162] In the present application, a towing seat 21 is further provided above the upper wheel set bracket, and a first fixed end 23 and a second fixed end 25 are provided on the towing seat 21; the first fixed end 23 is used for fixing the rope or steel wire, and the second fixed end 25 is used for fixing the power supply cable and the communication cable.

[0163] Under the illumination of the light source, the image of the damaged part is obtained through the first camera component or the second camera component, and the image is transmitted to the host computer through the control device, and the host computer processes the image to obtain the actual situation of the damaged part; for example, whether it is a crack or a hole, the size and length of the crack, etc. Based on the actual situation of the damaged part, it is judged whether to clean the damaged part. If cleaning is required, the control device is driven to control the horizontal linear motor and / or the vertical linear motor to move the position of the drill bit assembly so that the drill bit cleans the damaged part; after cleaning, the control device controls the rotation motor assembly to act to rotate the box body so that one side of the pressing plate rotates to the damaged part, and the pushing cylinder assembly and the grouting pipe clamping assembly simultaneously press the pressing plate on the damaged part under the control of the control device, and completely cover the damaged part with the pressing plate, and then the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged part. During the grouting process, the control device controls the regular movement of the grouting pipe clamping assembly up, down, left, and right to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged part to achieve the purpose of plugging. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

[0164] Embodiment 3:

[0165] The present application also provides a control system for controlling the above-mentioned damaged well plugging device. The control system includes:

[0166] A host computer, and

[0167] A control device, which has:

[0168] A housing, and integrally provided connecting plates are arranged on both sides of the housing. The connecting plates are used to be fixed to the lower wheel group bracket arranged on the damaged well plugging device;

[0169] Inside the housing are provided:

[0170] A power control module, a control logic module, and an operation control module;

[0171] The operation control module is connected to the control logic module, and the control logic module is connected to the host computer through an interface via a cable or a wireless communication module;

[0172] Among them, the power control module includes:

[0173] A first power supply mode control unit, which is used to access the power system through a cable to form a first power supply mode to supply power to the damaged well plugging device and the control device;

[0174] A second power supply mode control unit, configured to form a second power supply mode by accessing a backup power supply disposed inside the housing to supply power to the casing damage well plugging device and the control device; and

[0175] A fault switching unit;

[0176] 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, and the first power supply mode is used to supply power to the casing damage well plugging device and the control device. After a fault occurs in the first power supply mode, the fault switching unit accesses the second power supply mode control unit to enable the second power supply mode to supply power to the casing damage well plugging device and the control device;

[0177] Wherein, the operation control module includes the following operation modes:

[0178] For driving the operation control module based on the operation of the upper computer through the control logic module to control the upper wheel set assembly and the lower wheel set assembly to respectively extend and act on the well wall;

[0179] And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the first camera assembly or the second camera assembly to obtain an image of the damaged part of the casing, and transmitting the image through the acquisition of the operation control module and then through the control logic module to the upper computer, and the upper computer processes the image to obtain the actual situation of the damaged part of the casing;

[0180] And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the horizontal linear motor and / or the vertical linear motor to act to move the position of the drill bit assembly so that the drill bit cleans the damaged part of the casing;

[0181] And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the rotation motor assembly to act to rotate the box body at any angle;

[0182] And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the pushing cylinder assembly and the grouting pipe clamping assembly to simultaneously press the pressing plate on the damaged part of the casing and completely block the damaged part of the casing with the pressing plate;

[0183] And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged part of the casing;

[0184] And, for the operation based on the host computer, the operation control module is driven by the control logic module to control the vertical movement component and the horizontal movement component to perform regular up, down, left, and right movements during the grouting process to control the injection direction of the grouting pipe, so as to complete uniform grouting at the casing damage part to achieve the purpose of plugging.

[0185] And, for the operation based on the host computer, the operation control module is driven by the control logic module to judge the grouting degree and control the grouting operation by collecting the real-time pressure data of the pressure sensor outside the pressing plate.

[0186] The above shows and describes 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 by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. Sleeve damage well plugging device, Characterized in that, Comprising: A box body, with a lower rotating seat arranged at the lower part of the box body, The lower rotating seat is fixed to a rotating motor assembly arranged below the lower rotating seat, and under the drive of the rotating motor assembly, the box body can be rotated at any angle through the lower rotating seat; Wherein, a lower wheel set bracket is arranged at the lower part of the rotating motor assembly, and at least one set of symmetrically distributed lower wheel set assemblies is arranged on the lower wheel set bracket; a control device is arranged at the lower part of the lower wheel set bracket; An upper rotating seat is arranged at the upper part of the box body, and the upper rotating seat is fixed to the box body. An upper wheel set bracket is arranged at the upper part of the upper rotating seat. A bearing seat is embedded inside the upper wheel set bracket. The upper rotating seat is fixed to the bearing seat through a rotating shaft. And when the box body rotates with the lower rotating seat, the upper rotating seat forms synchronous rotation through the matching setting of the rotating shaft and the bearing seat; At least one set of symmetrically distributed upper wheel set assemblies is arranged on the upper wheel set bracket; The cross-section of the box body is one of an equilateral triangle, a quadrilateral, and a regular hexagon. A moving assembly is arranged on one outer side of the box body, and a drill bit assembly is arranged on the moving assembly; first camera assemblies are arranged at the upper and lower positions of the drill bit assembly and on the box body; and A set of push cylinder assemblies is arranged on another side of the box body, and an arc-shaped pressing plate is arranged at the front end of the push cylinder assemblies. The pressing plate reciprocates with the push cylinder assemblies; A grouting pipe clamping assembly is arranged between a set of push cylinder assemblies. The grouting pipe clamping assembly is used for fixing the grouting pipe and moving synchronously with the reciprocating movement of the pressing plate; Grouting holes are arranged on the pressing plate, and the grouting pipe is fixed in the grouting holes; wherein, a plurality of uniformly arranged pressure sensors are arranged on the side of the pressing plate and centered on the grouting holes; Second camera assemblies are arranged at the upper and lower ends of the pressing plate and on the box body; A grouting tank is arranged inside the box body. An output end is arranged at the lower part of the grouting tank. The output end is connected to the input end of a grouting pump through a pipeline. The output end of the grouting pump is connected to the grouting pipe through a pipe coil; Wherein, a pressure pump is arranged at the grouting pump. The output end of the pressure pump is located at the output end of the grouting pump and is used for pressurizing the cement mortar output by the grouting pump; During grouting, the control device controls the drill bit assembly to clean the damaged area. After the cleaning is completed, the control device controls the rotation motor assembly to act to rotate the box body so that one side of the pressing plate is rotated to the damaged area. The pushing cylinder assembly and the grouting pipe clamping assembly simultaneously press the pressing plate against the damaged area under the control of the control device, and completely cover the damaged area with the pressing plate. Then, the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged 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 spraying direction of the grouting pipe, so as to complete the grouting of the damaged area to achieve the purpose of plugging. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged area and play a shaping role for the cement mortar sprayed into the damaged area.

2. The plugging device for damaged wells 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 body is arranged at the lower part of the lower rotating seat and in the middle of the lower rotating seat. A coupling seat is arranged inside the lower groove body, and a lower coupling is fixed inside the coupling seat; the rotation motor assembly includes: a motor seat, with fixed ears arranged on both sides of the motor seat. The fixed ears are fixed to the lower wheel set bracket by bolts, and a motor seat fixing groove is arranged at the upper part of the lower wheel set bracket. The motor seat is fixed in the motor seat fixing groove; a rotation motor is arranged inside the motor seat, and the motor shaft of the rotation motor is fixed to the coupling.

3. The plugging device for damaged wells 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 arranged at the upper part of the upper rotating seat and in the middle of the upper rotating seat; a bearing seat fixing groove is arranged at the lower part of the upper wheel set bracket, and a rotating bearing seat is arranged in the bearing seat fixing groove. The rotating shaft is fixed inside the rotating bearing seat.

4. The plugging device for damaged wells according to claim 1, characterized in that, the upper wheel set assembly and the lower wheel set assembly have the same structure; both include: a wheel set pushing cylinder, with a wheel set push rod arranged at the front of the wheel set pushing cylinder, a wheel set fixing plate arranged at the front end of the wheel set push rod, a wheel set motor arranged 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, and a wheel set adaptive assembly is fixed to the front end of the wheel set coupling; wherein, the wheel set adaptive assembly includes: a wheel set fixing seat, the inside of which is hollowly arranged to form a cavity for linear sliding; an adaptive fixing rod, with a limiting ear arranged at one end of the adaptive fixing rod. The end with the limiting ear is fixed inside the cavity. A spring is arranged inside the cavity, and one end of the spring is fixed inside the cavity, and 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 universal wheel.

5. The plugging device for damaged wells according to claim 1, characterized in that, The moving component includes: a frame fixed outside the box body, and a rectangular frame is arranged on the outer side of the frame; A base is arranged at the bottom of the frame, a transverse linear motor is arranged at one end of the base, and a linear bearing block is arranged at the other end of the base; a lower slide rail is arranged on the base, and the lower slide rail is arranged between the transverse linear motor and the linear bearing block; A transverse linear lead screw, one end of which is fixed to the motor shaft of the transverse linear motor through a linear coupling, and the other end is fixed in the linear bearing block; A transverse linear nut is arranged on the transverse linear lead screw, the transverse linear nut is embedded inside a transverse slide plate, and the transverse slide plate is matched and installed with the lower slide rail; An upper slide rail is arranged at the upper part of the frame, an upper slider is arranged on the upper slide rail, and a vertical bearing block is embedded inside the upper slider; A vertical linear motor is arranged on the transverse slide plate, the motor shaft of the vertical linear motor is connected to a vertical linear lead screw through a vertical coupling, and the end of the vertical linear lead screw is fixed in the vertical bearing block; A vertical linear nut is arranged on the vertical linear lead screw, the vertical linear nut is embedded inside a vertical slide plate, and a drill bit assembly is arranged on the vertical slide plate.

6. The casing damage well plugging device according to claim 1 or 5, characterized in that the drill bit assembly includes: a drill bit pushing cylinder, a drill bit pushing push rod arranged on the drill bit pushing cylinder, a drill bit pushing fixing plate arranged at the front end of the drill bit pushing push rod, a drill bit rotating motor arranged on the drill bit pushing fixing plate, and the front end of the drill bit rotating motor is connected to a drill bit through a drill bit coupling.

7. The casing damage well plugging device according to claim 1, characterized in that a partition is arranged inside the box body and on one side of the pressing plate, and vertical plates are arranged at the upper, middle and lower positions of the partition; The upper and lower vertical plates are used to arrange the pushing cylinder assembly; The vertical plate at the middle position is used to arrange the grouting pipe clamping assembly; Wherein, the pushing cylinder assembly includes: a pressing plate pushing cylinder, a pressing plate push rod is arranged at the front end of the pressing plate pushing cylinder, and the front end of the pressing plate push rod is fixed to the pressing plate; The grouting pipe clamping assembly includes: a grouting clamping cylinder, a grouting clamping push rod is arranged at the front end of the grouting clamping cylinder, a clamping seat is arranged on the grouting clamping push rod, a horizontal moving component is arranged on the clamping seat, a vertical moving component is arranged on the horizontal moving component, a clamping cylinder is arranged on the vertical moving component, a clamping jaw is arranged on the clamping cylinder, a clamping sleeve is arranged on the clamping jaw, the grouting pipe is located inside the clamping sleeve, and one end of the grouting pipe is connected to a pipe reel.

8. A casing damage well plugging method, using the casing damage well plugging device according to any one of claims 1-7, characterized in that it includes the following steps: 1) Connect the control device to the host computer, and set the actions of the control device through the host computer; 2) Place the casing damage plugging device on one side of the tubing at the wellhead position. The drive control device controls the upper wheel set assembly and the lower wheel set assembly to extend respectively to act on the wellbore, and with the assistance of a rope, temporarily fix the casing damage plugging device at the wellhead. Inject the mixed cement mortar through the inlet on the grouting tank, and then lower the casing damage plugging device along the wellbore to the damaged part under the action of the upper wheel set assembly and the lower wheel set assembly and with the assistance of the rope; 3) Obtain an image of the damaged part through the first camera assembly or the second camera assembly. Transmit the image to the host computer through the control device, and the host computer processes the image to obtain the actual situation of the damaged part; 4) Judge whether to clean the damaged part based on the actual situation of the damaged part. If cleaning is required, the drive control device controls the horizontal linear motor and / or the vertical linear motor to act to move the position of the group drill bit assembly so that the drill bit cleans the damaged part; 5) After cleaning, the control device controls the rotation motor assembly to act to rotate the box body so that one side of the pressing plate rotates to the damaged part. The pushing cylinder assembly and the grouting pipe clamping assembly simultaneously press the pressing plate on the damaged part under the control of the control device, and completely cover the damaged part with the pressing plate. Then, the control device controls the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the damaged part. During the grouting process, the control device controls the up, down, left, and right regular movements of the grouting pipe clamping assembly to control the spraying direction of the grouting pipe, so as to complete the grouting of the damaged part to achieve the plugging purpose. At the same time, the control device judges the grouting degree by collecting the real-time pressure data of the pressure sensor outside the pressing plate; and during the grouting process, the pressing plate is used to form a closed space for the damaged part and play a shaping role for the cement mortar sprayed into the damaged part.

9. A control system for controlling the casing damage plugging device according to any one of claims 1-7, characterized in that, the control system includes: a host computer, and a control device, the control device has: a housing, and on both sides of the housing, there are integrally provided connecting plates for fixing with the lower wheel set bracket provided at the lower part of the casing damage plugging device; inside the housing, there are provided: a power control module, a control logic module, and an operation control module; the operation control module is connected to the control logic module, and the control logic module is connected to the host computer through an interface via a cable or a wireless communication module; wherein, the power control module includes: a first power supply mode control unit for accessing the power system through a cable to form a first power supply mode to supply power to the casing damage plugging device and the control device; a second power supply mode control unit for supplying power to the casing damage plugging device and the control device by accessing the backup power supply provided inside the housing to form a second power supply mode; and a fault switching unit; 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, and the first power supply mode is used to supply power to the casing damage well plugging device and the control device. After a fault occurs in the first power supply mode, 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 damage well plugging device and the control device; Among them, the operation control module includes the following action modes: For driving the operation control module based on the operation of the upper computer through the control logic module to control the upper wheel set assembly and the lower wheel set assembly to extend and act on the well wall respectively; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the first camera assembly or the second camera assembly to obtain an image of the casing damage part, and transmit the image to the upper computer through the acquisition of the operation control module and then through the control logic module, and the upper computer processes the image to obtain the actual situation of the casing damage part; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the horizontal linear motor and / or the vertical linear motor to act to move the position of the drill bit assembly so that the drill bit cleans the casing damage part; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the rotation motor assembly to act to rotate the box body at any angle; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the pushing cylinder assembly and the grouting pipe clamping assembly to press the pressing plate on the casing damage part at the same time and completely cover the casing damage part with the pressing plate; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the grouting pump and the pressure pump to spray the cement mortar inside the grouting tank on the casing damage part; And, for driving the operation control module based on the operation of the upper computer through the control logic module to control the vertical movement assembly and the horizontal movement assembly to perform regular up, down, left, and right movements during the grouting process to control the spraying direction of the grouting pipe, so as to complete the grouting of the casing damage part to achieve the plugging purpose; And, for driving the operation control module based on the operation of the upper computer through the control logic module to judge the grouting degree and control the grouting operation by collecting the real-time pressure data of the pressure sensor outside the pressing plate.

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