Peristaltic propulsion device for continuous coiled tubing drilling of natural gas hydrates

Abstract

A peristaltic propelling device for natural gas hydrate continuous pipe drilling is provided, comprising a hollow cylindrical body. A peristaltic mechanism, a front gripping mechanism and a rear gripping mechanism are installed in the body, and a first controller for controlling the above-mentioned mechanisms is installed. The front gripping mechanism and the rear gripping mechanism are configured to be alternately engaged and disengaged with the well wall under the control of the first controller. The peristaltic mechanism is configured to extend when the rear gripping mechanism is engaged with the well wall and the front gripping mechanism is disengaged with the well wall, and to retract when the front gripping mechanism is engaged with the well wall and the rear gripping mechanism is disengaged with the well wall, so as to realize peristaltic movement of the peristaltic propelling device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of oil drilling, in particular to a peristaltic propelling device for continuous pipe drilling of natural gas hydrate. BACKGROUND

[0002] The reserves of natural gas hydrate are huge. According to incomplete statistics, the reserves of natural gas hydrate are more than twice the reserves of traditional oil and gas resources, and it is possible to become the main alternative energy source in the future.

[0003] More than 90% of the natural gas hydrate resources in the world are distributed on the continental shelf seabed, and the occurrence state in the stratum mainly includes pore filling, block and vein. The natural gas hydrate is generally shallowly buried, and the hydrate in the permafrost zone is generally buried within a range of several hundred meters, and the hydrate in the sea area is generally located within a range of several hundred meters below the seabed.

[0004] Conventional deepwater drilling generally needs to drill several kilometers on the seabed, and large deepwater semi-submersible drilling platforms, large deepwater drilling ships and other equipment are mostly used. If it is applied to the drilling operation of natural gas hydrate, it will cause great waste. The continuous pipe drilling technology can ensure the reservoir drilling rate, increase the reservoir drainage area and improve the development efficiency, and the composite continuous pipe drilling machine is light in weight and small in footprint, and the drilling depth capacity (up to 3000m) is sufficient to meet the needs of the drilling operation of the sea area natural gas hydrate. Therefore, the equipment related to the continuous pipe drilling technology can be directly installed on a medium or small drilling ship or workover ship, which is beneficial to reduce the drilling cost. Therefore, the continuous pipe drilling technology has a broad application prospect in the drilling of the sea area natural gas hydrate.

[0005] Due to the shallow burial of the sea area natural gas hydrate, the loose geology and the poor cementation of the rock and soil, the directional difficulty is caused in the process of horizontal well drilling, and due to the large dogleg of the horizontal well drilling, the pipe string cannot be rotated in the process of continuous pipe drilling, which causes large friction resistance of the pipe string and difficulty in horizontal extension. The existing continuous pipe tractor or crawler mostly adopts hydraulic drive, and the structure is very complex, and the stability needs to be improved,

[0006] Therefore, a device with simple structure, high stability and suitable for the continuous pipe drilling of the sea area natural gas hydrate is urgently needed, which can solve the directional difficulty and improve the horizontal extension capacity of the continuous pipe. SUMMARY

[0007] In view of the above technical problems, the present application aims to provide a peristaltic propelling device for continuous pipe drilling of natural gas hydrate. The device has a simple structure and can stably realize peristaltic propulsion.

[0008] According to the present application, a peristaltic propulsion device for natural gas hydrate continuous pipe drilling is provided, comprising a hollow cylindrical body. A peristaltic mechanism, a front gripping mechanism and a rear gripping mechanism are installed in the body, as well as a first controller for controlling the above mechanisms. The front gripping mechanism and the rear gripping mechanism are configured to be alternately engaged and disengaged with the well wall under the control of the first controller. The peristaltic mechanism is configured to extend when the rear gripping mechanism is engaged with the well wall and the front gripping mechanism is disengaged with the well wall, and to retract when the front gripping mechanism is engaged with the well wall and the rear gripping mechanism is disengaged with the well wall, thereby realizing peristaltic movement of the peristaltic propulsion device.

[0009] In one embodiment, the peristaltic mechanism comprises a first motor, a first retractable structure, and a first connecting plate fixedly connected with the first retractable structure and the front gripping mechanism. The first motor is configured to rotate to drive the first retractable structure to extend, thereby driving the first connecting plate to move in the body, in response to a command from the first controller.

[0010] In one embodiment, the peristaltic mechanism further comprises a second motor, a second retractable structure, and a second connecting plate fixedly connected with the second retractable structure and the rear gripping mechanism. The second motor is configured to rotate to drive the second retractable structure to extend, thereby driving the second connecting plate to move in the body, in response to a command from the first controller.

[0011] In one embodiment, an inner cylinder is installed in the body by a centralizer, and the first controller, the first motor, the first retractable structure, the second motor and the second retractable structure are all installed in the inner cylinder.

[0012] In one embodiment, the body and the inner cylinder are arranged in a spaced apart manner, and the first connecting plate and the second connecting plate are both provided with through holes for forming a passage for the flow of downhole fluid.

[0013] In one embodiment, the front gripping mechanism comprises a front driving unit and a front action unit, and the rear gripping mechanism comprises a rear driving unit and a rear action unit. The front driving unit and the rear driving unit are both capable of outputting rotation under the control of the first controller, and the front action unit and the rear action unit are capable of radially extending and retracting in response to the rotation of the front driving unit and the rear driving unit, respectively, thereby forming engagement or releasing engagement with the well wall.

[0014] In one embodiment, the front drive unit comprises a second controller, a third motor and a first rotating wheel, the second controller is configured to receive signals from the first controller to drive the third motor to rotate, and finally drive the first rotating wheel to rotate. The rear drive unit comprises a third controller, a fourth motor and a second rotating wheel, the third controller is configured to receive signals from the first controller to drive the fourth motor to rotate, and finally drive the second rotating wheel to rotate.

[0015] In one embodiment, the front action unit comprises a front gear assembly and a front radial telescopic assembly, the front gear assembly is connected with the first rotating wheel and converts the rotation of the first rotating wheel into the radial telescopic movement of the front radial telescopic assembly, the front radial telescopic assembly comprises a front anchor claw for clamping the well wall when the front radial telescopic assembly is radially extended. The rear action unit comprises a rear gear assembly and a rear radial telescopic assembly, the rear gear assembly is connected with the second rotating wheel and converts the rotation of the second rotating wheel into the radial telescopic movement of the rear radial telescopic assembly, the rear radial telescopic assembly comprises a rear anchor claw for clamping the well wall when the rear radial telescopic assembly is radially extended.

[0016] In one embodiment, the front gear assembly and the rear gear assembly each comprise a central conical gear and a driven conical gear meshing with the central conical gear. The front radial telescopic assembly and the rear radial telescopic assembly each comprise a lead screw, a nut, a radial sliding rail and a top rod, wherein the lead screw is capable of rotating under the action of the driven conical gear, so as to make the nut slide along the sliding rail, and further drive the top rod and the front anchor claw or the rear anchor claw mounted at the end of the top rod to move radially.

[0017] In one embodiment, the first controller is configured to: actuate the rear gripping mechanism to act, so as to make the rear anchor claw in the rear action unit engage with the well wall; actuate the peristaltic mechanism to act, so as to make the first telescopic structure and the second telescopic structure extend simultaneously; actuate the front gripping mechanism to act, so as to make the front anchor claw in the front action unit engage with the well wall; actuate the rear gripping mechanism to act, so as to release the engagement of the rear anchor claw with the well wall; actuate the peristaltic mechanism to act, so as to make the first telescopic structure and the second telescopic structure retract simultaneously; actuate the front gripping mechanism to act, so as to release the engagement of the front anchor claw with the well wall.

[0018] The present application is based on the principle of simulating the peristaltic movement of a caterpillar, and proposes a propelling device for natural gas hydrate continuous pipe drilling. In the process of directional section and horizontal section drilling, the peristaltic propelling device according to the present application can stabilize the downhole drilling assembly, and at the same time, provide strong mechanical support for the directional build-up tool, thereby improving the build-up capacity of the shallow soft formation of the sea natural gas hydrate. At the same time, the peristaltic propelling device according to the present application can also pressurize the drill bit, improve the extension capacity of the continuous pipe horizontal well drilling, and provide an economical and reliable technical means for the drilling and mining of natural gas hydrate. At the same time, the peristaltic propelling device according to the present application is driven by electricity, compared with the hydraulic drive mode, the structure is simpler, the reliability is higher, and the cost is lower. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be described below with reference to the accompanying drawings.

[0020] Figure 1 The overall structure of the peristaltic propelling device for natural gas hydrate continuous pipe drilling according to the present application is schematically shown in the form of a sectional view.

[0021] Figures 2A to 2G Each action process in one working cycle of the peristaltic propelling device for natural gas hydrate continuous pipe drilling is shown respectively.

[0022] In the present application, all the drawings are schematic drawings, only for illustrating the principle of the present application, and are not drawn according to the actual proportion. In all the drawings, the same reference signs are used to represent the same parts or structures. DETAILED DESCRIPTION

[0023] The present application will be described below with reference to the accompanying drawings. For the convenience of understanding, in the present application, the direction close to the wellhead is defined as the front end, the front, or similar terms, and the direction away from the wellhead is defined as the rear end, the rear, or similar terms; at the same time, the length direction of the peristaltic propelling device is called the longitudinal direction, the axial direction, or similar terms, and the direction perpendicular thereto is called the transverse direction, the radial direction, or similar terms.

[0024] Figure 1 The overall structure of the peristaltic propelling device 100 for natural gas hydrate continuous pipe drilling according to the present application is shown. As shown in Figure 1 The peristaltic propelling device 100 includes a cylindrical hollow body 1, and a hollow inner cylinder 6 installed in the body 1. A gap is formed between the inner cylinder 6 and the body 1 for the downhole fluid (such as drilling fluid) to flow therethrough. The inner cylinder 6 is fixed in the body 1 by a centralizer 7, so as to maintain its centered state in the body 1. In the illustrated embodiment, the centralizer 7 can be fixed on the inner wall of the body 1 by bolts 52.

[0025] A first controller 2 is installed in the inner cylinder 6. In the illustrated embodiment, the first controller 2 is a hydraulic cylinder, and the inner cylinder 6 is a piston rod of the hydraulic cylinder.Figure 1 In the preferred embodiment shown, the first controller 2 is installed in the central region of the inner cylinder 6, which is used to receive ground signals and issue control instructions to control the various mechanisms in the peristaltic propulsion device 100. The first controller 2 is the core control unit in the peristaltic propulsion device 100, and its specific functions will be described below

[0026] According to the present application, the peristaltic mechanism 40, the front gripping mechanism 41 and the rear gripping mechanism 42 (see Figure 2A ) are installed in the body 1. Among them, the peristaltic mechanism 40 includes two groups of components arranged axially symmetrically around the first controller 2. Specifically, as Figure 1 shown, the peristaltic mechanism 40 includes a first battery 3, a first motor 4, a first telescopic structure 5 and a first connecting plate 11 located in front of the first controller 2. The first motor 4 is powered by the first battery 3 and is connected to the first controller 2 and the first telescopic structure 5. Therefore, under the control of the instructions issued by the first controller 2, the first motor 4 rotates in the first direction, thereby driving the first telescopic structure 5 to extend. The first connecting plate 11 is slidably installed in the body 1 and is fixedly connected to the first telescopic structure 5. In this way, when the first telescopic structure 5 extends, the first connecting plate 11 also moves.

[0027] Similarly, on the other hand, the peristaltic mechanism 40 includes a second battery 8, a second motor 9, a second telescopic structure 10 and a second connecting plate 11 located behind the first controller 2. The second motor 9 is powered by the second battery 8 and is connected to the first controller 2 and the second telescopic structure 10. Therefore, under the control of the instructions issued by the first controller 2, the second motor 9 rotates in the second direction, thereby driving the second telescopic structure 10 to extend. The second connecting plate 11 is slidably installed in the body 1 and is fixedly connected to the second telescopic structure 10. In this way, when the second telescopic structure 10 extends, the second connecting plate 11 also moves.

[0028] That is, as described above, the peristaltic mechanism 40 can move as a whole forward or backward under the control of the first controller 2, and the moving distance is equal to the sum of the extension distances of the first telescopic structure 5 and the second telescopic structure 10.

[0029] According to a specific embodiment of the present application, the first telescopic structure 5 and the second telescopic structure 10 can be formed by a ball screw structure or a piston connecting rod mechanism.

[0030] In addition, a plurality of uniformly arranged through holes 51 are provided on the connecting plate 11 in the circumferential direction for the downhole fluid (such as drilling fluid) to flow through.

[0031] As Figure 1 and 2AAs shown, the front gripping mechanism 41 includes a front driving unit and a front acting unit. The front driving unit includes the second controller 12, the third battery 13, the third motor 14 and the first rotating wheel 15. The second controller 12 is used to receive control instructions from the first controller 2, thereby controlling the rotation of the third motor 14. The third motor 14 is powered by the third battery 13 and can drive the first rotating wheel 15 to rotate. The whole front driving unit is installed in the slide cylinder 17 and is fixedly connected with the first connecting plate 11, so as to move forward or backward with the first connecting plate 11.

[0032] The front acting unit is connected with the front driving unit and includes a front gear assembly connected with the rotating wheel 15 and a front radial telescopic assembly connected with the front gear assembly. Specifically, the front gear assembly includes the first connecting rod 16 connected with the first rotating wheel 15, the first driving bevel gear 18 installed on the first connecting rod 16, and two first driven bevel gears 19a and 19b engaged with the first driving bevel gear 18. The front radial telescopic assembly includes two sets of parts arranged oppositely in the radial direction, which are respectively connected with the first driven bevel gears 19a and 19b. Specifically, each set includes a lead screw 20, a nut 21, a top rod 22, a slide rail 23 and a front anchor claw 24. For example, the top set is taken, the lead screw 20 is connected with the first driven bevel gear 19a, so as to rotate when the first driven bevel gear 19a rotates, so as to push the nut 21 to move along the slide rail 23, and then drive the top rod 22 to move. In this way, the front anchor claw 24 fixed at the end of the top rod 22 can extend radially out of the body 1 or be retracted into the body 1. Figure 1

[0033] As shown in Figure 1 and 2A The rear gripping mechanism 42 includes a rear driving unit and a rear acting unit. The rear driving unit includes the third controller 25, the fourth battery 26, the fourth motor 27 and the second rotating wheel 28. The third controller 25 is used to receive control instructions from the first controller 2, thereby controlling the rotation of the fourth motor 27. The fourth motor 27 is powered by the fourth battery 26 and can drive the second rotating wheel 28 to rotate. The whole rear driving unit is installed in the slide cylinder 17 and is fixedly connected with the second connecting plate 11, so as to move backward or backward with the second connecting plate 11.

[0034] ​The rear action unit is connected with the rear driving unit, and comprises a rear gear assembly connected with the rotating wheel 28, and a rear radial telescopic assembly connected with the rear gear assembly. Specifically, the rear gear assembly comprises a second connecting rod 29 connected with the second rotating wheel 28, a second driving bevel gear 30 mounted on the second connecting rod 29, and two second driven bevel gears 31a and 31b engaged with the second driving bevel gear 30. The rear radial telescopic assembly comprises two sets of parts oppositely arranged in the radial direction, and is connected with the second driven bevel gears 31a and 31b respectively. Specifically, each set comprises a screw rod 32, a nut 33, a top rod 34, a slide rail 35, and a rear anchor claw 36. With the set in the upper middle as an example, the screw rod 32 is connected with the second driven bevel gear 31a, so as to rotate when the second driven bevel gear 31a rotates, so as to push the nut 32 to move along the slide rail 35, and further drive the top rod 34 to move. In this way, the rear anchor claw 36 fixed at the end of the top rod 34 can extend radially out of the body 1 or be retracted into the body 1. Figure 1 With the set in the upper middle as an example, the screw rod 32 is connected with the second driven bevel gear 31a, so as to rotate when the second driven bevel gear 31a rotates, so as to push the nut 32 to move along the slide rail 35, and further drive the top rod 34 to move. In this way, the rear anchor claw 36 fixed at the end of the top rod 34 can extend radially out of the body 1 or be retracted into the body 1.

[0035] The working processes of the peristaltic propulsion device 100 in a working cycle according to the present application will be described below with reference to the accompanying drawings. Figures 2A to 2G

[0036] As shown in FIG. 2, the peristaltic propulsion device 100 is in an initial state, in which the peristaltic mechanism 40 is in an original position. At this time, the front anchor claw 24 and the rear anchor claw 36 are both in an initial state, i.e., retracted into the body 1 in the radial direction. Figure 2A

[0037] As shown in FIG. 3, when the first controller 2 receives a propulsion signal transmitted from the ground, the third controller 25 of the rear gripping mechanism 42 is instructed. At this time, the third controller 25 controls the fourth motor 27 to rotate, so as to drive the second driving bevel gear 30 of the rear action unit to rotate through the second rotating wheel 28 and the second connecting rod 29. Under the action of gear engagement transmission, the second driven bevel gears also rotate, so as to drive the screw rod 32 to rotate. In this way, the nut 32 slides outwards along the slide rail 35, and further drives the top rod 34 to move radially outwards. At this time, the rear anchor claw 36 extends radially outwards, so as to be clamped to the well wall. Figure 2B

[0038] As shown in FIG. 4, the first controller 2 then controls the peristaltic mechanism 40 to extend. Specifically, the first controller 2 controls the first motor 4 and the second motor 9 to rotate in opposite directions, so as to drive the first telescopic structure 5 and the second telescopic structure 10 to extend simultaneously. Since the rear anchor claw 36 is clamped to the well wall at this time, the front part of the propulsion device 100 (i.e., the part where the front gripping mechanism 41 is located) will move forward by a distance equal to the sum of the extension distances of the first telescopic structure 5 and the second telescopic structure 10. Figure 2C ​​​​

[0039] like Figure 2D As shown, the first controller 2 then issues a command to the second controller 12 of the forward gripping mechanism 41. At this time, the second controller 12 controls the third motor 14 to rotate, thereby driving the first active bevel gear 18 of the front action unit to rotate through the first rotating wheel 15 and the first connecting rod 16. Under the action of gear meshing transmission, the first driven bevel gear also rotates, thereby driving the lead screw 20 to rotate. In this way, the nut 21 slides outward along the slide rail 23, thereby driving the push rod 22 to move radially outward. At this time, the front anchor claw 24 extends radially outward, thereby locking the well wall.

[0040] like Figure 2E As shown, the first controller 2 sends a command to the third controller 25 of the rear gripping mechanism 42 to execute actions related to... Figure 2B The opposite series of actions are then performed. At this point, the rear anchor claw 36 retracts inward into the body 1, thus no longer jamming the well wall.

[0041] like Figure 2F As shown, the first controller 2 then controls the peristaltic mechanism 40 to contract. Specifically, the first controller 2 controls the first motor 4 and the second motor 9 to each move along the path corresponding to the action performed. Figure 2C The opposite rotation causes the first retractable structure 5 and the second retractable structure 9 to retract simultaneously. Since the front anchor claw 24 is now engaged with the well wall while the rear anchor claw 36 is no longer engaged, the rear part of the propulsion device 100 (i.e., the part where the rear gripping mechanism 42 is located) will also move forward a distance equal to the distance moved by the front part of the propulsion device 100.

[0042] like Figure 2G As shown, the first controller 2 issues a command to the second controller 12 of the forward gripping mechanism 41 to execute actions related to... Figure 2D The opposite series of actions are then performed. At this point, the front anchor claw 24 retracts inward into the body 1, thus no longer jamming the well wall.

[0043] contrast Figure 2A and Figure 2G It can be seen that the propulsion device 100 as a whole moves forward by a distance equal to the sum of the extension distances of the first retractable structure 5 and the second retractable structure 10. Thus, the peristaltic propulsion device 100 for continuous tubing drilling of natural gas hydrates according to the present invention completes one cycle of forward motion, from... Figure 2A The indicated position is "creeping" forward. Figure 2G The position is shown. In one embodiment, a step distance of the downhole creep thruster 100 can be set to 2m.

[0044] From the above, when the current anchor jaw 26 and / or the rear anchor jaw 36 is stuck to the well wall, the drilling fluid can still flow normally via the annulus between the inner barrel 6 and the body 1 and the through holes 51 on the first and second connecting plates 11, and the functions are not affected.

[0045] It is easy to understand that if the peristaltic propulsion device 100 needs to peristaltic backwards, the above series of actions can be performed in reverse order.

[0046] The application is based on the principle of imitating the peristalsis of caterpillar, and proposes a peristaltic propulsion device for continuous pipe drilling of natural gas hydrate. In the process of drilling in the directional section and the horizontal section, the peristaltic propulsion device according to the application can stabilize the downhole drilling assembly, and at the same time, provide strong mechanical support for the directional build-up tool, thereby improving the build-up capacity of the shallow soft stratum of natural gas hydrate in the sea area. At the same time, the peristaltic propulsion device according to the application can also pressurize the drill bit, improve the extension capacity of the continuous pipe horizontal well drilling, and provide an economical and reliable technical means for drilling and mining of natural gas hydrate. At the same time, the peristaltic propulsion device according to the application is driven by electricity, compared with the hydraulic drive mode, the structure is simpler, the reliability is higher, and the cost is lower.

[0047] It should be noted that the positions of each motor, battery and other components shown in the figure are schematic, and they can be set at appropriate positions according to the needs of specific conditions.

[0048] Finally, it should be noted that the above only describes the preferred embodiments of the application, and does not constitute any limitation on the application. Although the application has been described in detail with reference to the foregoing embodiments, the skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A peristaltic propelling device (100) for continuous pipe drilling of natural gas hydrate, comprising a hollow cylindrical body (1), a peristaltic mechanism (40), a front gripping mechanism (41) and a rear gripping mechanism (42) installed in the body (1), and a first controller (2) for controlling the above-mentioned mechanisms, wherein the front gripping mechanism (41) and the rear gripping mechanism (42) are configured to be alternately engaged and disengaged with the well wall under the control of the first controller (2), the peristaltic mechanism (40) comprises a first motor (4), a first telescopic structure (5), and a first connecting plate fixedly connected with the first telescopic structure (5) and the front gripping mechanism (41), wherein the first motor (4) is configured to rotate to drive the first telescopic structure (5) to extend, thereby driving the first connecting plate to move in the body (1), under the instruction of the first controller (2), the peristaltic mechanism (40) further comprises a second motor (9), a second telescopic structure (10), and a second connecting plate fixedly connected with the second telescopic structure (10) and the rear gripping mechanism (42), wherein the second motor (9) is configured to rotate to drive the second telescopic structure (10) to extend, thereby driving the second connecting plate to move in the body (1), under the instruction of the first controller (2), the peristaltic mechanism (40) is configured to extend when the rear gripping mechanism (42) is engaged with the well wall and the front gripping mechanism (41) is disengaged with the well wall, and to retract when the front gripping mechanism (41) is engaged with the well wall and the rear gripping mechanism (42) is disengaged with the well wall, thereby realizing the peristaltic movement of the peristaltic propelling device (100).

2. The peristaltic pumping device (100) according to claim 1, characterized in that It further comprises an inner cylinder (6) installed in the body (1) by a centralizer (7), and the first controller (2), the first motor (4), the first telescopic structure (5), the second motor (9), and the second telescopic structure (10) are all installed in the inner cylinder (6).

3. The peristaltic pumping device (100) according to claim 2, characterized in that The body (1) and the inner cylinder (6) are arranged in a spaced-apart manner, and the first connecting plate and the second connecting plate are both provided with through holes (51) for forming a channel for the flow of downhole fluid.

4. The peristaltic pumping device (100) according to any one of claims 1 to 3, characterized in that The front gripping mechanism (41) comprises a front driving unit and a front action unit, and the rear gripping mechanism (42) comprises a rear driving unit and a rear action unit, wherein the front driving unit and the rear driving unit can both output rotation under the control of the first controller (2), and the front action unit and the rear action unit can respectively radially extend and retract in response to the rotation of the front driving unit and the rear driving unit, thereby forming engagement or releasing engagement with the well wall.

5. The peristaltic pumping device (100) according to claim 4, characterized in that The front driving unit comprises a second controller (12), a third motor (14), and a first rotating wheel (15), and the second controller (12) is configured to receive signals from the first controller (2) to drive the third motor (14) to rotate, and ultimately drive the first rotating wheel (15) to rotate, The rear driving unit comprises a third controller (25), a fourth motor (27) and a second rotary wheel (28), the third controller (25) is configured to receive signals from the first controller (2) to drive the fourth motor (27) to rotate, and finally drive the second rotary wheel (28) to rotate.

6. The peristaltic pumping device (100) according to claim 5, characterized in that The front action unit comprises a front gear assembly and a front radial telescopic assembly, the front gear assembly is connected with the first rotary wheel (15) and converts the rotation of the first rotary wheel (15) into the radial telescopic movement of the front radial telescopic assembly, the front radial telescopic assembly comprises a front anchor claw for clamping the well wall when the front radial telescopic assembly is radially extended, The rear action unit comprises a rear gear assembly and a rear radial telescopic assembly, the rear gear assembly is connected with the second rotary wheel (28) and converts the rotation of the second rotary wheel (28) into the radial telescopic movement of the rear radial telescopic assembly, the rear radial telescopic assembly comprises a rear anchor claw for clamping the well wall when the rear radial telescopic assembly is radially extended.

7. The peristaltic pumping device (100) according to claim 6, characterized in that The front and rear gear assemblies each comprise a central conical gear and a driven conical gear meshing with the central conical gear, The front and rear radial telescopic assemblies each comprise a lead screw, a nut, a radial sliding rail and a top rod, wherein the lead screw can rotate under the action of the driven conical gear, so as to make the nut slide along the sliding rail, and then drive the top rod and the front anchor claw or the rear anchor claw installed at the end of the top rod to move radially.

8. The peristaltic pumping device (100) according to claim 7, characterized in that The first controller (2) is configured to: actuate the rear gripping mechanism to act, so that the rear anchor claw in the rear action unit engages with the well wall; actuate the peristaltic mechanism to act, so that the first telescopic structure and the second telescopic structure are simultaneously extended; actuate the front gripping mechanism to act, so that the front anchor claw in the front action unit engages with the well wall; actuate the rear gripping mechanism to act, so that the engagement of the rear anchor claw with the well wall is released; actuate the peristaltic mechanism to act, so that the first telescopic structure and the second telescopic structure are simultaneously retracted; actuate the front gripping mechanism to act, so that the engagement of the front anchor claw with the well wall is released.

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