A coiled tubing drilling machine, system, model and design method

Abstract

The application is suitable for the technical field of drilling equipment, and provides a coiled tubing drilling machine unjamming device, system, model and design method.The device comprises a driving shaft, a primary lever and a secondary lever.The secondary lever is rotationally connected with the frame through a secondary fulcrum, and a secondary sliding groove and an output sliding groove are further arranged on the secondary lever.A transmission end is further fixedly arranged on the primary lever, and the transmission end is slidingly connected with the secondary sliding groove to drive the secondary lever to rotate around the secondary fulcrum.An output end is slidingly arranged on the output sliding groove.The scheme can significantly amplify the thrust of the input end through the shaking type unjamming mechanism, and then drive the coiled tubing to implement axial high-frequency shaking under the action of large thrust, so that efficient unjamming can be realized when the drill pipe is stuck, and the problem of drill pressure loss caused by the static friction between the coiled tubing and the hole wall can be effectively overcome.

Description

Technical Field

[0001] This invention belongs to the field of drilling equipment technology, and in particular relates to a device, system, model and design method for unjamming a continuous tubing drilling rig. Background Technology

[0002] A coiled tubing drill rig is a drilling device used for drilling in soil or underground rock formations. It achieves continuous drilling operations by rotating the drill pipe and drill bit, advancing the drill pipe while simultaneously recovering rock cuttings. Compared to traditional drilling methods, coiled tubing drill rigs are highly efficient, stable, and safe. A coiled tubing drill rig mainly consists of drill pipe, drill bit, drive system, and mud circulation system. The drill pipe consists of one or more sections, each with a connector, allowing the drill pipe to extend continuously during drilling. Through the drive system, the drill pipe and drill bit are rotated and advanced underground, while the mud circulation system feeds mud into the drill pipe and removes rock cuttings.

[0003] During drilling with coiled tubing, problems such as borehole collapse, mudstone necking, and drill cuttings accumulation can easily occur, leading to stuck drill bits. However, because coiled tubing drilling rigs cannot drive the drill string to rotate axially, they cannot achieve the powerful retrieval methods used by traditional rotary directional drilling rigs, such as continuous torsional tripping during drilling.

[0004] Therefore, it can be seen that existing coiled tubular drilling rigs are susceptible to jamming during operation, and it is difficult to effectively and quickly unscramble the drill bit after it gets stuck, which significantly affects the operating efficiency and reliability of the coiled tubular drilling rig. Summary of the Invention

[0005] The purpose of this application is to provide a device for unblocking a coiled tubing drilling rig, which aims to solve the problem that existing coiled tubing drilling rigs are easily affected by stuck drills during operation, and it is difficult to effectively and quickly unblock them after they are stuck, resulting in low operating efficiency and reliability of the coiled tubing drilling rig.

[0006] This application provides a coiled tubing rig unsticking device, which includes:

[0007] A drive shaft, one end of which is fixed to the motor shaft of a drive motor, is fixedly connected to the base frame and is used to drive the drive shaft to rotate around its connection point with the drive motor. A primary lever is rotatably connected to the frame via a primary fulcrum and is also provided with a primary slide groove. An input end is fixedly provided on the drive shaft and is slidably connected to the primary slide groove, used to drive the primary lever to rotate around the primary fulcrum. A secondary lever is rotatably connected to the frame via a secondary fulcrum and is also provided with a secondary slide groove and an output slide groove. A transmission end is fixedly provided on the primary lever and is slidably connected to the secondary slide groove, used to drive the secondary lever to rotate around the secondary fulcrum. An output end is slidably provided on the output slide groove and is used to connect to the base of the drilling rig's chain roller system, so that the chain roller system applies high-frequency axial vibration excitation to the continuous pipe it supports.

[0008] Another objective of this application is to provide a coiled tubing rig unjamming system, which includes at least two of the aforementioned coiled tubing rig unjamming devices. When the coiled tubing rig unjamming system includes two coiled tubing rig unjamming devices, they are referred to as the first coiled tubing rig unjamming device and the second coiled tubing rig unjamming device. The output ends of the first coiled tubing rig unjamming device and the output ends of the second coiled tubing rig unjamming device are located on symmetrical sides of the chain roller system base of the coiled tubing rig.

[0009] Another objective of this application is to provide a model of a continuous tubing drilling rig unjamming device. The model includes: a drive shaft assembly, one end of which is fixed to the motor shaft of a drive motor assembly. The drive motor assembly is fixedly connected to a base frame assembly and is used to drive the drive shaft assembly to rotate around its connection point with the drive motor assembly; a primary lever assembly, which is rotatably connected to the frame assembly via a primary fulcrum. The primary lever assembly also has a primary slide groove. An input end is fixedly mounted on the drive shaft assembly, and the input end slides into the primary slide groove. A dynamic connection is provided to drive the primary lever assembly to rotate around the primary fulcrum; a secondary lever assembly is rotatably connected to the frame model via a secondary fulcrum, and the secondary lever assembly is also provided with a secondary slide groove and an output slide groove. A transmission end is fixedly provided on the primary lever assembly, and the transmission end is slidably connected to the secondary slide groove to drive the secondary lever assembly to rotate around the secondary fulcrum; an output end is slidably provided on the output slide groove, and the output end is used to connect to the base of the drilling rig's chain roller system model so that the chain roller system model applies high-frequency axial vibration excitation to the continuous pipe it supports.

[0010] Another objective of this application is to provide a design method for a coiled tubing rig unjamming device. The method includes the following steps: constructing a coiled tubing rig unjamming device model as described above; performing dynamic modeling on each component in the unjamming device model to obtain the dynamic equations of each component; summing the kinetic and potential energies in the dynamic equations of each component to obtain the total kinetic and potential energies of the system, and calculating the active force on the unjamming device model and the generalized force corresponding to each generalized coordinate caused by all contacts of all components, and obtaining the generalized force contributed by the constraints through Lagrange multipliers and the gradient of the constraints on the generalized coordinates to obtain the first type of Lagrange equations of the unjamming device model; transforming the first type of Lagrange equations into a general form to obtain the time-varying nonlinear differential-algebraic equations of the unjamming device model; solving the time-varying nonlinear differential-algebraic equations of the unjamming device model to obtain the transient time history response of the unjamming device model during a large-scale motion process, and then obtaining the motion trajectory and flexible body deformation state information of each component in the unjamming device model.

[0011] The coiled tubing drilling rig unjamming device provided in this application embodiment can significantly amplify the thrust at the input end, thereby driving the coiled tubing to perform axial high-frequency vibration under the action of large thrust. It can achieve efficient unjamming when encountering stuck drill problems, and can effectively overcome the drilling pressure loss problem caused by static friction between the coiled tubing and the borehole wall. Attached Figure Description

[0012] Figure 1 A schematic diagram of a coiled tubing rig unblocking device provided in an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of a coiled tubing drilling rig unblocking system provided in an embodiment of this application;

[0014] Figure 3 A schematic diagram of a rigid body element provided in an embodiment of this application;

[0015] Figure 4 A schematic diagram of a beam element provided in an embodiment of this application;

[0016] Figure 5 A flowchart of numerical integration for solving differential algebraic equations is provided in this application embodiment;

[0017] Figure 6 A schematic diagram of the maximum shear stress distribution of a two-stage lever section provided in this application embodiment;

[0018] Figure 7 An iterative process recording diagram provided for an embodiment of this application;

[0019] Figure 8A schematic diagram illustrating the load and deformation during the operation of a primary lever, provided as an embodiment of this application;

[0020] Figure 9 A schematic diagram illustrating the load and deformation during the operation of a two-stage lever, provided as an embodiment of this application;

[0021] Figure 10 A schematic diagram of a digital model of a coiled tubing rig unblocking system provided in this application embodiment;

[0022] Figure 11 A schematic diagram of a digital model of another coiled tubing rig unblocking system provided in this application embodiment;

[0023] Figure 12 A schematic diagram of a digital model of another coiled tubing rig unblocking system provided in this application embodiment;

[0024] Figure 13 This application provides a time-domain variation curve of the dual-lever drive torque, injection head thrust, and drill bit constraint force on both sides, as well as an embodiment thereof.

[0025] Figure 14 This application provides an embodiment of the load and deformation conditions of a primary lever during its operation.

[0026] Figure 15 This application provides an embodiment of the load and deformation conditions of a two-stage lever during its operation.

[0027] Figure 16 This application provides a time-domain variation curve of the dual-lever drive torque, injection head thrust, and drill bit constraint force on both sides, as well as an embodiment thereof.

[0028] Figure 17 This application provides an embodiment of the load and deformation conditions of a primary lever during its operation.

[0029] Figure 18 This application provides an embodiment of the load and deformation conditions of a two-stage lever during its operation.

[0030] Figure 19 A schematic diagram of a digital model of a coiled tubing rig unblocking system provided in this application embodiment;

[0031] Wherein: 10, motor shaft; 11, drive shaft; 12, input end; 20, primary fulcrum; 21, primary lever; 22, secondary fulcrum; 23, primary slide; 30, secondary fulcrum; 31, secondary lever; 32, secondary slide; 33, output end. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise stated, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this application, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0034] like Figure 1 As shown, in one embodiment, a coiled tubing rig unsticking device is proposed, characterized in that the coiled tubing rig unsticking device includes:

[0035] A drive shaft, one end of which is fixed to the motor shaft of a drive motor, the drive motor being fixedly connected to the base frame, and used to drive the drive shaft to rotate around its connection point with the drive motor.

[0036] A primary lever is rotatably connected to the frame via a primary fulcrum. The primary lever is also provided with a primary slide groove. An input end is fixedly provided on the drive shaft. The input end is slidably connected to the primary slide groove and is used to drive the primary lever to rotate around the primary fulcrum.

[0037] A secondary lever is rotatably connected to the frame via a secondary fulcrum. The secondary lever is also provided with a secondary slide groove and an output slide groove. A transmission end is fixedly provided on the primary lever. The transmission end is slidably connected to the secondary slide groove and is used to drive the secondary lever to rotate around the secondary fulcrum.

[0038] An output end is slidably provided on the output groove. The output end is used to connect to the base of the chain roller system of the drilling rig, so that the chain roller system applies high-frequency axial vibration excitation to the continuous pipe it supports.

[0039] Those skilled in the art will understand that, because coiled tubing drilling rigs cannot drive the drill string to rotate axially, the powerful continuous torsional retrieval method cannot be implemented on such rigs. To provide a feasible method for unjamming coiled tubing drilling rigs and solve the common problem of stuck drill bits in horizontal drilling in mines, a vibrating unjamming mechanism based on the lever principle is designed. This mechanism can amplify the thrust at the input end by tens of times, causing the coiled tubing to vibrate axially at high frequency under high thrust. This can unjamming when encountering stuck drill bits and effectively overcome the drilling pressure loss problem caused by the static friction between the coiled tubing and the borehole wall.

[0040] In this embodiment of the application, the working principle of the mechanism can be as follows: Figure 1 As shown, it consists of a drive shaft, a primary lever, a secondary lever, and an output end. The drive shaft is mounted to the base via a revolute joint. A short column extends from the drive shaft and connects to the primary lever via a straight slot, driving the primary lever to reciprocate around a fulcrum through rotational motion. The primary and secondary levers are also connected via straight slots, driving the secondary lever to reciprocate around a fulcrum. Finally, the secondary lever connects to the output end via a straight slot, driving the output end to reciprocate in a direction perpendicular to the paper. The output end is connected to its mounting base via a translational joint, ensuring that it can only reciprocate in a fixed direction.

[0041] In this embodiment, the drive disc base of the device is fixed to the frame of the injection head, while its output end is fixed to the base on one side of the injection head chain roller system. The double-lever device on the right is installed on the upper part, and the double-lever device on the left is installed on the lower part. When the chain roller system is clamping the continuous tube, the drive discs on both sides work synchronously to apply high-frequency axial vibration excitation to the continuous tube, thereby helping to release the drill string. At the same time, during normal operation, static friction can be converted into dynamic friction to reduce borehole wall friction.

[0042] In one embodiment, the drive shaft is disc-shaped, the motor shaft of the drive motor is connected to the center of the disc-shaped drive shaft, and the input end is located at the edge of the disc-shaped drive shaft.

[0043] In the embodiments of this application, the disc-shaped drive shaft enables the drive to have greater structural strength and balance.

[0044] In one embodiment, the distance between the input terminal and the first fulcrum is greater than the distance between the transmission terminal and the first fulcrum, and the distance between the transmission terminal and the second fulcrum is greater than the distance between the output terminal and the second fulcrum. The specific locations of the input terminal, the first fulcrum, the second fulcrum, the transmission terminal, and the output terminal can be as follows: Figure 1 As shown.

[0045] In this embodiment of the application, the torque can be amplified by the above-described configuration, thereby improving the vibration-assisted release effect.

[0046] In one embodiment, such as Figure 2 As shown, a coiled tubing rig unblocking system includes at least two coiled tubing rig unblocking devices as described above.

[0047] When the coiled tubing rig unblocking system contains two coiled tubing rig unblocking devices, they are referred to as the first coiled tubing rig unblocking device and the second coiled tubing rig unblocking device.

[0048] The output ends of the first continuous tubing rig unjamming device and the second continuous tubing rig unjamming device are located on opposite sides of the drill pipe base of the chain roller system of the rig.

[0049] In the embodiments of this application, the description of a coiled tubing drilling rig unblocking device is as described above, and will not be repeated here. Two relatively symmetrically arranged coiled tubing drilling rig unblocking devices can make the system more stable and efficient, and improve the structural reliability and unblocking efficiency of the device. It is understood that three, four or more unblocking devices can also be arranged in a symmetrical manner to improve structural strength and unblocking effect.

[0050] In one embodiment, a model of a coiled tubing rig unsticking device is provided, the model comprising:

[0051] A drive shaft assembly, one end of which is fixed to the motor shaft of a drive motor assembly, the drive motor assembly being fixedly connected to a base frame assembly, for driving the drive shaft assembly to rotate around its connection point with the drive motor assembly;

[0052] A primary lever assembly is rotatably connected to the frame assembly via a primary fulcrum. The primary lever assembly is also provided with a primary slide groove. An input end is fixedly provided on the drive shaft assembly. The input end is slidably connected to the primary slide groove and is used to drive the primary lever assembly to rotate around the primary fulcrum.

[0053] A secondary lever assembly is rotatably connected to the frame model via a secondary fulcrum. The secondary lever assembly is also provided with a secondary slide groove and an output slide groove. A transmission end is also fixedly provided on the primary lever assembly. The transmission end is slidably connected to the secondary slide groove and is used to drive the secondary lever assembly to rotate around the secondary fulcrum.

[0054] An output end is slidably provided on the output groove. The output end is used to connect to the base of the chain roller system model of the drilling rig, so that the chain roller system model applies high-frequency axial vibration excitation to the continuous pipe it supports.

[0055] Those skilled in the art will recognize that the above model may refer to a 3D component entity, a mathematical representation of a physical model, or a digital virtual component model.

[0056] In the embodiments of this application, such as Figure 1 As shown in the figure, this figure can also represent a digital model of a continuous pipe drilling rig unblocking device. Dynamic modeling can be performed on this model, and through simulation of the digital model, the structural data parameters of the actual device can be optimized according to the actual situation, thereby improving the operating efficiency and unblocking effect of the device.

[0057] In this embodiment of the application, the above model can be modeled dynamically. The dynamic model of the double lever unlocking mechanism consists of rigid bodies and beam elements. The deformation of the driving disk and the output end is small, so they are simplified to rigid bodies for modeling. Both levers are modeled using beam elements.

[0058] For long strip-shaped connectors at both ends in a support structure system, rigid bodies can be used for modeling. A schematic diagram of a rigid body element is shown below. Figure 3 As shown, generalized coordinates are selected. Where r R Indicates the location of the center of mass of the rigid body. The attitude of a rigid body, its generalized velocity and acceleration can be expressed as:

[0059]

[0060] The angular velocity and angular acceleration of a rigid body in the local coordinate system can be expressed as:

[0061]

[0062] In the formula, H is the transformation matrix, which is used for any rotation vector.

[0063]

[0064] In the formula yes The corresponding antisymmetric matrix. The generalized inertial force of a rigid body can be expressed as:

[0065]

[0066] In the formula J R =diag(J Rx J Ry J Rz ) is the principal moment of inertia tensor of a rigid body in a local coordinate system.

[0067] In summary, the equations of rigid body dynamics can be obtained as follows:

[0068]

[0069] In the formula and These are the generalized external forces and generalized constraint forces acting on a rigid body.

[0070] In one embodiment, modeling beam elements can be done as follows: Figure 4 As shown, the thin sheet in the supporting structure system is modeled using Timoshenko beam elements based on the Lagrange method, and its generalized coordinates are:

[0071]

[0072] The generalized inertial force of a beam element can be expressed as:

[0073]

[0074] Where ρ, A, and L represent the density, cross-sectional area, and length of the beam, respectively, and N r and Let represent the shape functions in translational and rotational coordinates, respectively. The generalized elastic force of a beam element can be expressed as:

[0075]

[0076] in and Let these represent the strain vector of the beam element and its corresponding internal force. and These represent the bending vector of the beam element and its corresponding internal force.

[0077] In summary, the dynamic equations of the beam element can be obtained as follows:

[0078]

[0079] In the formula and These are the generalized external forces and generalized constraint forces acting on the beam element.

[0080] In one embodiment, all the generalized coordinates of each individual in the system are listed together to form the system's generalized coordinate vector:

[0081] q = [q1, q2, ... q k ] T ,

[0082] Next, list all the constraints on the system's generalized coordinates:

[0083] C α (q,t)=0,α=1,…,m,

[0084] Then, the kinetic and potential energies of each object in the system, including the rigid body and flexible body, are summed to obtain the total kinetic energy T and total potential energy U of the system. At the same time, the active forces acting on the system and the generalized forces corresponding to each generalized coordinate caused by all contacts are calculated. Then it can be obtained through the Lagrange multiplier λ α gradient of constraints with respect to generalized coordinates Obtaining the generalized forces of the constraint contributions, the final system's first-kind Lagrange equations are:

[0085]

[0086] The system's dynamic equations can be further expressed in the following matrix form:

[0087]

[0088] Introducing the notation y = (q T ,λ T ) T ,λ=(λ1,…,λ m ) T Write the above expression in a more general form

[0089]

[0090] In the formula It is the first and second derivatives of y with respect to time t.

[0091] In the above embodiments, it can be seen that the equations are a set of time-varying nonlinear differential-algebraic equations (DAEs), which can be used as follows: Figure 5 The backward difference formula (BDF) integral shown in the diagram solves this equation, obtaining the transient time history response of the rigid-flexible multibody system during a large-scale motion process, thereby obtaining information such as the rigid body's motion trajectory and the flexible body's deformation state. The dynamic time-domain simulations in the embodiments of this application can all be completed using the above method.

[0092] In one embodiment, a design method for a coiled tubing rig unjamming device is provided. The method includes the following steps: constructing a coiled tubing rig unjamming device model; the constructed model can be as described in the above-mentioned digital model of the coiled tubing rig; performing dynamic modeling on each component in the unjamming device model to obtain the dynamic equations of each component; summing the kinetic and potential energy in the dynamic equations of each component to obtain the total kinetic and potential energy of the system, and calculating the active force on the unjamming device model and the generalized force corresponding to each generalized coordinate caused by all contacts of all components, and obtaining the generalized force contributed by the constraints through Lagrange multipliers and the gradient of the constraints on the generalized coordinates, thus obtaining the first type of Lagrange equations of the unjamming device model; transforming the first type of Lagrange equations into a general form to obtain the time-varying nonlinear differential-algebraic equations of the unjamming device model; solving the time-varying nonlinear differential-algebraic equations of the unjamming device model to obtain the transient time history response of the unjamming device model during a large-scale motion process, thereby obtaining the motion trajectory and flexible body deformation state information of each component in the unjamming device model.

[0093] Based on the above design method, different types of structures or equipment can be modeled and simulated to obtain the motion trajectory and flexible deformation state of each component in the system. This allows us to know the ultimate load and other parameters of the modeled system, which facilitates the analysis of various performance parameters of the modeled scheme and the time-domain changes of the performance parameters. Furthermore, it makes it easier for designers to optimize the scheme.

[0094] This design method not only enables time-domain analysis of the overall system operating parameters, but also time-domain analysis of parameters such as the load limits and motion range of each component constituting the system. Therefore, it is more flexible and has more comprehensive functions compared to existing design methods and systems.

[0095] The design method described in this embodiment can be used for the design and analysis of various devices. In one embodiment, a specific design and data analysis are performed using the model of the aforementioned coiled tubing drilling rig unblocking device as an example.

[0096] In one embodiment, a digital model of a coiled tubing rig unsticking system is provided, the coiled tubing rig unsticking system model comprising:

[0097] Two unsticking devices for a continuous tubular drilling rig, as described above, are respectively designated as a first unsticking device model and a second unsticking device model. A first mass sphere is fixedly connected to the first unsticking device model. A second mass sphere is fixedly connected to the second unsticking device model. The relative positions of the first mass sphere and the second mass sphere in space remain fixed and unchanged, used to simulate the mass of the drilling rig's injection head and the drill string extending into the hole. A rigid plate is used to simulate the hole wall of the borehole. Contact friction exists between the first mass sphere, the second mass sphere, and the rigid plate, used to simulate the frictional resistance experienced by the drill string in the hole wall.

[0098] In this embodiment of the application, in order to shorten the simulation calculation time and realize the evaluation of single-cycle double-lever performance and parameter optimization, this embodiment of the application, based on the precise description of the dynamic design class, adopts the aforementioned dynamic modeling method to establish the double-lever mechanism as follows: Figure 19 The simplified model of the dynamic optimization design is shown. This simplified model includes two sets of double-lever release mechanisms, two fixedly connected mass spheres to simulate the mass of the injection head and the drill string extending into the borehole, a flat plate to simulate the borehole wall, and the contact friction between the mass spheres and the flat plate to simulate the frictional resistance experienced by the drill string in the borehole wall. Both the mass spheres and the simulated borehole wall are modeled as rigid bodies.

[0099] In one embodiment, the design method of the coiled tubing rig unsticking device further includes optimizing the design parameters of the coiled tubing rig unsticking device. The optimization method involves constructing a coiled tubing rig unsticking system model, which includes: two coiled tubing rig unsticking device models, respectively designated as the first unsticking device model and the second unsticking device model; a first mass sphere, fixedly connected to the first unsticking device model; a second mass sphere, fixedly connected to the second unsticking device model, wherein the relative positions of the first mass sphere and the second mass sphere in space remain constant, used to simulate the mass of the drilling head and the drill string extending into the borehole; and a rigid plate for... The borehole wall is simulated, with contact friction between the first mass ball and the rigid plate, and contact friction between the second mass ball and the rigid plate. This contact friction is used to simulate the frictional resistance experienced by the drill string in the borehole wall. The parameters of each unit in the coiled tubing rig unsticking system model are defined, and dynamic modeling is performed on all units in the system to obtain the dynamic model of the coiled tubing rig unsticking system model. A time-domain dynamic simulation is performed on the dynamic model of the coiled tubing rig unsticking system model, and the time-domain dynamic simulation is optimized based on the particle swarm optimization algorithm to reduce the computational load required for simulation. Based on the simulation results, the design parameters of each unit in the coiled tubing rig unsticking system model are optimized.

[0100] In the embodiments of this application, the construction method and simulation method of the coiled tubing rig unblocking system model can be as described above, and will not be repeated here. Through optimized design, the various parameters in the scheme can be accurately selected, the system performance can be analyzed, and thus a basis for system improvement can be provided.

[0101] In this embodiment, the parameters required for the dynamic design modeling of the dual-lever card release mechanism are shown in the table below:

[0102] Dynamic design parameters of the double-lever card release mechanism

[0103]

[0104]

[0105] In addition to the parameters of the double-lever unlocking mechanism, the simplified dynamic design model described above also needs to define external environmental parameters including the mass ball, the plate, and contact friction, as shown in the table below:

[0106] Dynamic optimization design simplifies model external environment parameters

[0107]

[0108]

[0109] The parameter design for a two-stage lever needs to be determined by strength calculations for each stage. First, the maximum normal stress σ needs to be calculated. max Satisfying the maximum normal stress limit σ of the material lim Requirements:

[0110]

[0111] In the above formula, n is the safety factor, which is generally taken as 1.1. The fatigue limit is approximated by the strength limit σ based on experience. b Half of, i.e., σ N =0.5σ b .

[0112] The formula for calculating the maximum normal stress of a beam element is as follows:

[0113] σ max =max(σ + , σ - ),

[0114] In the above formula, σ + and σ - These are the upper and lower boundaries of the normal stress, which can be calculated by superimposing the axial stress and bending stress, as shown in the following formula:

[0115]

[0116] In the above formula, F x For axial force, M y and M z These represent the bending moments of the cross sections in two directions, where A is the cross-sectional area of ​​the lever, and W is the bending moment of the cross section in two directions. y and W z The section modulus for bending in two directions are respectively, and can be calculated by the following formula:

[0117]

[0118] After completing the parameter design based on the maximum normal stress, the shear stress strength condition is used for verification. This ensures that the maximum shear stress τ is achieved. max Meets the maximum shear stress limit τ of the material lim Requirements:

[0119]

[0120] In the above formula, n is the safety factor, which is generally taken as 1.1. The fatigue limit is approximated by the strength limit τ based on experience. b Half of, i.e., τ N =0.5τ b .

[0121] like Figure 6As shown, for the two levers of this mechanism, the maximum shear stress will be mainly generated by the combined action of the shear force in the Y direction and the torque in the X direction on the levers. That is...

[0122] When a square-section beam is subjected to shear force, the shear stress at the midpoint of the cross-section is the greatest, which can be calculated by the following formula:

[0123]

[0124] When a square-section beam is subjected to torsion, the shear stress at the midpoint of the long side of the cross-section is the greatest, which can be expressed by the following formula:

[0125]

[0126] Where G is the shear modulus, a is half of the short side (h / 2), b is half of the long side (w / 2), and θ is the torsional angle at the cross-section. The axial torque M can be substituted into the following formula for calculation:

[0127]

[0128] This embodiment specifies that the lengths of the two levers and the dimensions of other parts of the mechanism are fixed values. The designable parameters are the cross-sectional width and height of the two lever stages. Based on the design of this mechanism, it is easy to deduce that the normal stress of the two lever stages and the shear stress of the first lever stage will be the main causes of lever material failure. To determine the cross-sectional dimensions when both lever stages reach maximum normal stress and the first lever reaches maximum shear stress, the objective function is designed as follows:

[0129]

[0130]

[0131]

[0132]

[0133]

[0134] in, These represent the maximum normal stress of the two-stage lever and the maximum shear stress of the single-stage lever, respectively. Both are functions of the lever cross-sectional dimensions L1, W1, L2, and W2, and are obtained from dynamic simulation calculations. These are their respective limits. During optimization, the cross-sectional design parameters all satisfy the upper and lower bounds. Restrictions.

[0135] In the aforementioned problem, each lever performance evaluation requires dynamic time-domain simulation. For n design parameters, at least n+1 dynamic simulations are needed to obtain the Jacobian matrix of the objective function, which consumes a significant amount of computation time. Therefore, this application employs a heuristic algorithm—Particle Swarm Optimization (PSO)—to complete the aforementioned dynamic design. A case study is provided to demonstrate the optimization effect, with the initial model parameters set as shown in the table below:

[0136] Dynamic design parameters of the double-lever card release mechanism

[0137]

[0138]

[0139]

[0140] Under the above conditions, the two spheres will provide 6 tons of frictional resistance, corresponding to the condition where the injection heads on both sides overcome 12 tons of frictional resistance. The driving wheel's rotational speed is taken as 10 rad / s, and both stages of the levers are made of the same material with a density of 7850.89 kg / m³. 3 The elastic modulus is 206.84 GPa, the Poisson's ratio is 0.3, and the maximum normal stress limit is... Maximum shear stress limit The population size for each generation is set to 20. The optimization process is as follows: Figure 7 As shown.

[0141] The optimization process involved 2000 dynamic simulations, taking approximately 247 minutes in total. The iterative process log shows that the optimal solution for each generation stabilizes after generation 50. The performance evaluation results of the 100th generation dual-lever card-unlocking mechanism, taking the optimal solution from the first 100 generations, are shown below:

[0142] Performance evaluation results of the 100th generation dual-lever card unlocking mechanism

[0143]

[0144] In one embodiment, the time-domain variation curves of load and deformation during the operation of the primary lever are obtained as follows: Figure 8 As shown, the red line represents the x-axis (length), the green line represents the y-axis (width), and the blue line represents the z-axis (height). Figure 8 As shown in the figure, the stress variation of the first-level lever unit is also provided, with the red line representing the upper limit and the black line representing the lower limit.

[0145] In one embodiment, the time-domain variation curves of load and deformation during the operation of the secondary lever are obtained as follows: Figure 9As shown, the red line represents the x-axis (length), the green line represents the y-axis (width), and the blue line represents the z-axis (height). The figure also includes the stress variation of the second-level lever unit, with the red line representing the upper bound and the black line representing the lower bound.

[0146] Depend on Figure 8 and Figure 9 As shown in the embodiment, the load on the first-stage lever is mainly axial force and moment in the lever's swing plane, followed by lateral shear force and axial moment. Correspondingly, the axial tensile and lateral shear deformations are relatively large. Furthermore, due to the small thickness of the lever design, bending and torsional deformations occur in three directions during operation. In addition, the large axial torsional moment results in a large unit shear stress.

[0147] The forces acting on the second-level lever are relatively simple, mainly consisting of lateral shear force and torque in the lever's swing direction. Deformation is also primarily due to their corresponding lateral shear deformation and bending deformation within the lever's swing plane. Furthermore, because the axial torsional moment is relatively small, the shear stress of the element is also correspondingly small, mainly caused by lateral shear force.

[0148] In one embodiment, such as Figure 10 , Figure 11 As shown, a schematic diagram of a digital system for several coiled tubing rig unblocking devices is provided. In this embodiment, the digital system for one coiled tubing rig unblocking device can be configured with two, four or more coiled tubing rig unblocking device models.

[0149] In this embodiment of the application, the above-mentioned dual-lever card unlocking mechanism is configured as follows: Figure 12 The alternating up-and-down installation method shown is used to install the coiled tubing rig onto the drilling rig's chain roller system, and a time-domain simulation of the full model's unblocking process is performed. The full model of the coiled tubing drilling rig is as follows: Figure 12 As shown, this embodiment uses Figure 12 For example, the red cuboid part in the figure is a set of double lever unlocking mechanisms, a total of four sets, with two units symmetrically arranged at the top and bottom.

[0150] In one embodiment, the outer diameter of the central continuous tube is 2-7 / 8 inches, the orifice diameter is 4 inches, and the measurement point parameters of the trajectory are shown in the table below:

[0151] Measuring point parameters of the aperture trajectory

[0152]

[0153] The drill bit was fixed to the bottom of the hole to simulate the condition of the drill bit getting stuck. First, the displacement of the middle extrusion plate of the drilling rig was set to 23mm, so that the chain clamping block was clamping the middle continuous tube. After 5s, the speed of the drive wheel of the double lever mechanism was gradually increased to 10rad / s using the STEP function shown in the following formula, and the continuous tube was driven to vibrate axially by the chain rollers on both sides.

[0154]

[0155] In the above process, the driving torque of the four double-lever drive wheels, the thrust provided by the injection head, and the constraint force at the drill bit are as follows: Figure 13 As shown. By Figure 13 It can be seen that the dual-lever system provides a periodic injection head thrust ranging from -6kN to 10kN with a relatively small input torque of less than 50Nm. After the friction between the drill string and the borehole wall is consumed, it provides a periodic high-frequency axial unsticking force ranging from approximately -1.5kN to 7.5kN to the stuck part of the drill bit.

[0156] It is not difficult to deduce from the driving torque that the force states of the four sets of double-lever mechanisms are basically the same. The load and deformation time-domain variation curves of one set of two-stage levers during operation are shown below. Figure 14 , Figure 15 The figure shows the results. The red line represents the x-axis (length), the green line the y-axis (width), and the blue line the z-axis (height). The figure also includes the stress variation of the first-level lever unit, with the red line as the upper bound and the black line as the lower bound. As can be seen from the figure, the maximum normal stress of the first-level lever is approximately 75.9 MPa, and the maximum shear stress is approximately 13.9 MPa. The maximum normal stress of the second-level lever is approximately 14.4 MPa, and the maximum shear stress is approximately 3.5 MPa. All meet the design strength requirements.

[0157] The drill bit constraint in the working condition was changed to an axial tensile force of 50kN, and the above unblocking process was simulated again. The driving torque of the four double-lever drive wheels, the thrust provided by the injection head, and the constraint force at the drill bit are as follows: Figure 16 As shown.

[0158] from Figure 16 As can be seen, during the 5-10s period, the constraint force at the drill bit gradually increases to 50kN. The dual-lever system provides a periodic injection head pulling force ranging from 23kN to 60kN with a relatively small input torque of about 100Nm, and the driving torque of the four sets of dual-lever mechanisms is basically the same.

[0159] The time-domain variation curves of load and deformation during the operation of one set of two-stage levers are obtained as follows: Figure 17 and Figure 18As shown in the figure, the red line represents the x-axis (length), the green line represents the y-axis (width), and the blue line represents the z-axis (height). The figure also includes the stress variation of the first-level lever unit, with the red line representing the upper bound and the black line representing the lower bound. As can be seen from the figure, the maximum normal stress of the first-level lever is approximately 87.6 MPa, and the maximum shear stress is approximately 30.6 MPa. The maximum normal stress of the second-level lever is approximately 47.0 MPa, and the maximum shear stress is approximately 11.5 MPa. All of these meet the design strength requirements.

[0160] In this embodiment of the application, a digital model of a double-lever unsticking mechanism for the injection head of a coiled tubing drill is provided. In this model, the mechanism can convert a small driving torque into a large axial thrust through the double levers, providing a periodic unsticking force for the injection head chain roller system, thus enriching the unsticking means of the coiled tubing drill. This periodic unsticking force can also be used to reduce drill string friction and increase bottom hole pressure during conventional drilling.

[0161] Furthermore, this embodiment proposes a multibody dynamics design class for the mechanism, which evaluates the performance indicators of the mechanism based on a parameterized and precisely described dynamic model, and combines optimization algorithms to realize the dynamic design of the injection head system of the coiled tubing drill, so that the performance of the mechanism meets the overall design requirements and has excellent dynamic performance.

[0162] In one embodiment, according to the design, the coiled tubing rig release device can provide a maximum release force of approximately 12 tons to the injection head. The results of full-model simulation of the rig show that the dual-lever mechanism designed in this embodiment can meet the release requirements.

[0163] It is understood that, based on the embodiments of this application, the lever principle can be applied to achieve the conversion of rotary motion to reciprocating linear motion and the amplification of thrust through a single lever, three levers, four levers, or other multi-lever methods. Other lever design parameters and other "multi-lever" mechanisms with different combinations than those of this invention can be installed on the drilling rig to achieve the unblocking function under different load conditions.

[0164] Other optimization methods besides the particle swarm optimization algorithm mentioned in the embodiments of this application can be used to realize the dynamic design of the device.

[0165] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it executes the above-described model and performs simulation and parameter optimization on it. The simulation and parameter optimization methods can be performed in accordance with the manner provided in the embodiments of this application.

[0166] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the processor reproduces the above-described model and performs simulation and parameter optimization on it. The simulation and parameter optimization methods can be performed in accordance with the manner provided in the embodiments of this application.

[0167] It should be understood that although the steps in the models, step diagrams, or processes of the various embodiments of this application are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0168] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A design method for a stuck release device for a continuous tubing drilling rig, characterized in that, The method includes the following steps: Construct a model of a coiled tubing rig unsticking device; the model of the coiled tubing rig unsticking device includes: A drive shaft assembly, one end of which is fixed to the motor shaft of a drive motor assembly, the drive motor assembly being fixedly connected to a base frame assembly, for driving the drive shaft assembly to rotate around its connection point with the drive motor assembly; A primary lever assembly is rotatably connected to the base frame assembly via a primary fulcrum. The primary lever assembly is also provided with a primary slide groove. An input end is fixedly provided on the drive shaft assembly. The input end is slidably connected to the primary slide groove and is used to drive the primary lever assembly to rotate around the primary fulcrum. A secondary lever assembly is rotatably connected to the base frame assembly via a secondary fulcrum. The secondary lever assembly is also provided with a secondary slide groove and an output slide groove. A transmission end is also fixedly provided on the primary lever assembly. The transmission end is slidably connected to the secondary slide groove and is used to drive the secondary lever assembly to rotate around the secondary fulcrum. An output end is slidably provided on the output chute. The output end is used to connect with the base of the chain roller system model of the drilling rig, so that the chain roller system model applies high-frequency axial vibration excitation to the continuous pipe it holds. Dynamic modeling is performed on the drive shaft assembly, the first-stage lever assembly, and the second-stage lever assembly in the unlocking device model to obtain the dynamic equations of the drive shaft assembly, the first-stage lever assembly, and the second-stage lever assembly; The total kinetic and potential energies of the coiled tubing rig's unsticking device model are obtained by summing the kinetic and potential energies from the dynamic equations of the drive shaft assembly, the first-stage lever assembly, and the second-stage lever assembly. The active force acting on the unsticking device model, as well as the generalized force corresponding to each generalized coordinate resulting from all contacts of the drive shaft assembly, the first-stage lever assembly, and the second-stage lever assembly, are then calculated. and through Lagrange multipliers gradient of constraints with respect to generalized coordinates By obtaining the generalized forces contributing to the constraints, we obtain the first type of Lagrange equations for the card-unlocking device model; Transforming the first type of Lagrange equations into a general form yields the time-varying nonlinear differential-algebraic equations of the card-solving device model. Solve the time-varying nonlinear differential-algebraic equations of the card-unlocking device model to obtain the transient time history response of the card-unlocking device model during a large-scale motion process, and then obtain the motion trajectory and flexible body deformation state information of the drive shaft assembly, the first-stage lever assembly and the second-stage lever assembly in the card-unlocking device model. The design method for the coiled tubing rig unsticking device also includes optimizing the design parameters of the coiled tubing rig unsticking device. The optimization method is as follows: Construct a model of a coiled tubing rig unsticking system, which includes: The two models of the unblocking device for the coiled tubing drilling rig are respectively referred to as the first unblocking device model and the second unblocking device model. The first mass sphere is fixedly connected to the first card-unlocking device model; The second mass sphere is fixedly connected to the second unblocking device model. The relative positions of the first mass sphere and the second mass sphere in space remain fixed and unchanged, which is used to simulate the mass of the injection head of the drilling rig and the drill string extending into the hole. A rigid plate is used to simulate the borehole wall. There is contact friction between the first mass ball and the rigid plate, and there is contact friction between the second mass ball and the rigid plate. The contact friction is used to simulate the frictional resistance experienced by the drill string in the borehole wall. Define the parameters of the first mass sphere, the second mass sphere, and the rigid plate in the coiled tubing rig unsticking system model, and perform dynamic modeling on the first mass sphere, the second mass sphere, and the rigid plate in the coiled tubing rig unsticking system model to obtain the dynamic model of the coiled tubing rig unsticking system model; A dynamic time-domain simulation was performed on the dynamic model of the coiled tubing rig unblocking system model. The dynamic time-domain simulation was optimized based on the particle swarm optimization algorithm to reduce the amount of computation required for the simulation. Based on the simulation results, the design parameters of the first mass sphere, the second mass sphere, and the rigid plate in the model of the continuous pipe drilling rig unblocking system are optimized.

2. The design method of a coiled tubing drilling rig unjamming device according to claim 1, characterized in that, The drive shaft assembly in the unlocking device model is modeled as a rigid body, and the method for obtaining the dynamic equations of the drive shaft assembly is as follows: Choosing generalized coordinates ,in Indicates the location of the center of mass of the rigid body. To represent the attitude of a rigid body, its generalized velocity and acceleration are expressed as: ， Its rigid body angular velocity and angular acceleration in the local coordinate system can be expressed as: ， in, It is the transformation matrix for any rotation vector. , ， in, , yes Corresponding opposition; The generalized inertial force of a rigid body can be expressed as: ， in, It is the principal moment of inertia tensor of a rigid body in the local coordinate system; Combining the above equations, we obtain the rigid body dynamics equations as follows: ， in, and These are the generalized external forces and generalized constraint forces acting on a rigid body.

3. The design method of a coiled tubing drilling rig unjamming device according to claim 1, characterized in that, Both the primary lever assembly and the secondary lever assembly in the card-unlocking device model are modeled using beam elements; The method for modeling beam elements and obtaining their respective dynamic equations is as follows: Take its generalized coordinates: ， The generalized inertial force of the beam element can be expressed as: ， in, , , These represent the beam's density, cross-sectional area, and length, respectively. and These represent the shape functions for translational and rotational coordinates, respectively. The generalized elastic force of the beam element is expressed as: ， in, and Let these represent the strain vector of the beam element and its corresponding internal force. and These represent the bending vector of the beam element and its corresponding internal force. Combining the above equations, the dynamic equation of the beam element can be obtained as follows: ， in, and These are the generalized external forces and generalized constraint forces acting on the beam element.

4. The design method of a coiled tubing drilling rig unjamming device according to claim 1, characterized in that, The time-varying nonlinear differential-algebraic equation system of the card-unlocking device model is obtained as follows: By listing the drive shaft assembly, primary lever assembly, and secondary lever assembly in the unsticking device model, the generalized coordinate vector q of the coiled tubing drilling rig unsticking device model is obtained, along with all constraints on the generalized coordinates of the coiled tubing drilling rig unsticking device model. : ， ， ， The total kinetic energy of the coiled tubing rig's unsticking device model is obtained by summing the kinetic and potential energies of the drive shaft assembly, the first-stage lever assembly, and the second-stage lever assembly. Total potential energy This allows us to obtain the active forces acting on the model and the generalized forces corresponding to each generalized coordinate caused by all contacts. Then through Lagrange multipliers gradient of constraints with respect to generalized coordinates By obtaining the generalized forces contributing to the constraint, we can then derive the first kind of Lagrange equations for the coiled tubing rig unsticking device model: ， Converting the above equation into matrix form, we get: ， Introduction notation , This yields the general form of the above equation, and further leads to the time-varying nonlinear differential-algebraic equations of the card-solving device model: ， in, , yes Regarding time The first and second derivatives.

Images