Perforating charge with energy ring and assembly equipment thereof

Abstract

The perforating bullet comprises a perforating bullet body and the energy ring, the energy ring is fixedly installed at an opening of the perforating bullet body, a plurality of elastic clamping heads are fixedly connected to the top of a gunpowder cover of the perforating bullet body, an annular clamping groove is formed in the inner wall of the energy ring, and the elastic clamping heads are clamped in the annular clamping groove; the energy ring comprises an annular shell and a thermite filling layer, the annular shell is filled with the thermite filling layer, and the annular clamping groove is formed in the inner wall of the annular shell. Through the energy ring installed at the opening end of the perforating bullet body, secondary detonation and energy release are conducted on the interior of a perforation channel while normal perforation is achieved; the energy ring is arranged on the perforating bullet body to achieve the effects of increasing the volume of the hole channel, increasing cracks of the perforating hole channel and cleaning the hole channel, the energy ring is stably installed on the perforating bullet body through the clamping structure of the elastic clamping head and the annular clamping groove, assembling simplicity and convenience are guaranteed, and structural reliability in the shooting process is also guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of perforating bullets, in particular to a perforating bullet with an energy ring and an assembly device thereof. Background Art

[0002] In recent years, the development of unconventional shale oil and gas, coalbed methane, etc. has become a hot spot for global energy development. Unconventional oil and gas resources are mainly obtained by drilling horizontal wells and performing hydraulic sand fracturing to form porous reservoirs to ensure production. Hydraulic fracturing must be carried out by "fracture perforation" to achieve the purpose of reservoir transformation. According to the research results and construction cases of unconventional hydraulic fracturing completion at home and abroad for many years, the uniform large aperture of "fracture perforation" will improve the distribution of fracturing fluid, reduce pressure friction, and more effectively distribute proppant, while the different sizes of casing holes are more likely to produce sand bridges and sand stripping, and the "mouse tail-shaped" perforation channel is more likely to be blocked, and the effective hole depth becomes shorter. The pollution of the rock debris compaction zone around the channel is not conducive to sand addition, and it also increases the hydraulic pressure fracture pressure and increases the fracturing cost.

[0003] The distribution of China's oil and gas resources is dominated by tight low-permeability reservoirs. In the past decade or so, great progress has been made in the fracturing and perforating technology around tight low-permeability reservoirs. For example, equal-aperture perforating bullets, self-cleaning perforating bullets, fixed-surface perforating technology, and after-effect perforating bullets have successively achieved good results in the perforation of unconventional shale oil and gas. However, with the accelerated pace of shale oil and gas development, facing the diverse shale oil and gas deposition conditions at home and abroad, the corresponding development work has become increasingly difficult, and the perforating efficiency urgently needs to be further improved. In order to continuously improve the efficiency of shale oil and gas development, it is necessary to continuously improve new perforating technologies.

[0004] The above-mentioned perforation technologies for dense low-permeability reservoirs have achieved good results for reservoirs with large porosity and good permeability, but the effects are average for reservoirs with extremely hard rocks, ultra-low permeability and low porosity, and poor permeability.

[0005] The composite material of PTFE filled with inorganic or metal particles is very stable and is an important engineering material. Because the FC (fluorine-carbon) bond is very strong (bond energy 431-515kJ / mol), it is generally believed that PTFE is very stable and usually does not react with other materials. However, the small molecular fluorocarbon gas (such as tetrafluoroethylene, hexafluoropropylene, octafluorobutene, etc.) decomposed by PTFE at high temperatures above 500°C is active and can react with Al to generate AlF3 (aluminum trifluoride) in a highly exothermic redox reaction. The unit mass calorific value of PTFE / Al energetic reaction material is 8.53MJ / kg, which is 2.0 times the calorific value of the explosive TNT reaction, and the adiabatic reaction temperature is more than 4000K. The density of PTFE / Al is usually not less than 2.0g / cm3, while that of TNT is 1.7g / cm3, so the unit volume calorific value of PTFE / Al is higher, at least 2.4 times that of TNT. Compared with explosives, propellants or pyrotechnics, PTFE / Al is less dangerous and its hazard level is Class 4.1 combustible solid.

[0006] Therefore, a perforating bullet with an energy ring and an assembly device thereof are proposed. Summary of the invention

[0007] The object of the present invention is to provide a perforating charge with an energy ring and an assembly device thereof, so as to solve or at least alleviate one or more of the above-mentioned problems and other problems existing in the prior art.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a perforating bullet with an energy ring, comprising: a perforating bullet body and an energy ring, wherein the energy ring is fixedly mounted at the opening of the perforating bullet body, and the energy ring can perform secondary combustion and explosion on the perforating tunnel after the perforating bullet body is shot into the perforating tunnel;

[0009] A plurality of elastic clamps are fixedly connected to the top of the medicine cover of the perforating bullet body, and an annular clamping groove is opened on the inner wall of the energy ring, and the elastic clamps are clamped in the annular clamping groove.

[0010] In a perforating bullet with an energy ring according to the present invention, optionally, the energy ring includes an annular shell and a thermite filling layer, the thermite filling layer is filled inside the annular shell, and the annular groove is opened on the inner wall of the annular shell.

[0011] The present invention also provides an assembly device for assembling the perforating bullet with the energy ring, the assembly device comprising:

[0012] a first conveyor belt, wherein the first conveyor belt is used to convey the perforating charge body;

[0013] a second conveyor belt, the second conveyor belt being used for conveying the energy ring;

[0014] An assembly mechanism is provided between the first conveyor belt and the second conveyor belt, and is used for mounting the energy ring on the second conveyor belt on the perforating bullet body on the first conveyor belt.

[0015] In an assembly device according to the present invention, optionally, a plurality of positioning sleeves are fixedly installed at equal intervals on the first conveyor belt, the perforating bullet body is placed inside the positioning sleeve, and the perforating bullet body is placed with its opening facing upward, a plurality of columnar positioning blocks are fixedly installed at equal intervals on the second conveyor belt, and the energy ring is sleeved on the columnar positioning blocks.

[0016] In an assembly device according to the present invention, optionally, the assembly mechanism includes a rotating unit, a lifting unit is installed on the rotating unit, and clamp units are provided at both ends of the lifting unit;

[0017] Wherein, the rotating unit is used to drive the two clamping units to rotate reciprocatingly;

[0018] The lifting unit is used to drive the two clamp units to move up and down;

[0019] The clamp unit is used to convey the energy ring on the second conveyor belt to the perforator bullet body on the first conveyor belt, and press and fix the energy ring on the perforator bullet body.

[0020] In an assembly device according to the present invention, optionally, the rotating unit includes a base, a fixed sleeve is fixedly installed on the top of the base, a rotating shaft is rotatably installed inside the fixed sleeve through a bearing, a first flange is fixedly installed on the top of the rotating shaft, a notch connected to the interior of the fixed sleeve is opened on the outer wall of the fixed sleeve, a gear is fixedly sleeved on the rotating shaft, a support seat is fixedly installed on the top of the base, a first cylinder is fixedly installed on the support seat, the piston rod end of the first cylinder is fixedly connected to a rack through a connecting block, and the rack is meshed with the gear.

[0021] In an assembly device according to the present invention, optionally, a convex sliding block is formed on the bottom of the rack, a concave limiting sliding groove is provided on the top of the support seat, and the convex sliding block is slidably arranged in the concave limiting sliding groove.

[0022] In an assembly device according to the present invention, optionally, the lifting unit includes a column, the bottom of the column is fixedly connected to a second flange, the first flange is fixedly connected to the second flange by bolts, a sliding hole is opened on the upper end side of the column, a moving arm is slidably installed in the sliding hole, the two clamp units are respectively installed at both ends of the moving arm, a second cylinder is fixedly installed on the top of the column, and the bottom of the piston rod of the second cylinder is fixedly connected to the top of the moving arm.

[0023] In an assembly device according to the present invention, optionally, a limit plate is fixedly connected to the movable arm, and one side of the limit plate is in sliding contact with an outer wall of the column.

[0024] In an assembly device according to the present invention, optionally, the clamp unit includes an outer shell, the end of the movable arm is fixedly connected to a mounting plate, the outer shell is fixedly mounted on the mounting plate, the outer wall of the outer shell is provided with a plurality of first through holes, the insides of the first through holes are rotatably connected with clamp arms, the clamp arms are arranged in an inverted L shape, an inner shell is slidably arranged inside the outer shell, the bottom of the outer shell is open, the lower end of the inner shell can extend out of the outer shell, the outer wall of the inner shell is provided with second through holes having the same number as the clamp arms, the upper end of the clamp arms extends into the interior of the inner shell from the second through holes, a third cylinder is fixedly mounted on the top of the outer shell, the bottom of the piston rod of the third cylinder is fixedly connected to the top of the inner shell;

[0025] When the energy ring needs to be clamped, the piston rod of the third cylinder is controlled to retract, thereby driving the inner shell body to move upward. At this time, the lower end of the second through hole continuously squeezes the upper end of the clamp arm, thereby causing the lower end of the clamp arm to move toward the center of the inner shell body, thereby clamping the energy ring; when the energy ring needs to be lowered, the piston rod of the third cylinder is controlled to extend, thereby driving the inner shell body to move downward. As the inner shell body continues to move downward, the upper end of the second through hole squeezes the upper end of the clamp arm, thereby causing the lower end of the clamp arm to move away from the inner shell body, thereby lowering the energy ring. As the inner shell body continues to move downward, the bottom of the inner shell body squeezes the energy ring, and the energy ring is sleeved on the elastic clamp head, so that the elastic clamp head is clamped in the annular clamping groove.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention realizes secondary deflagration in the perforation channel during normal perforation by installing an energy ring at the open end of the perforating bullet body, thereby releasing energy and achieving the effects of increasing the channel volume, increasing the cracks in the perforation channel and cleaning the channel.

[0028] The energy ring is firmly mounted on the perforating bullet body by utilizing the engagement structure of the elastic clamp head and the annular clamp groove, which not only ensures the simplicity of assembly but also ensures the structural reliability during the shooting process;

[0029] The integrated first conveyor belt and the second conveyor belt, as well as the assembly mechanism, realize the automatic conveying and assembly of the perforating bullet body and the energy ring, which greatly reduces manual operation and improves production efficiency;

[0030] The clamp unit can not only realize the integrated operation of clamping and pressing the energy ring, but also has a simple structure, which effectively reduces the production cost of the enterprise and facilitates subsequent maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the explosion structure of the perforating bullet with energy ring of the present invention;

[0032] Figure 2 It is a schematic diagram of a partial cross-sectional structure of a perforating bullet with an energy ring according to the present invention;

[0033] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0034] Figure 4 It is a structural schematic diagram of the assembly equipment of the present invention;

[0035] Figure 5 It is a structural schematic diagram of an assembly mechanism in the assembly equipment of the present invention;

[0036] Figure 6 It is a structural schematic diagram of a rotating unit in the assembly device of the present invention;

[0037] Figure 7 It is a structural schematic diagram of a lifting unit in the assembly equipment of the present invention;

[0038] Figure 8 It is a structural schematic diagram of a fixture unit in the assembly equipment of the present invention;

[0039] Fig. 9 It is one of the partial cross-sectional structural schematic diagrams of the clamp unit in the assembly equipment of the present invention;

[0040] Fig.10 This is the second schematic diagram of the partial cross-sectional structure of the clamp unit in the assembly equipment of the present invention.

[0041] In the figure: 100, perforating bullet body; 200, charge cover; 201, elastic clamp; 300, energy ring; 301, annular shell; 3011, annular groove; 302, thermite filling layer;

[0042] 400, first conveyor belt; 401, positioning sleeve; 500, second conveyor belt; 501, columnar positioning block;

[0043] 600, assembly mechanism;

[0044] 601, rotating unit; 6011, base; 6012, fixed sleeve; 6013, rotating shaft; 6014, bearing; 6015, gear; 6016, rack; 6017, supporting seat; 6018, concave limiting slide; 6019, first cylinder; 60191, connecting block;

[0045] 602, lifting unit; 6021, column; 60211, sliding hole; 6022, second cylinder; 6023, moving arm; 6024, limit plate; 6025, mounting plate;

[0046] 603, clamp unit; 6031, outer shell; 60311, first through hole; 6032, third cylinder; 6033, clamp arm; 6034, inner shell; 60411, second through hole. DETAILED DESCRIPTION

[0047] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0048] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0049] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] Example 1

[0052] See also Figures 1 to 3 , the technical solution of this embodiment is as follows:

[0053] A perforating bullet with an energy ring, comprising a perforating bullet body 100 and an energy ring 300, wherein the energy ring 300 is fixedly mounted at the opening of the perforating bullet body 100, and the energy ring 300 can perform secondary combustion and explosion on the perforating channel after the perforating bullet body 100 is shot into the perforating channel;

[0054] A plurality of elastic clamps 201 are fixedly connected to the top of the charge cover 200 of the perforating bullet body 100, and an annular clamping groove 3011 is provided on the inner wall of the energy ring 300. The elastic clamps 201 are clamped in the annular clamping groove 3011. The energy ring 300 is firmly mounted on the perforating bullet body 100 by utilizing the clamping structure of the elastic clamps 201 and the annular clamping groove 3011, which ensures the simplicity of assembly and the structural reliability during the shooting process.

[0055] In this embodiment, the energy ring 300 includes an annular shell 301 and a thermite filling layer 302, the thermite filling layer 302 is filled in the interior of the annular shell 301, and the annular groove 3011 is opened on the inner wall of the annular shell 301, wherein the annular shell 301 is made of polytetrafluoroethylene, but not limited to polytetrafluoroethylene, and all fluoropolymers can be the components of the annular shell 301 of the present invention, the thermite filling layer 302 is aluminum and ferroferric oxide, but not limited to ferroferric oxide, and all materials that can be processed into thermite can constitute the components of the present invention. In this embodiment, the energy ring 300 is composed of 5%-80% polytetrafluoroethylene 2, 5%-35% aluminum powder and 8%-50% ferroferric oxide.

[0056] The mechanism of perforation of the energy ring 300 is: the energy ring is made of high energy density nano new material PTFE / Al and assembled with the perforating bullet body 100, and then the perforating bullet body 100 is installed in the clip on the perforating gun, and then the detonating cord is ignited, and the perforating bullet body 100 is detonated underground to form a high-speed metal jet, especially the umbrella-shaped jet tail, which will hit the energy ring 300 head-on at a speed of 2000-3000m / S. Under the impact of high pressure and high temperature, the structural parts of the energy ring 300 are decomposed into tiny particles to form active particles, and at the same time are brought into the perforating channel by the umbrella-shaped tail of the jet. The nanoparticles excited under the instantaneous ultra-high pressure of more than 500MPa will undergo continuous physical and chemical violent reactions in the closed channel, resulting in rapid combustion and explosion, releasing kinetic energy, a large amount of chemical energy and ultra-high pressure gas. Continuous deflagration occurs in the confined space of the downhole perforation channel, forming a secondary pulse shock wave, which effectively removes pollution in the near-wellbore area, breaks up the dense area, opens the blocked perforation tip and induces the formation of fan-shaped micro-fracture areas, while creating micro-fractures on the perforation wall.

[0057] The fluorine polymerization reaction of fluoropolymer and aluminum is

[0058] (1)AI2O3+-(C2H2F2)N-(CXHYFZ)+HF(g)

[0059] (2)–(C2H2F2)-CXHYFZ+HF(g)+C

[0060] (3)CXHYFZ-HF(g)+C

[0061] (4) 2AI = 6HF-2AIF3 + 3H2

[0062] Thermite reaction is a redox reaction that can produce temperatures above 2000°C; the fluorination reaction of aluminum, iron or other metal ions with fluoropolymers can generate greater energy.

[0063] The energy released by the energy ring is almost entirely in the perforation channel, which not only expands the depth and capacity of the perforation channel, but also maintains the integrity and consistency of the perforation entrance aperture and ensures that the expansion of the perforating gun will not increase further. The energy ring does not affect the perforating performance of the perforating bullet, does not change the existing perforating gun system, and does not cause safety problems for the perforating gun.

[0064] Example 2

[0065] See also Figures 4 to 10 The present invention also provides an assembly device for assembling the above-mentioned perforating bullet with energy ring, and the assembly device includes: a first conveyor belt 400, a second conveyor belt 500 and an assembly mechanism 600.

[0066] The first conveyor belt 400 is used to convey the perforating bullet body 100;

[0067] Wherein, the second conveyor belt 500 is used to convey the energy ring 300;

[0068] The assembly mechanism 600 is disposed between the first conveyor belt 400 and the second conveyor belt 500 , and the assembly mechanism 600 is used to install the energy ring 300 on the second conveyor belt 500 on the perforating bullet body 100 on the first conveyor belt 400 .

[0069] In this embodiment, a plurality of positioning sleeves 401 are fixedly installed at equal intervals on the first conveyor belt 400, and the perforating bullet body 100 is placed inside the positioning sleeve 401, and the perforating bullet body 100 is placed with the opening facing upward, and a plurality of cylindrical positioning blocks 501 are fixedly installed at equal intervals on the second conveyor belt 500, and the energy ring 300 is sleeved on the cylindrical positioning blocks 501.

[0070] By adopting the above arrangement, the positioning sleeve 401 and the cylindrical positioning block 501 on the conveyor belt ensure the stability and position accuracy of the perforating bullet body 100 and the energy ring 300 during the conveying process, laying a solid foundation for subsequent precise assembly.

[0071] In this embodiment, the assembly mechanism 600 includes a rotating unit 601, a lifting unit 602 is installed on the rotating unit 601, and clamp units 603 are provided at both ends of the lifting unit 602;

[0072] The rotating unit 601 is used to drive the two clamping units 603 to rotate back and forth;

[0073] The lifting unit 602 is used to drive the two clamp units 603 to move up and down;

[0074] The clamp unit 603 is used to convey the energy ring 300 on the second conveyor belt 500 to the perforator body 100 on the first conveyor belt 400 , and press and fix the energy ring 300 on the perforator body 100 .

[0075] The rotating unit 601 includes a base 6011, a fixed sleeve 6012 is fixedly installed on the top of the base 6011, a rotating shaft 6013 is rotatably installed inside the fixed sleeve 6012 through a bearing 6014, a first flange is fixedly installed on the top of the rotating shaft 6013, a notch connected to the inside of the fixed sleeve 6012 is opened on the outer wall of the fixed sleeve 6012, a gear 6015 is fixedly sleeved on the rotating shaft 6013, and a support seat 6013 is fixedly installed on the top of the base 6011. 017, a first cylinder 6019 is fixedly mounted on the support seat 6017, the piston rod end of the first cylinder 6019 is fixedly connected to a rack 6016 via a connecting block 60191, the rack 6016 is meshed with the gear 6015, in order to ensure that the rack 6016 can move stably, a convex sliding block is formed at the bottom of the rack 6016, a concave limiting groove 6018 is provided at the top of the support seat 6017, and the convex sliding block is slidably arranged in the concave limiting groove 6018.

[0076] By adopting the above technical solution, when in use, by controlling the piston rod of the first cylinder 6019 to extend, the rack 6016 can be driven to move in the direction close to the first conveyor belt 400, and then the rotating shaft 6013 is driven to rotate through the gear 6015, so that the clamp unit 603 located above the second conveyor belt 500 can be rotated to the top of the first conveyor belt 400, realizing a 180° rotation, and by controlling the piston rod of the first cylinder 6019 to retract, the rotating shaft 6013 can be made to rotate in the opposite direction, thereby driving the clamp unit 603 to rotate 180° in the opposite direction, and so on and so forth, so that the clamp unit 603 can be quickly loaded.

[0077] In this embodiment, the lifting unit 602 includes a column 6021, and the bottom of the column 6021 is fixedly connected to the second flange, the first flange is fixedly connected to the second flange by bolts, and the upper end side of the column 6021 is provided with a sliding hole 60211, and a moving arm 6023 is slidably installed in the sliding hole 60211. The two clamp units 603 are respectively installed at the two ends of the moving arm 6023, and the top of the column 6021 is fixedly installed with a second cylinder 6022, and the bottom of the piston rod of the second cylinder 6022 is fixedly connected to the top of the moving arm 6023. In order to ensure that the moving arm 6023 is more stable when moving downward, a limiting plate 6024 is fixedly connected to the moving arm 6023, and one side of the limiting plate 6024 is in sliding contact with the outer wall of the column 6021.

[0078] Through the above arrangement, when in use, the clamp unit 603 can be driven to move downward by controlling the piston rod of the second cylinder 6022 to extend, and the clamp unit 603 can be driven to move upward by controlling the piston rod of the second cylinder 6022 to retract.

[0079] In this embodiment, the clamp unit 603 includes an outer shell 6031, the end of the movable arm 6023 is fixedly connected to the mounting plate 6025, the outer shell 6031 is fixedly mounted on the mounting plate 6025, the outer wall of the outer shell 6031 is provided with a plurality of first through holes 60311, the insides of the first through holes 60311 are all rotatably connected with the clamp arms 6033, the clamp arms 6033 are arranged in an inverted L shape, the inner shell 6034 is slidably arranged inside the outer shell 6031, and the outer shell The bottom of 6031 is open, and the lower end of the inner shell 6034 can extend out of the outer shell 6031. The outer wall of the inner shell 6034 is provided with second through holes 60411, the same number as the clamping arms 6033. The upper ends of the clamping arms 6033 extend into the inner shell 6034 from the second through holes 60411. The top of the outer shell 6031 is fixedly mounted with a third cylinder 6032, and the bottom of the piston rod of the third cylinder 6032 is fixedly connected to the top of the inner shell 6034.

[0080] When the energy ring 300 needs to be clamped, the piston rod of the third cylinder 6032 is controlled to retract, which drives the inner shell 6034 to move upward. At this time, the lower end of the second through hole 60411 continuously squeezes the upper end of the clamp arm 6033, so that the lower end of the clamp arm 6033 moves toward the center of the inner shell 6034, thereby clamping the energy ring 300. When the energy ring 300 needs to be put down, the piston rod of the third cylinder 6032 is controlled to extend, thereby driving the inner shell 6034 to move upward. 4 moves downward. As the inner shell 6034 continues to move downward, the upper end of the second through hole 60411 presses the upper end of the clamp arm 6033, so that the lower end of the clamp arm 6033 moves away from the inner shell 6034, and the energy ring 300 is put down. As the inner shell 6034 continues to move downward, the bottom of the inner shell 6034 presses the energy ring 300, and the energy ring 300 is sleeved on the elastic clamp head 201, so that the elastic clamp head 201 is clamped in the annular clamping groove 3011.

[0081] Specifically, in this embodiment, in order to further improve the automation level, accuracy and safety of the assembly equipment, the following algorithms and mathematical models can be introduced to optimize its performance and accuracy. The following are some examples of algorithms, formulas and equation functions that can be applied:

[0082] 1. Path Planning Algorithm

[0083] For the rotating unit 601 and the lifting unit 602 in the assembly mechanism 600, a path planning algorithm can be used to optimize their motion trajectories and reduce unnecessary movement and waiting time. For example, an A* algorithm or a Dijkstra algorithm can be used to find the shortest path from the initial position to the target position.

[0084] Formula example:

[0085] The heuristic function in the A* algorithm is f(n)=g(n)+h(n), where g(n) is the actual distance from the starting point to any vertex n, and h(n) is the estimated distance (heuristic) from vertex n to the end point.

[0086] 2. Kinetic model

[0087] For the movement of the cylinders (such as the first cylinder 6019 and the second cylinder 6022), a dynamic model can be established to predict its movement characteristics, such as speed, acceleration and position. This helps to accurately control the expansion and contraction of the cylinders and ensure the accurate positioning of the clamp unit 603.

[0088] Example equation:

[0089] The dynamic equation of the cylinder can be simplified to F = ma, where F is the force generated by the cylinder, m is the mass of the moving part, and a is the acceleration.

[0090] Taking friction into account, the equation can be modified to Ff=ma, where f is the friction.

[0091] 3. Error compensation algorithm

[0092] Due to manufacturing errors and wear of mechanical components, the actual movement may deviate from the theoretical value. These deviations can be corrected by introducing error compensation algorithms to improve assembly accuracy.

[0093] Algorithm example:

[0094] Use the least squares method or Kalman filter to estimate and compensate for the error.

[0095] The position of the fixture unit 603 is measured in real time and compared with the theoretical position, and the control parameters are adjusted according to the difference.

[0096] 4. Synchronous control algorithm

[0097] During the assembly process, it is necessary to ensure the synchronous movement of the two clamp units 603 (or other multiple moving parts) to avoid interference and collision.

[0098] Algorithm example:

[0099] A PID controller is used to synchronously control the extension and retraction speeds of the two cylinders to ensure that they reach the same position at the same time.

[0100] The equation for the PID controller is:

[0101] Where: u(t) is the control input, e(t) is the error, Kp, Ki and Kd are the proportional, integral and derivative gains respectively.

[0102] In summary: Although perforating charge assembly equipment mainly relies on mechanical and pneumatic control, its automation level, accuracy and safety can be further improved by introducing algorithms, formulas and equation functions. The above examples provide several application scenarios that can be implemented, and the specific implementation needs to be adjusted and optimized according to the actual situation.

[0103] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0104] Working principle: When assembling the perforating bullet body 100 and the energy ring 300, the piston rod of the second cylinder 6022 is controlled to extend, thereby driving the clamp unit 603 to move downward. At this time, the piston rod of the third cylinder 6032 located above the second conveyor belt 500 is retracted, thereby driving the inner shell 6034 to move upward. At this time, the lower end of the second through hole 60411 continuously squeezes the upper end of the clamp arm 6033, thereby causing the lower end of the clamp arm 6033 to move toward the center of the inner shell 6034, thereby clamping the energy ring 300, and then controlling the third through hole 60411 to move the clamp unit 6033 downward. The piston rod of the second air cylinder 6022 is retracted, so that the clamp unit 603 can be moved upward, and then the piston rod of the first air cylinder 6019 is controlled to extend, so that the rack 6016 can be driven to move in the direction close to the first conveyor belt 400, and then the rotating shaft 6013 is driven to rotate through the gear 6015, so that the clamp unit 603 located above the second conveyor belt 500 can be rotated to the top of the first conveyor belt 400 to achieve a 180° rotation, and then the piston rod of the second air cylinder 6022 is controlled to extend, so that the clamp unit 603 can be driven to move downward, so that the clamp unit The energy ring 300 on 603 is placed on the upper end of the perforating bullet body 100 (at the same time, the clamp unit 603 located above the second conveyor belt 500 clamps the energy ring 300 on the second conveyor belt 500), and then the piston rod of the third cylinder 6032 is controlled to retract, which drives the inner shell 6034 to move upward. At this time, the lower end of the second through hole 60411 continuously squeezes the upper end of the clamp arm 6033, thereby causing the lower end of the clamp arm 6033 to move toward the center of the inner shell 6034, thereby clamping the energy ring 300; when the energy ring 300 needs to be put down , controlling the piston rod of the third cylinder 6032 to extend, thereby driving the inner shell 6034 to move downward. As the inner shell 6034 continues to move downward, the upper end of the second through hole 60411 squeezes the upper end of the clamp arm 6033, thereby causing the lower end of the clamp arm 6033 to move away from the inner shell 6034, thereby lowering the energy ring 300. As the inner shell 6034 continues to move downward, the bottom of the inner shell 6034 squeezes the energy ring 300, and the energy ring 300 is put on the elastic clamp head 201, so that the elastic clamp head 201 is clamped in the annular clamping groove 3011.

[0105] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A perforating bullet with an energy ring, characterized in that: include: A perforating bullet body (100) and an energy ring (300), wherein the energy ring (300) is fixedly mounted at the opening of the perforating bullet body (100), and the energy ring (300) can perform secondary combustion and explosion on the perforating tunnel after the perforating bullet body (100) is shot into the perforating tunnel; A plurality of elastic clamps (201) are fixedly connected to the top of the drug cover (200) of the perforating bullet body (100), and an annular clamping groove (3011) is formed on the inner wall of the energy ring (300), and the elastic clamps (201) are clamped in the annular clamping groove (3011).

2. A perforating bullet with an energy ring according to claim 1, characterized in that: The energy ring (300) comprises an annular shell (301) and a thermite filling layer (302), wherein the thermite filling layer (302) is filled inside the annular shell (301), and the annular groove (3011) is provided on the inner wall of the annular shell (301).

3. An assembly device, characterized in that: Used to assemble the perforating charge with energy ring according to any one of claims 1-2, the assembling equipment comprising: A first conveyor belt (400), wherein the first conveyor belt (400) is used to convey the perforating charge body (100); A second conveyor belt (500), wherein the second conveyor belt (500) is used to convey the energy ring (300); An assembly mechanism (600) is disposed between the first conveyor belt (400) and the second conveyor belt (500), and the assembly mechanism (600) is used to install the energy ring (300) on the second conveyor belt (500) on the perforating bullet body (100) on the first conveyor belt (400).

4. An assembly device according to claim 3, characterized in that: A plurality of positioning sleeves (401) are fixedly installed at equal intervals on the first conveyor belt (400), the perforating bullet body (100) is placed inside the positioning sleeve (401), and the perforating bullet body (100) is placed with its opening facing upwards, a plurality of columnar positioning blocks (501) are fixedly installed at equal intervals on the second conveyor belt (500), and the energy ring (300) is sleeved on the columnar positioning blocks (501).

5. An assembly device according to claim 3, characterized in that: The assembly mechanism (600) comprises a rotating unit (601), a lifting unit (602) is mounted on the rotating unit (601), and clamp units (603) are arranged at both ends of the lifting unit (602); Wherein, the rotating unit (601) is used to drive the two clamping units (603) to rotate reciprocatingly; The lifting unit (602) is used to drive the two clamp units (603) to move up and down; The clamp unit (603) is used to transport the energy ring (300) on the second conveyor belt (500) to the perforator bullet body (100) on the first conveyor belt (400), and press and fix the energy ring (300) on the perforator bullet body (100).

6. An assembly device according to claim 5, characterized in that: The rotating unit (601) comprises a base (6011), a fixed sleeve (6012) is fixedly mounted on the top of the base (6011), a rotating shaft (6013) is rotatably mounted inside the fixed sleeve (6012) via a bearing (6014), a first flange is fixedly mounted on the top of the rotating shaft (6013), a notch is provided on the outer wall of the fixed sleeve (6012) and is communicated with the inside of the fixed sleeve (6012), a gear (6015) is fixedly sleeved on the rotating shaft (6013), a support seat (6017) is fixedly mounted on the top of the base (6011), a first cylinder (6019) is fixedly mounted on the support seat (6017), a rack (6016) is fixedly connected to the end of the piston rod of the first cylinder (6019) via a connecting block (60191), and the rack (6016) is meshed with the gear (6015).

7. An assembly device according to claim 6, characterized in that: The bottom of the rack (6016) is formed with a convex sliding block, and the top of the support seat (6017) is provided with a concave limiting sliding groove (6018), and the convex sliding block is slidably arranged in the concave limiting sliding groove (6018).

8. An assembly device according to claim 7, characterized in that: The lifting unit (602) comprises a column (6021), a second flange is fixedly connected to the bottom of the column (6021), the first flange is fixedly connected to the second flange by bolts, a sliding hole (60211) is provided on the upper side of the column (6021), a moving arm (6023) is slidably installed in the sliding hole (60211), the two clamp units (603) are respectively installed at the two ends of the moving arm (6023), a second cylinder (6022) is fixedly installed on the top of the column (6021), and the bottom of the piston rod of the second cylinder (6022) is fixedly connected to the top of the moving arm (6023).

9. An assembly device according to claim 8, characterized in that: The movable arm (6023) is fixedly connected to a limiting plate (6024), and one side of the limiting plate (6024) is in sliding contact with the outer wall of the column (6021).

10. An assembly device according to claim 9, characterized in that: The clamp unit (603) comprises an outer shell (6031), an end of the movable arm (6023) is fixedly connected to a mounting plate (6025), the outer shell (6031) is fixedly mounted on the mounting plate (6025), an outer wall of the outer shell (6031) is provided with a plurality of first through holes (60311), the insides of the first through holes (60311) are all rotatably connected to clamp arms (6033), the clamp arms (6033) are arranged in an inverted L shape, an inner shell (6034) is slidably arranged inside the outer shell (6031), and the outer shell (6031) is provided with a plurality of first through holes (60311). 1) is open at the bottom, the lower end of the inner shell (6034) can extend out of the outer shell (6031), the outer wall of the inner shell (6034) is provided with second through holes (60411) the same number as the clamping arms (6033), the upper ends of the clamping arms (6033) extend from the second through holes (60411) into the interior of the inner shell (6034), the top of the outer shell (6031) is fixedly mounted with a third cylinder (6032), the bottom of the piston rod of the third cylinder (6032) is fixedly connected to the top of the inner shell (6034); When the energy ring (300) needs to be clamped, the piston rod of the third cylinder (6032) is controlled to retract, thereby driving the inner shell (6034) to move upward, and the lower end of the second through hole (60411) continuously squeezes the upper end of the clamp arm (6033), thereby causing the lower end of the clamp arm (6033) to move toward the center of the inner shell (6034), thereby clamping the energy ring (300); when the energy ring (300) needs to be lowered, the piston rod of the third cylinder (6032) is controlled to extend, thereby driving the inner shell (6034) to move downward. As the inner shell (6034) continues to move downward, the upper end of the second through hole (60411) squeezes the upper end of the clamp arm (6033), thereby causing the lower end of the clamp arm (6033) to move away from the inner shell (6034), thereby lowering the energy ring (300). As the inner shell (6034) continues to move downward, the bottom of the inner shell (6034) squeezes the energy ring (300), thereby putting the energy ring (300) on the elastic clamp (201), so that the elastic clamp (201) is clamped in the annular clamping groove (3011).

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