Small-size intelligent traction system and control method thereof

Abstract

The invention provides a small-size intelligent traction system and a control method thereof, and belongs to the technical field of petroleum and natural gas development equipment. Comprising a drill rod connector, a supporting cylinder end cover, a supporting telescopic cylinder, a telescopic cylinder end cover, a slurry protecting sleeve, a valve body, a valve body protecting sleeve, a battery bin, a battery bin cover, a communication port cover, a drilling tool connector, an anti-erosion connector, a main body shaft, a main body shaft end cover, a main body shaft end cover seal, a main body shaft sealing gasket, a pressure-bearing electric connector, a displacement limiting plug, a displacement sensor, an induction magnetic ring and a supporting rod. The device comprises a supporting cylinder reset spring, a supporting block, a supporting arm, a supporting arm reset plate spring, a supporting arm reset spring, a telescopic cylinder piston, a circuit board, an insulating plate, a two-position four-way electromagnetic valve, a battery, a battery plug, a battery shock absorber and the like. According to the small-size intelligent traction system and the control method thereof, the problems that in the prior art, a supporting mechanism is prone to being blocked, the automation degree is insufficient, and main parts are prone to being eroded and damaged can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and natural gas development equipment, and in particular to a small-sized intelligent traction system and a control method thereof. Background Art

[0002] In the field of oil drilling and production, the exploration and development of my country's oil and gas resources has gradually shifted to deep-layer, deep-sea and unconventional oil and gas wells. Large-displacement, long-horizontal-section horizontal wells and other complex-structure wells have become the main well types for oil and gas production. Conventional drilling and completion technologies have been unable to solve the problems of speeding up and increasing the efficiency of deep wells and complex-structure wells. At present, the main problem in the development of large-displacement and long-horizontal-section horizontal wells is the serious "support pressure" phenomenon of continuous tubing, the inability to load drilling pressure, slow or even no footage, and even buckling and locking, which greatly increases the operating cost.

[0003] In order to effectively solve the "support pressure" of the coiled tubing during drilling, the inability to load the drilling pressure or the buckling lock phenomenon, and increase the extension length of the horizontal well, the industry has adopted a variety of methods. The current mainstream is the use of hydraulic oscillators and metal drag reducers to reduce the axial friction of the coiled tubing. However, the existing technology is limited by the well depth, and the effect is limited in the 2000m horizontal section and the well inclination above 95°. Based on this, the industry has proposed a new idea of ​​using a tractor to drag the coiled tubing for drilling. Up to now, many scientific research institutions at home and abroad have proposed various forms of tractors, such as wheeled, telescopic, crawler, spiral, eccentric support and other types. The more common ones are wheeled and telescopic tractors. Among them, wheeled tractors include Welltec's electro-hydraulic wheel tractor, Sondex's electric drive wheel tractor, Schlumberger's TuffTRAC and UltraTRAC electric wheel tractors, Aker's PowerTrac electric wheel tractor, CSIC 719 Institute's QYQ1 wheel tractor, Harbin Institute of Technology's horizontal oil well inspection instrument tractor, China University of Petroleum (Beijing)'s horizontal well self-supporting cable tractor, etc. This type of tractor relies on the friction generated between the rotating drive wheel and the casing wall to make the tractor crawl forward. The advantages are fast speed and flexibility, but small traction force, and cannot provide a large drilling pressure. It can only be used in well logging and well repair operation scenarios, and is not suitable for drilling development. Telescopic downhole tractors such as Schlumberger's MaxTRAC tractor, WWT's OilTubing Tractors telescopic tractor, Smart's Smar Tract telescopic tractor, National University of Defense Technology's cam self-locking telescopic pipeline robot, Southwest Petroleum University's hydraulic telescopic downhole tractor, etc., drive the tractor to crawl forward through two or more sets of supporting mechanisms and telescopic mechanisms alternating actions. Most of these tractors are hydraulically driven, usually at a slow speed, but can provide greater traction. Among the above tractors, several foreign models have been reported to be successfully applied, and they were applied earlier, but the anti-erosion structure was not considered. The place where the main shaft changes diameter is extremely susceptible to erosion damage, the service life is reduced, and the supporting mechanism is easily blocked, and there is no automatic control function. Several domestic models are only in the laboratory prototype development stage, and there is no control mechanism integrated on the fuselage. The control mechanism is separated from the fuselage, which is only a principle action verification, and there has been no report of successful entry into the well. Other types of tractors such as the PowerTrac Invader crawler downhole tractor of MWS, the spiral wheel horizontal well traction robot of Wuhan University of Technology, the active spiral drive pipeline robot of Southwest Petroleum University, the spring cam robot in patent US8302679B2, and the double-bevel spring leaf support arm robot in patent US6640894B2 are all tractors with low traction force and are not suitable for drilling development that requires high traction force.

[0004] In summary, the existing domestic and foreign telescopic tractors have large traction force and can be used for drilling and development, but they do not consider the anti-erosion structure. The place where the main shaft changes diameter is very susceptible to erosion damage, which reduces the service life. The support mechanism is easy to get stuck and has no automatic control function. The remaining wheel tractors or other types of tractors have fast speeds and small traction force. They can be used in the field of logging or well repair, but are not suitable for drilling and development. Summary of the invention

[0005] The purpose of the present invention is to provide a small-sized intelligent traction system and a control method thereof, which can solve the problems in the prior art that the supporting mechanism is easy to get stuck, the degree of automation is insufficient, and the main components are easy to be eroded and damaged.

[0006] To achieve the above-mentioned purpose, the present invention provides a small-size intelligent traction system, including a drill pipe joint, an anti-erosion joint, a first main body shaft end cover seal, a second main body shaft end cover seal, a first main body shaft end cover, a second main body shaft end cover, a first main body shaft sealing gasket, a second main body shaft sealing gasket, a first displacement sensor electrical connector, a second displacement sensor electrical connector, a first displacement sensor limit plug, a second displacement sensor limit plug, a first displacement sensor, a second displacement sensor, a first induction magnetic ring, a second induction magnetic ring, a first support cylinder end cover, a second support cylinder end cover, a first support telescopic cylinder, a second support telescopic cylinder, a first main body shaft, a second main body shaft, a first support rod, a second support rod, a first support cylinder reset spring, a second support cylinder reset spring, a first support block, a second support block, a first induction switch, a second induction switch, a first induction switch sensor, a second induction switch sensor, a first support arm reset spring, and a second support arm Reset spring, first support arm, second support arm, first support arm reset leaf spring, second support arm reset leaf spring, first telescopic cylinder piston, second telescopic cylinder piston, first piston screw, second piston screw, first telescopic cylinder end cover, second telescopic cylinder end cover, first main shaft protective cylinder, second main shaft protective cylinder, first main shaft connecting screw, second main shaft connecting screw, first valve body, second valve body, first elastic retaining ring, second elastic retaining ring, first valve body protective sleeve, second valve body protective sleeve, first valve body connecting screw, second valve body connecting screw, battery compartment, insulating plate, circuit board, battery compartment cover, mud channel, communication port cover, drill bit joint, first main shaft electrical connector, second main shaft electrical connector, first anti-torsion screw, second anti-torsion screw, two-position four-way solenoid valve one, two-position four-way solenoid valve two, two-position four-way solenoid valve three, two-position four-way solenoid valve four, first battery plug, second battery plug, battery, battery shock absorber, pressure sensor; Among them, the first main shaft and the second main shaft are respectively fixed to the first valve body and the second valve body by the first main shaft connecting screw and the second main shaft connecting screw, the first valve body and the second valve body are respectively fixed to the upper and lower sides of the battery compartment by the first valve body connecting screw and the second valve body connecting screw, the first main shaft protective cylinder and the second main shaft protective cylinder are respectively fixed to the first telescopic cylinder end cover and the second support cylinder end cover by threads, the first telescopic cylinder end cover and the second support cylinder end cover are sleeved on the first main shaft and the second main shaft, the first telescopic cylinder piston and the second telescopic cylinder piston are sleeved on the first main shaft and the second main shaft, and are fixed by the first piston screw and the second piston screw, the first support telescopic cylinder and the second support telescopic cylinder are sleeved on the first main shaft and the second main shaft The first and second support cylinders are connected to the first and second support cylinders by a screw thread, the first and second support cylinder return springs are sleeved on the first and second support rods, the first and second support rods are sleeved on the first and second main shafts, the first and second support cylinder end covers are sleeved on the first and second main shafts, and are respectively connected to the first and second support telescopic cylinders, the first induction magnetic ring and the second induction magnetic ring are respectively fixed to the first and second support cylinder end covers by a set of screws, the first displacement sensor and the second displacement sensor are respectively installed on the first and second main shafts, and the first displacement sensor limit plug and the second displacement sensor limit plug are respectively installed on the first and second main shafts. The first main shaft and the second main shaft are connected, and the first displacement sensor and the second displacement sensor are limited. The first displacement sensor electrical connector and the second displacement sensor electrical connector are connected to the first displacement sensor limit plug and the second displacement sensor limit plug through threads. The first main shaft electrical connector and the second main shaft electrical connector are connected to the first main shaft and the second main shaft through threads. The first main shaft sealing gasket and the second main shaft sealing gasket are tightly attached to the end faces of the first main shaft and the second main shaft. The first main shaft end cover and the second main shaft end cover are fixed to the first main shaft and the second main shaft through screws. The first main shaft end cover seal and the second main shaft end cover seal are installed in the slots on the first main shaft end cover and the second main shaft end cover to prevent impact. The corrosion joint is fixed to the first main shaft end cover by screws, the second main shaft end cover seal is fixed to the second main shaft end cover by screws, the drill rod joint is sleeved on the first main shaft and fixed to the first support cylinder end cover by threads, the upper part of which is connected to the drill rod, the drill tool joint is sleeved on the second main shaft and fixed to the second telescopic cylinder end cover by threads, the lower part of which is connected to the MWD and the screw drill tool, the first support block and the second support block pass through the openings on the first support telescopic cylinder and the second support telescopic cylinder, and are installed on the first support rod and the second support rod by screws, the first support block and the second support block are installed with the first induction switch and the second induction switch, the first main shaft and the second main shaft are installed with the first induction switch sensor and the second induction switch sensor,The first support arm reset leaf spring and the second support arm reset leaf spring are installed in the dovetail grooves of the first support arm and the second support arm, and are connected to the first support telescopic cylinder and the second support telescopic cylinder through screws. The first support arm and the second support arm are connected to the first support telescopic cylinder and the second support telescopic cylinder through cylindrical pins, and the cylindrical pins limit their axial displacement through set screws. The first main shaft protection cylinder and the second main shaft protection cylinder are sleeved on the first valve body and the second valve body. The first anti-torsion screw and the second anti-torsion screw pass through the keyways of the first main shaft protection cylinder and the second main shaft protection cylinder and are fixedly connected to the first valve body and the second valve body. The first valve body protection sleeve and the second valve body protection sleeve are sleeved on the first valve body and The battery compartment cover is fixed on the battery compartment by screws, the communication port cover is fixed on the battery compartment by screws, the two-position four-way solenoid valve 1, the two-position four-way solenoid valve 2, the two-position four-way solenoid valve 3, and the two-position four-way solenoid valve 4 are respectively installed on the first valve body and the second valve body. After the battery is fixedly connected to the battery shock absorber, it is installed in the battery hole of the battery compartment, and the two ends are limited by the first battery plug and the second battery plug. The first battery plug and the second battery plug are installed on the battery compartment through limit pins, and the pressure sensor is installed on the battery compartment. The mud channel is installed in the battery compartment and connected to the first valve body and the second valve body.

[0007] Preferably, the first main shaft and the second main shaft are made of non-magnetic materials, and are both designed with mud channel holes, displacement sensor mounting holes, limit plug mounting holes, displacement sensor electrical connector mounting holes, cable holes, first support cylinder hydraulic holes and second support cylinder hydraulic holes, induction switch mounting holes, first telescopic cylinder hydraulic holes and second telescopic cylinder hydraulic holes, piston fixing holes, and end faces of each hydraulic oil hole and cable hole are also designed with end face sealing grooves.

[0008] Preferably, wiring grooves are processed on the first main shaft end cover and the second main shaft end cover. When the first displacement sensor electrical connector and the second displacement sensor electrical connector, the first main shaft electrical connector and the second main shaft electrical connector are respectively installed in place, the wiring between the first displacement sensor electrical connector and the first main shaft electrical connector, the second displacement sensor electrical connector and the second main shaft electrical connector are respectively connected to the wiring grooves on the first main shaft end cover and the second main shaft end cover, and are sealed by the first main shaft end cover seal and the second main shaft end cover seal. In this way, a sealing system is composed of the first main shaft end cover seal and the second main shaft end cover seal, the first main shaft sealing gasket and the second main shaft sealing gasket, the first displacement sensor electrical connector and the second displacement sensor electrical connector, and the first main shaft electrical connector and the second main shaft electrical connector.

[0009] Preferably, the first supporting telescopic cylinder and the second supporting telescopic cylinder are of an integrated design, wherein the first supporting cylinder end cover, the first supporting rod, the first supporting telescopic cylinder, the first telescopic cylinder piston and the first telescopic cylinder end cover constitute the supporting hydraulic cylinder and the telescopic hydraulic cylinder of the upper moving short section, and the second supporting cylinder end cover, the second supporting telescopic cylinder, the second supporting rod, the second telescopic cylinder piston and the second telescopic cylinder end cover constitute the supporting hydraulic cylinder and the telescopic hydraulic cylinder of the lower moving short section, Preferably, the first support arm and the second support arm are designed with a leaf spring mounting dovetail groove, a return spring mounting groove and an angle limit platform. The first support arm return leaf spring and the second support arm return leaf spring are of a T-shaped structure, with the head end mounted on the leaf spring mounting dovetail groove, and the tail end fixed to the first support telescopic cylinder and the second support telescopic cylinder by screws. When the first support arm and the second support arm are rotated and unfolded, they will be affected by the rebound force of the first support arm return leaf spring and the second support arm return leaf spring. At the same time, the angle limit platform will limit the rotation angle of the first support arm and the second support arm, thereby preventing the support arms from rotating at too large an angle and being unable to be recovered. The support block and the second support block are designed with a reset spring mounting hole, the first support arm reset spring and the second support arm reset spring are inserted into the reset spring mounting hole, and are pressed against the support telescopic cylinder through the support arm reset spring mounting groove. When the first support rod and the second support rod move relative to the first support telescopic cylinder and the second support telescopic cylinder, they will be subjected to a rebound force in the opposite direction; the first support rod and the second support rod are equipped with a first support cylinder reset spring and a second support cylinder reset spring. When the first support rod and the second support rod move relative to the first support telescopic cylinder and the second support telescopic cylinder, they will be subjected to a rebound force in the opposite direction.

[0010] Preferably, the first valve body and the second valve body are installed with the first anti-torque screw and the second anti-torque screw for preventing reverse torque, and the first main shaft protective cylinder and the second main shaft protective cylinder are processed with keyways, which cooperate with the first anti-torque screw and the second anti-torque screw, and make relative axial movement with the first valve body and the second valve body, but cannot rotate relative to the first valve body and the second valve body.

[0011] The present invention also provides a control method for the small-size intelligent traction system as described above. The first displacement sensor and the second displacement sensor, the first inductive switch sensor and the second inductive switch sensor, the pressure sensor, the circuit board and the MWD cooperate to realize the automatic control of the small-size intelligent traction system. When the MWD detects that the drill tool cannot continue to drill forward in the horizontal section, the ground sends a flag code for starting the drilling mode to the circuit board through the start-stop pump. After the pressure sensor detects the signal, it filters out the impurity wave through the filter and transmits the signal to the digital-to-analog conversion module of the circuit board to convert the analog signal into a digital signal. After the control unit recognizes the signal, it sends a control instruction to the actuator to control the on and off of the four relays, thereby controlling the two-position four-way solenoid valve one, The two-position four-way solenoid valve 2, the two-position four-way solenoid valve 3 and the two-position four-way solenoid valve 4 operate in a predetermined logical sequence. First, the small-size intelligent traction system is initially calibrated. The two-position four-way solenoid valve 1, the two-position four-way solenoid valve 2, the two-position four-way solenoid valve 3 and the two-position four-way solenoid valve 4 are all de-energized. The right chambers of the support cylinders and telescopic cylinders of the left and right motion pup sections are filled with liquid. The first support rod and the second support rod, the first telescopic cylinder piston and the second telescopic cylinder piston are all in the left position. When the relative distance between the first displacement sensor and the second displacement sensor and the first induction magnetic ring and the second induction magnetic ring reaches the maximum value, the telescopic cylinder is calibrated in place, and the relative distance between the first induction switch sensor and the second induction switch sensor and the first induction switch and the second induction switch is large. In the sensing range, the support cylinder is calibrated in place. Secondly, the two-position four-way solenoid valve one is energized. When the relative distance between the first induction switch and the first induction switch sensor is less than the sensing range, the first induction switch sensor is energized, indicating that the first support arm has moved into place and anchored the well wall. The circuit board controls the two-position four-way solenoid valve two to be energized, and the first main body shaft drives the small-size intelligent traction system to drill forward. When the relative distance between the first displacement sensor and the first induction magnetic ring reaches the minimum value, it means that the first telescopic cylinder piston has moved into place. The circuit board controls the two-position four-way solenoid valve three to be energized. When the relative distance between the second induction switch and the second induction switch sensor is less than the sensing range, the second induction switch sensor is energized, indicating that the second support arm has moved into place and anchored the well wall. The circuit board controls the two-position four-way solenoid valve one to lose power. When the relative distance between the first induction switch and the first induction switch sensor is greater than the induction range, the first induction switch sensor loses power, indicating that the first support arm has been detached from the well wall. The circuit board controls the two-position four-way solenoid valve two and the two-position four-way solenoid valve four to be energized. The first main shaft drives the small-size intelligent traction system to drill forward. At the same time, the piston of the first telescopic cylinder returns to the left position to prepare for the next movement cycle. When the relative distance between the second displacement sensor and the second induction magnetic ring reaches the minimum value, it indicates that the piston of the second telescopic cylinder has moved into place. At this time, the small-size intelligent traction system has completed a complete action, and the four two-position four-way solenoid valves are controlled alternately again to achieve repeated alternation of the above actions until the target area is reached. At this time,The ground sends a stop drilling mode flag code to the circuit board through the start-stop pump. After the circuit board recognizes the signal, it returns the small-size intelligent traction system to its initial state, thereby realizing full-process automatic control of the small-size intelligent traction system.

[0012] Therefore, the present invention adopts the above-mentioned small-size intelligent traction system and control method thereof, and the technical effects are as follows: (1) The present invention adopts a fully enclosed structure, which can effectively prevent the main shaft from being damaged by erosion, while increasing the overall rigidity and flexibility of the machine, thereby improving the safety and service life of the traction system; (2) The invention supports the telescopic cylinder in an integrated design, which reduces the number of parts, improves the efficiency of mechanical use, and reduces processing costs and failure rates; (3) The present invention is designed with a mechanism to prevent the reverse torque generated by the lower drilling tool during the rock breaking process, thereby preventing the tractor support mechanism from slipping and improving the stability of the gripping system; (4) The present invention is designed with a displacement detection device, a torque detection device and a control chip, which can realize automatic control of the machine according to the real-time detected torque value and the displacement state of the machine itself, improve the automation and intelligence of the tractor, and thus achieve high-precision rock breaking; (5) The support mechanism of the present invention is designed with multiple positioning devices, which can effectively avoid the support arm from getting stuck and greatly reduce the traction device's blocking rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a transverse cross-sectional view of a small-sized intelligent traction system; wherein, Figure 1 (a) Schematic diagram of a certain perspective; Figure 1 (b) is a schematic diagram from another perspective; Figure 2 for Figure 1 A magnified schematic diagram of the middle part; Figure 3 for Figure 1 The enlarged schematic diagram of the middle B part; Figure 4 for Figure 3 The enlarged schematic diagram of part a in the middle; Figure 5 for Figure 3 The enlarged schematic diagram of part b; Figure 6 for Figure 3 The enlarged schematic diagram of part c in the middle; Figure 7 for Figure 1 Enlarged schematic diagram of middle C part; Figure 8 for Figure 1 The enlarged schematic diagram of the middle D part; Fig. 9 for Figure 1The enlarged schematic diagram of the middle E part; Fig.10 for Figure 1 Enlarged schematic diagram of the middle F part; Fig.11 It is a longitudinal cross-sectional view of a small-sized intelligent traction system; wherein, Fig.11 (a) is a schematic diagram of a certain perspective; Fig.11 (b) is a schematic diagram from another perspective; Fig.12 This is the control schematic diagram of the small-size intelligent traction system.

[0014] Reference numerals 1. Drill pipe joint; 2. Anti-erosion joint; 3. First main shaft end cover seal; 4. First main shaft end cover; 5. First main shaft sealing gasket; 6. First displacement sensor electrical connector; 7. First displacement sensor limit plug; 8. First displacement sensor; 9. First induction magnetic ring; 10. First support cylinder end cover; 11. First support telescopic cylinder; 12. First main shaft; 13. First support rod; 14. First support cylinder reset spring; 15. First support block; 16. First induction switch; 17. First induction switch sensor; 18. First telescopic cylinder piston; 19. First piston screw; 20. First telescopic cylinder The end cover of the shrink cylinder; 21, the first main body shaft protection cylinder; 22, the first main body shaft connecting screw; 23, the first valve body; 24, the first elastic retaining ring; 25, the first valve body protection sleeve; 26, the first valve body connecting screw; 27, the battery compartment; 28, the insulating plate; 29, the circuit board; 30, the battery compartment cover; 31, the mud channel; 32, the communication port cover; 33, the second valve body protection sleeve; 34, the second valve body connecting screw; 35, the second elastic retaining ring; 36, the second valve body; 37, the first support arm reset spring; 38, the first support arm; 39, the first support arm reset leaf spring; 40, the second main body shaft connecting screw; 41, Second main shaft protection cylinder; 42, second main shaft; 43, second support cylinder end cover; 44, second support telescopic cylinder; 45, second support rod; 46, second support cylinder reset spring; 47, second support block; 48, second support arm; 49, second induction switch sensor; 50, second induction switch; 51, second support arm reset spring; 52, second support arm reset leaf spring; 53, second telescopic cylinder piston; 54, second piston screw; 55, second telescopic cylinder end cover; 56, second displacement sensor; 57, second induction magnetic ring; 58, second displacement sensor limit plug; 59, second displacement sensor electric Connector; 60, second main shaft sealing gasket; 61, second main shaft end cover; 62, second main shaft end cover seal; 63, drill bit joint; 64, first main shaft electrical connector; 65, fixing nail; 66, first anti-torsion screw; 67, two-position four-way solenoid valve one; 68, two-position four-way solenoid valve two; 69, first battery plug; 70, battery; 71, battery shock absorber; 72, second battery plug; 73, two-position four-way solenoid valve three; 74, two-position four-way solenoid valve four; 75, second anti-torsion screw; 76, second main shaft electrical connector; 77, pressure sensor; 78, filter; 79, relay. DETAILED DESCRIPTION

[0015] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0016] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0017] Embodiment 1 like Figure 1-12 As shown, a small-size intelligent traction system includes a drill pipe joint 1, an anti-erosion joint 2, a first main body shaft end cover seal 3, a second main body shaft end cover seal 62, a first main body shaft end cover 4, a second main body shaft end cover 61, a first main body shaft sealing gasket 5, a second main body shaft sealing gasket 60, a first displacement sensor electrical connector 6, a second displacement sensor electrical connector 59, a first displacement sensor limit plug 7, a second displacement sensor limit plug 58, a first displacement sensor 8, a second displacement sensor 56, a first induction magnetic ring 9, a second induction magnetic ring 57, a first support Support cylinder end cover 10, second support cylinder end cover 43, first support telescopic cylinder 11, second support telescopic cylinder 44, first main body shaft 12, second main body shaft 42, first support rod 13, second support rod 45, first support cylinder reset spring 14, second support cylinder reset spring 46, first support block 15, second support block 47, first induction switch 16, second induction switch 50, first induction switch sensor 17, second induction switch sensor 49, first support arm reset spring 37, second support arm reset spring 51, first support arm 38, second support arm 48, first support arm reset leaf spring 39, second support arm reset leaf spring 52, first telescopic cylinder piston 18, second telescopic cylinder piston 53, first piston screw 19, second piston screw 54, first telescopic cylinder end cover 20, second telescopic cylinder end cover 55, first main body shaft protection cylinder 21, second main body shaft protection cylinder 41, first main body shaft connecting screw 22, second main body shaft connecting screw 40, first valve body 23, second valve body 36, first elastic retaining ring 24, second elastic retaining ring 35, first valve body protective sleeve 25, second valve body protective sleeve 33, first valve body connecting Connecting screw 26, second valve body connecting screw 34, battery compartment 27, insulating plate 28, circuit board 29, battery compartment cover 30, mud channel 31, communication port cover 32, drill bit joint 63, first main body shaft electrical connector 64, second main body shaft electrical connector 76, first anti-torsion screw 66, second anti-torsion screw 75, two-position four-way solenoid valve 1 67, two-position four-way solenoid valve 2 68, two-position four-way solenoid valve 3 73, two-position four-way solenoid valve 4 74, first battery plug 69, second battery plug 72, battery 70, battery shock absorber 71, pressure sensor 77; Among them, the first main shaft 12 and the second main shaft 42 are respectively fixed to the first valve body 23 and the second valve body 36 by the first main shaft connecting screws 22 and the second main shaft connecting screws 40, the first valve body 23 and the second valve body 36 are respectively fixed to the upper and lower sides of the battery compartment 27 by the first valve body connecting screws 26 and the second valve body connecting screws 34, the first main shaft protective cylinder 21 and the second main shaft protective cylinder 41 are respectively fixed to the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 by threads, the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 are sleeved on the first main shaft 12 and the second main shaft 42, the first telescopic cylinder piston 18 and the second telescopic cylinder piston 53 are sleeved on the first main shaft 12 and the second main shaft 42, and through the first A piston screw 19 and a second piston screw 54 are fixed, the first supporting telescopic cylinder 11 and the second supporting telescopic cylinder 44 are sleeved on the first main body shaft 12 and the second main body shaft 42, and are fixedly connected with the first telescopic cylinder end cover 20 and the second supporting cylinder end cover 43 through threads, the first supporting cylinder reset spring 14 and the second supporting cylinder reset spring 46 are sleeved on the first supporting rod 13 and the second supporting rod 45, the first supporting rod 13 and the second supporting rod 45 are sleeved on the first main body shaft 12 and the second main body shaft 42, the first supporting cylinder end cover 10 and the second telescopic cylinder end cover 55 are sleeved on the first main body shaft 12 and the second main body shaft 42, and are respectively connected with the first supporting telescopic cylinder 11 and the second supporting telescopic cylinder 44, the first induction magnetic ring 9 and the second induction magnetic ring 57 are respectively connected through A group of screws are fixed on the first support cylinder end cover 10 and the second telescopic cylinder end cover 55, the first displacement sensor 8 and the second displacement sensor 56 are respectively installed on the first main shaft 12 and the second main shaft 42, the first displacement sensor limit plug 7 and the second displacement sensor limit plug 58 are respectively installed on the first main shaft 12 and the second main shaft 42, and the first displacement sensor 8 and the second displacement sensor 56 are limited, the first displacement sensor electrical connector 6 and the second displacement sensor electrical connector 59 are connected to the first displacement sensor limit plug 7 and the second displacement sensor limit plug 58 by threads, the first main shaft electrical connector 64 and the second main shaft electrical connector 76 are connected to the first main shaft 12 and the second main shaft 42 by threads, The first main shaft sealing gasket 5 and the second main shaft sealing gasket 60 are tightly attached to the end faces of the first main shaft 12 and the second main shaft 42, the first main shaft end cover 4 and the second main shaft end cover 61 are fixed to the first main shaft 12 and the second main shaft 42 by screws, the first main shaft end cover seal 3 and the second main shaft end cover seal 62 are installed in the slots on the first main shaft end cover 4 and the second main shaft end cover 61, the anti-erosion joint 2 is fixed to the first main shaft end cover 4 by screws, the second main shaft end cover seal 62 is fixed to the second main shaft end cover 61 by screws, the drill rod joint 1 is sleeved on the first main shaft 12, and is fixed to the first support cylinder end cover 10 by threads, the upper part of which is connected to the drill rod, and the drill tool joint 63 is sleeved on the second main shaft 42,And it is fixed on the second telescopic cylinder end cover 55 by threads, and its lower part is connected to MWD and screw drilling tools, the first support block 15 and the second support block 47 pass through the openings on the first support telescopic cylinder 11 and the second support telescopic cylinder 44, and are installed on the first support rod 13 and the second support rod 45 by screws, the first support block 15 and the second support block 47 are installed with the first induction switch 16 and the second induction switch 50, the first main body shaft 12 and the second main body shaft 42 are installed with the first induction switch sensor 17 and the second induction switch sensor 49, the first support arm reset leaf spring 39 and the second support arm reset leaf spring 52 are installed in the dovetail groove of the first support arm 38 and the second support arm 48, and are connected to the first support telescopic cylinder 11 and the second support telescopic cylinder 44 by fixing nails 65, the first support arm 38 and the second support arm 48 are connected to the first support telescopic cylinder 11 and the second support telescopic cylinder 44 by cylindrical pins, and the cylindrical pins limit their axial displacement by set screws, the first main body shaft protection cylinder 21 and the second main body shaft protection cylinder 41 are sleeved on the first valve body 23 and the second valve body 36, the first The anti-torsion screw 66 and the second anti-torsion screw 75 pass through the keyways of the first main body shaft protection tube 21 and the second main body shaft protection tube 41 and are fixedly connected to the first valve body 23 and the second valve body 36. The first valve body protection sleeve 25 and the second valve body protection sleeve 33 are sleeved on the first valve body 23 and the second valve body 36 and are limited by the first elastic retaining ring 24 and the second elastic retaining ring 35. The battery compartment cover 30 is fixed to the battery compartment 27 by screws, and the communication port cover 32 is fixed to the battery compartment 27 by screws. The two-position four-way solenoid valve 1 67, the two-position four-way solenoid valve 2 68, The two-position four-way solenoid valve three 73 and the two-position four-way solenoid valve four 74 are respectively installed on the first valve body 23 and the second valve body 36. After the battery 70 is fixedly connected with the battery shock absorber 71, it is installed in the battery hole of the battery compartment 27. The two ends are limited by the first battery plug 69 and the second battery plug 72. The first battery plug 69 and the second battery plug 72 are installed on the battery compartment 27 through the limit pins. The pressure sensor 77 is installed on the battery compartment 27. The mud channel 31 is installed in the battery compartment 27 and is connected to the first valve body 23 and the second valve body 36.

[0018] The first main shaft end cover 4 and the second main shaft end cover 61 are processed with wiring grooves. When the first displacement sensor electrical connector 6 and the second displacement sensor electrical connector 59, the first main shaft electrical connector 64 and the second main shaft electrical connector 76 are installed in place respectively, the wiring between the first displacement sensor electrical connector 6 and the first main shaft electrical connector 64, the second displacement sensor electrical connector 59 and the second main shaft electrical connector 76 is connected to the wiring grooves on the first main shaft end cover 4 and the second main shaft end cover 61 respectively, and is sealed by the first main shaft end cover seal 3 and the second main shaft end cover seal 62. In this way, a sealing system is composed of the first main shaft end cover seal 3 and the second main shaft end cover seal 62, the first main shaft sealing gasket 5 and the second main shaft sealing gasket 60, the first displacement sensor electrical connector 6 and the second displacement sensor electrical connector 59 and the first main shaft electrical connector 64 and the second main shaft electrical connector 76.

[0019] The first supporting telescopic cylinder 11 and the second supporting telescopic cylinder 44 are of an integrated design, wherein the first supporting cylinder end cover 10, the first supporting rod 13, the first supporting telescopic cylinder 11, the first telescopic cylinder piston 18 and the first telescopic cylinder end cover 20 constitute the supporting hydraulic cylinder and telescopic hydraulic cylinder of the upper moving short section, and the second supporting cylinder end cover 43, the second supporting telescopic cylinder 44, the second supporting rod 45, the second telescopic cylinder piston 53 and the second telescopic cylinder end cover 55 constitute the supporting hydraulic cylinder and telescopic hydraulic cylinder of the lower moving short section, The first support arm 38 and the second support arm 48 are designed with a leaf spring mounting dovetail groove, a reset spring mounting groove and an angle limit table. The first support arm reset leaf spring 39 and the second support arm reset leaf spring 52 are T-shaped structures, the head end is installed in the leaf spring mounting dovetail groove, and the tail end is fixed to the first support telescopic cylinder 11 and the second support telescopic cylinder 44 through a fixing nail 65. When the first support arm 38 and the second support arm 48 rotate and unfold, they will be affected by the rebound force of the first support arm reset leaf spring 39 and the second support arm reset leaf spring 52. At the same time, the angle limit table will limit the rotation angle of the first support arm 38 and the second support arm 48; the first support block 15 and the second support block 47 are provided with A reset spring mounting hole is provided, and the first support arm reset spring 37 and the second support arm reset spring 51 are inserted into the reset spring mounting hole and rest on the support telescopic cylinder through the support arm reset spring mounting groove. When the first support rod 13 and the second support rod 45 move relative to the first support telescopic cylinder 11 and the second support telescopic cylinder 44, they will be subjected to a rebound force in the opposite direction; the first support rod 13 and the second support rod 45 are equipped with the first support cylinder reset spring 14 and the second support cylinder reset spring 46. When the first support rod 13 and the second support rod 45 move relative to the first support telescopic cylinder 11 and the second support telescopic cylinder 44, they will be subjected to a rebound force in the opposite direction.

[0020] The first valve body 23 and the second valve body 36 are installed with the first anti-torque screw 66 and the second anti-torque screw 75 for preventing reverse torque. The first main shaft protection cylinder 21 and the second main shaft protection cylinder 41 are processed with keyways, which cooperate with the first anti-torque screw 66 and the second anti-torque screw 75 to make relative axial movement with the first valve body 23 and the second valve body 36, but cannot rotate relative to the first valve body 23 and the second valve body 36.

[0021] Embodiment 2 like Fig.12 As shown, it is the control principle diagram of the small-size intelligent traction system, where VCC represents the power supply port; GND represents the grounding port; A and B both represent the hydraulic cylinder oil ports; T represents the low-pressure port; P represents the high-pressure port; p0 represents the oil return port; and pi represents the oil inlet port.

[0022] A control method for a small-sized intelligent traction system, wherein a first displacement sensor 8, a second displacement sensor 56, a first inductive switch sensor 17, a second inductive switch sensor 49, a pressure sensor 77, a circuit board 29 and an MWD cooperate to realize automatic control of the small-sized intelligent traction system. When the MWD detects that the drilling tool cannot continue to drill forward in the horizontal section, the ground sends a flag code for starting the drilling mode to the circuit board 29 through a start-stop pump. After the pressure sensor 77 detects the signal, the impurity wave is filtered out by a filter 78, and the signal is transmitted to the digital-to-analog conversion module of the circuit board to convert the analog signal into a digital signal. After the control unit recognizes the signal, it sends a control instruction to the actuator to control the on and off of four relays 79, thereby controlling the two The first four-way solenoid valve 67, the second four-way solenoid valve 68, the third four-way solenoid valve 73 and the fourth four-way solenoid valve 74 operate in a predetermined logical sequence. First, the small-size intelligent traction system is initially calibrated. The first four-way solenoid valve 67, the second four-way solenoid valve 68, the third four-way solenoid valve 73 and the fourth four-way solenoid valve 74 are all de-energized. The support cylinders and the right cavities of the telescopic cylinders of the left and right motion pup sections are filled with liquid. The first support rod 13 and the second support rod 45, the first telescopic cylinder piston 18 and the second telescopic cylinder piston 53 are all in the left position. When the relative distance between the first displacement sensor 8 and the second displacement sensor 56 and the first induction magnetic ring 9 and the second induction magnetic ring 57 reaches the maximum value, the telescopic cylinder is calibrated in place. The relative distance between the inductive switch sensor 17 and the second inductive switch sensor 49 and the first inductive switch 16 and the second inductive switch 50 is greater than the inductive range, and the support cylinder is calibrated in place. Secondly, the two-position four-way solenoid valve 1 67 is energized. When the relative distance between the first inductive switch 16 and the first inductive switch sensor 17 is less than the inductive range, the first inductive switch sensor 17 is energized, indicating that the first support arm 38 has moved into place and anchored the well wall. The circuit board 29 controls the two-position four-way solenoid valve 2 68 to be energized, and the first main shaft 12 drives the small-size intelligent traction system to drill forward. When the relative distance between the first displacement sensor 8 and the first inductive magnetic ring 9 reaches the minimum value, it indicates that the first telescopic cylinder piston 18 has moved into place. The circuit board 29 controls the two-position four-way solenoid valve 2 Solenoid valve three 73 is energized. When the relative distance between the second induction switch 50 and the second induction switch sensor 49 is less than the induction range, the second induction switch sensor 49 is energized, indicating that the second support arm 48 has moved into place and anchored the well wall. The circuit board 29 controls the two-position four-way solenoid valve one 67 to lose power. When the relative distance between the first induction switch 16 and the first induction switch sensor 17 is greater than the induction range, the first induction switch sensor 17 loses power, indicating that the first support arm 38 has been separated from the well wall. The circuit board 29 controls the two-position four-way solenoid valve two 68 and the two-position four-way solenoid valve four 74 to be energized. The first main shaft 12 drives the small-size intelligent traction system to drill forward. At the same time, the first telescopic cylinder piston 18 returns to the left position to prepare for the next movement cycle.When the relative distance between the second displacement sensor 56 and the second induction magnetic ring 57 reaches the minimum value, it means that the second telescopic cylinder piston 53 has moved to the position. At this time, the small-sized intelligent traction system has completed a complete action, and the four two-position four-way solenoid valves are alternately controlled again to achieve the above-mentioned repeated actions until the target area is reached. At this time, the ground sends a stop drilling mode flag code to the circuit board 29 through the start-stop pump. After the circuit board 29 recognizes the signal, it returns the small-sized intelligent traction system to the initial state, thereby realizing the full process automatic control of the small-sized intelligent traction system.

[0023] It is worth noting that the contents not elaborated in detail in the present invention are all prior art and are well known to those skilled in the art.

[0024] Therefore, the present invention adopts the above-mentioned small-sized intelligent traction system and control method thereof, which can solve the problems in the prior art that the supporting mechanism is easy to get stuck, the degree of automation is insufficient, and the main components are easy to be eroded and damaged.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A small-sized intelligent traction system, characterized in that: The invention comprises a drill pipe joint (1), an anti-erosion joint (2), a first main body shaft end cover seal (3), a second main body shaft end cover seal (62), a first main body shaft end cover (4), a second main body shaft end cover (61), a first main body shaft sealing gasket (5), a second main body shaft sealing gasket (60), a first displacement sensor electrical connector (6), a second displacement sensor electrical connector (59), a first displacement sensor limit plug (7), a second displacement sensor limit plug (58), a first displacement sensor (8), a second displacement sensor (56), a first induction magnetic ring (9), a second induction magnetic ring (57), a first support cylinder end cover (10), and a second support cylinder end cover ( 43), a first supporting telescopic cylinder (11), a second supporting telescopic cylinder (44), a first main body shaft (12), a second main body shaft (42), a first supporting rod (13), a second supporting rod (45), a first supporting cylinder reset spring (14), a second supporting cylinder reset spring (46), a first supporting block (15), a second supporting block (47), a first inductive switch (16), a second inductive switch (50), a first inductive switch sensor (17), a second inductive switch sensor (49), a first supporting arm reset spring (37), a second supporting arm reset spring (51), a first supporting arm (38), a second supporting arm (48), and a first supporting arm reset plate spring (39), a second support arm reset leaf spring (52), a first telescopic cylinder piston (18), a second telescopic cylinder piston (53), a first piston screw (19), a second piston screw (54), a first telescopic cylinder end cover (20), a second telescopic cylinder end cover (55), a first main body shaft protection cylinder (21), a second main body shaft protection cylinder (41), a first main body shaft connecting screw (22), a second main body shaft connecting screw (40), a first valve body (23), a second valve body (36), a first elastic retaining ring (24), a second elastic retaining ring (35), a first valve body protective sleeve (25), a second valve body protective sleeve (33), a first valve body connecting screw (26), a first valve body connecting screw ... connecting screw (40), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a second valve body connecting screw (36), a first elastic retaining ring (24), a second elastic retaining ring (35), a first valve body protective sleeve (25), a second valve body protective sleeve (33), a first valve body connecting screw (26), a first valve body connecting screw (26), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a first valve body connecting screw (23), a second valve body connecting screw (40), a first valve body connecting screw (23), a first valve body connecting screw (23 Second valve body connecting screws (34), battery compartment (27), insulating plate (28), circuit board (29), battery compartment cover (30), mud channel (31), communication port cover (32), drilling tool joint (63), first main body shaft electrical connector (64), second main body shaft electrical connector (76), first anti-torsion screw (66), second anti-torsion screw (75), two-position four-way solenoid valve one (67), two-position four-way solenoid valve two (68), two-position four-way solenoid valve three (73), two-position four-way solenoid valve four (74), first battery plug (69), second battery plug (72), battery (70), battery shock absorber (71), pressure sensor (77); The first main body shaft (12) and the second main body shaft (42) are respectively fixed to the first valve body (23) and the second valve body (36) by means of the first main body shaft connecting screw (22) and the second main body shaft connecting screw (40); the first valve body (23) and the second valve body (36) are respectively fixed to the upper and lower sides of the battery compartment (27) by means of the first valve body connecting screw (26) and the second valve body connecting screw (34); the first main body shaft protective cylinder (21) and the second main body shaft protective cylinder (41) are respectively fixed to the first telescopic cylinder end cover (20) and the second support cylinder end cover (43) by means of threads; the first telescopic cylinder end cover (20) and the second support cylinder end cover (43) are sleeved on the first main body shaft (12) and the second main body shaft (42); The telescopic cylinder piston (18) and the second telescopic cylinder piston (53) are sleeved on the first main body shaft (12) and the second main body shaft (42), and are fixed by the first piston screw (19) and the second piston screw (54); the first supporting telescopic cylinder (11) and the second supporting telescopic cylinder (44) are sleeved on the first main body shaft (12) and the second main body shaft (42), and are fixedly connected to the first telescopic cylinder end cover (20) and the second supporting cylinder end cover (43) by threads; the first supporting cylinder return spring (14) and the second supporting cylinder return spring (46) are sleeved on the first supporting rod (13) and the second supporting rod (45); the first supporting rod (13) and the second supporting rod (45) are sleeved on the first main body shaft (12) and the second main body shaft (42); A support cylinder end cover (10) and a second telescopic cylinder end cover (55) are sleeved on the first main body shaft (12) and the second main body shaft (42), and are respectively connected to the first support telescopic cylinder (11) and the second support telescopic cylinder (44); a first induction magnetic ring (9) and a second induction magnetic ring (57) are respectively fixed to the first support cylinder end cover (10) and the second telescopic cylinder end cover (55) by a set of screws; a first displacement sensor (8) and a second displacement sensor (56) are respectively installed on the first main body shaft (12) and the second main body shaft (42); a first displacement sensor limit plug (7) and a second displacement sensor limit plug (58) are respectively installed on the first main body shaft (12) and the second main body shaft (42), and the first displacement sensor is (8) and the second displacement sensor (56) are limited, the first displacement sensor electrical connector (6) and the second displacement sensor electrical connector (59) are connected to the first displacement sensor limit plug (7) and the second displacement sensor limit plug (58) by threads, the first main body shaft electrical connector (64) and the second main body shaft electrical connector (76) are connected to the first main body shaft (12) and the second main body shaft (42) by threads, the first main body shaft sealing gasket (5) and the second main body shaft sealing gasket (60) are tightly attached to the end surfaces of the first main body shaft (12) and the second main body shaft (42), and the first main body shaft end cover (4) and the second main body shaft end cover (61) are fixed to the first main body shaft (12) and the second main body shaft (42) by screws,The first main shaft end cover seal (3) and the second main shaft end cover seal (62) are installed in the slots on the first main shaft end cover (4) and the second main shaft end cover (61); the anti-erosion joint (2) is fixed to the first main shaft end cover (4) by screws; the second main shaft end cover seal (62) is fixed to the second main shaft end cover (61) by screws; the drill rod joint (1) is sleeved on the first main shaft (12) and is fixed to the first support cylinder end cover (10) by threads; the upper part of the drill rod is connected to the drill rod; the drill tool joint (63) is sleeved on the second main shaft (42) and is fixed to the second telescopic cylinder end cover (55) by threads; the lower part of the drill tool joint (63) is sleeved on the second main shaft (42) and is fixed to the second telescopic cylinder end cover (55) by threads; the lower part of the drill tool joint is connected to the MWD and the screw drill tool; the first support block (15) and the second support block (47) pass through the first support block (12). The openings on the telescopic cylinder (11) and the second telescopic cylinder (44) are mounted on the first support rod (13) and the second support rod (45) by screws, the first support block (15) and the second support block (47) are mounted with a first inductive switch (16) and a second inductive switch (50), the first main body shaft (12) and the second main body shaft (42) are mounted with a first inductive switch sensor (17) and a second inductive switch sensor (49), the first support arm reset leaf spring (39) and the second support arm reset leaf spring (52) are mounted in the dovetail grooves of the first support arm (38) and the second support arm (48), and are connected to the first telescopic cylinder (11) and the second telescopic cylinder (44) by fixing nails (65), the first support arm (38 ) and the second support arm (48) are connected to the first support telescopic cylinder (11) and the second support telescopic cylinder (44) through a cylindrical pin, and the cylindrical pin limits its axial displacement through a set screw. The first main body shaft protection cylinder (21) and the second main body shaft protection cylinder (41) are sleeved on the first valve body (23) and the second valve body (36). The first anti-torsion screw (66) and the second anti-torsion screw (75) pass through the key slots of the first main body shaft protection cylinder (21) and the second main body shaft protection cylinder (41) and are fixedly connected to the first valve body (23) and the second valve body (36). The first valve body protection sleeve (25) and the second valve body protection sleeve (33) are sleeved on the first valve body (23) and the second valve body (36) and are limited by the first elastic retaining ring (24) and the second elastic retaining ring (35). The battery compartment cover (30) is fixed to the battery compartment (27) by screws, the communication port cover (32) is fixed to the battery compartment (27) by screws, a two-position four-way solenoid valve 1 (67), a two-position four-way solenoid valve 2 (68), a two-position four-way solenoid valve 3 (73), and a two-position four-way solenoid valve 4 (74) are respectively mounted on the first valve body (23) and the second valve body (36), the battery (70) is fixedly connected to the battery shock absorber (71), and is inserted into the battery hole of the battery compartment (27), and the two ends are limited by the first battery plug (69) and the second battery plug (72), the first battery plug (69) and the second battery plug (72) are mounted on the battery compartment (27) by limiting pins, and the pressure sensor (77) is mounted on the battery compartment (27),The mud channel (31) is installed in the battery compartment (27) and is connected to the first valve body (23) and the second valve body (36).

2. A small-sized intelligent traction system according to claim 1, characterized in that: The first main body shaft end cover (4) and the second main body shaft end cover (61) are machined with wiring grooves. When the first displacement sensor electrical connector (6) and the second displacement sensor electrical connector (59), the first main body shaft electrical connector (64) and the second main body shaft electrical connector (76) are installed in place, the wiring between the first displacement sensor electrical connector (6) and the first main body shaft electrical connector (64), the second displacement sensor electrical connector (59) and the second main body shaft electrical connector (76) is connected at the wiring grooves on the first main body shaft end cover (4) and the second main body shaft end cover (61), and is sealed by the first main body shaft end cover seal (3) and the second main body shaft end cover seal (62). In this way, a sealing system is formed by the first main body shaft end cover seal (3) and the second main body shaft end cover seal (62), the first main body shaft sealing gasket (5) and the second main body shaft sealing gasket (60), the first displacement sensor electrical connector (6) and the second displacement sensor electrical connector (59), and the first main body shaft electrical connector (64) and the second main body shaft electrical connector (76).

3. A small-sized intelligent traction system according to claim 2, characterized in that: The first supporting telescopic cylinder (11) and the second supporting telescopic cylinder (44) are of an integrated design, wherein the first supporting cylinder end cover (10), the first supporting rod (13), the first supporting telescopic cylinder (11), the first telescopic cylinder piston (18) and the first telescopic cylinder end cover (20) constitute the supporting hydraulic cylinder and the telescopic hydraulic cylinder of the upper moving short section, and the second supporting cylinder end cover (43), the second supporting telescopic cylinder (44), the second supporting rod (45), the second telescopic cylinder piston (53) and the second telescopic cylinder end cover (55) constitute the supporting hydraulic cylinder and the telescopic hydraulic cylinder of the lower moving short section.

4. A small-sized intelligent traction system according to claim 3, characterized in that: The first support arm (38) and the second support arm (48) are designed with a leaf spring mounting dovetail groove, a reset spring mounting groove and an angle limit table. The first support arm reset leaf spring (39) and the second support arm reset leaf spring (52) are T-shaped structures, with the head end mounted on the leaf spring mounting dovetail groove and the tail end fixed to the first support telescopic cylinder (11) and the second support telescopic cylinder (44) through a fixing nail (65). When the first support arm (38) and the second support arm (48) are rotated and unfolded, they will be affected by the rebound force of the first support arm reset leaf spring (39) and the second support arm reset leaf spring (52). At the same time, the angle limit table will limit the rotation angle of the first support arm (38) and the second support arm (48); the first support block (15) and the second support block (47) are provided with a plurality of springs. A reset spring mounting hole is provided, and a first support arm reset spring (37) and a second support arm reset spring (51) are inserted into the reset spring mounting hole and abut against the support telescopic cylinder through the support arm reset spring mounting groove. When the first support rod (13) and the second support rod (45) move relative to the first support telescopic cylinder (11) and the second support telescopic cylinder (44), they will be subjected to a rebound force in the opposite direction. The first support rod (13) and the second support rod (45) are sleeved with a first support cylinder reset spring (14) and a second support cylinder reset spring (46). When the first support rod (13) and the second support rod (45) move relative to the first support telescopic cylinder (11) and the second support telescopic cylinder (44), they will be subjected to a rebound force in the opposite direction.

5. A small-sized intelligent traction system according to claim 4, characterized in that: The first valve body (23) and the second valve body (36) are provided with a first anti-torque screw (66) and a second anti-torque screw (75) for preventing reverse torque. The first main body shaft protection tube (21) and the second main body shaft protection tube (41) are provided with a keyway for cooperating with the first anti-torque screw (66) and the second anti-torque screw (75) to move axially relative to the first valve body (23) and the second valve body (36), but cannot rotate relative to the first valve body (23) and the second valve body (36).

6. A control method for a small-size intelligent traction system according to any one of claims 1 to 5, characterized in that: The first displacement sensor (8) and the second displacement sensor (56), the first inductive switch sensor (17) and the second inductive switch sensor (49), the pressure sensor (77), the circuit board (29) and the MWD cooperate to realize automatic control of the small-size intelligent traction system. When the MWD detects that the drilling tool cannot continue to drill forward in the horizontal section, the ground sends a flag code for starting the drilling mode to the circuit board (29) through the start-stop pump. After the pressure sensor (77) detects the signal, it filters out the impurity wave through the filter (78) and transmits the signal to the digital-to-analog conversion module of the circuit board to convert the analog signal into a digital signal. After the control unit recognizes the signal, it sends a control instruction to the actuator to control the on and off of the four relays (79), thereby controlling the The two-position four-way solenoid valve 1 (67), the two-position four-way solenoid valve 2 (68), the two-position four-way solenoid valve 3 (73), and the two-position four-way solenoid valve 4 (74) are controlled to operate in a predetermined logical sequence. First, the small-size intelligent traction system is initially calibrated. The two-position four-way solenoid valve 1 (67), the two-position four-way solenoid valve 2 (68), the two-position four-way solenoid valve 3 (73), and the two-position four-way solenoid valve 4 (74) are all de-energized. The right chambers of the support cylinders and telescopic cylinders of the left and right motion short sections are filled with liquid. The first support rod (13) and the second support rod (45), the first telescopic cylinder piston (18), and the second telescopic cylinder piston (53) are all in the left position. When the first displacement sensor (8) and the second displacement sensor (56) are in contact with the first induction magnetic ring (9), the first telescopic cylinder piston (18), and the second telescopic cylinder piston (53), the first displacement sensor (8) and the second displacement sensor (56) are in contact with the first induction magnetic ring (9), the first telescopic cylinder piston (18), and the second telescopic cylinder piston (53). When the relative distance between the two inductive magnetic rings (57) reaches a maximum value, the telescopic cylinder is calibrated in place, the relative distance between the first inductive switch sensor (17) and the second inductive switch sensor (49) and the first inductive switch (16) and the second inductive switch (50) is greater than the inductive range, and the support cylinder is calibrated in place. Next, the two-position four-way solenoid valve 1 (67) is energized. When the relative distance between the first inductive switch (16) and the first inductive switch sensor (17) is less than the inductive range, the first inductive switch sensor (17) is energized, indicating that the first support arm (38) has moved into place and anchored the well wall. The circuit board (29) controls the two-position four-way solenoid valve 2 (68) to be energized, and the first main shaft (12) drives the small-size intelligent traction system to drill forward. When the first When the relative distance between the first displacement sensor (8) and the first inductive magnetic ring (9) reaches a minimum value, it indicates that the first telescopic cylinder piston (18) has moved into position, and the circuit board (29) controls the two-position four-way solenoid valve three (73) to be energized. When the relative distance between the second inductive switch (50) and the second inductive switch sensor (49) is less than the inductive range, the second inductive switch sensor (49) is energized, indicating that the second support arm (48) has moved into position and anchored to the well wall. The circuit board (29) controls the two-position four-way solenoid valve one (67) to be de-energized. When the relative distance between the first inductive switch (16) and the first inductive switch sensor (17) is greater than the inductive range, the first inductive switch sensor (17) is de-energized, indicating that the first support arm (38) has been separated from the well wall.The circuit board (29) controls the two-position four-way solenoid valve 2 (68) and the two-position four-way solenoid valve 4 (74) to be energized, and the first main shaft (12) drives the small-sized intelligent traction system to drill forward. At the same time, the first telescopic cylinder piston (18) returns to the left position to prepare for the next movement cycle. When the relative distance between the second displacement sensor (56) and the second induction magnetic ring (57) reaches the minimum value, it indicates that the second telescopic cylinder piston (53) has moved to the position. At this time, the small-sized intelligent traction system has completed a complete action, and the four two-position four-way solenoid valves are alternately controlled again to achieve the above-mentioned repeated alternation of actions until the target area is reached. At this time, the ground sends a stop drilling mode flag code to the circuit board (29) through the start-stop pump. After the circuit board (29) recognizes the signal, it returns the small-sized intelligent traction system to the initial state, thereby realizing the full process automatic control of the small-sized intelligent traction system.

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