INTELLIGENT TRACTION SYSTEMS AND CONTROL METHODS THEREOF

Abstract

An intelligent traction system and a control method thereof are provided. The intelligent traction system includes a drill pipe joint, a support cylinder end cover, a support telescopic cylinder, a telescopic cylinder end cover, a shaft protective cylinder, a valve body, a valve body protective sleeve, a battery compartment, a battery compartment cover, a communication port cover, a drill tool joint, an anti-erosion joint, a main body shaft, a main body shaft end cover, a main body shaft end cover seal, a main body shaft seal gasket, a pressure-bearing electrical connector, a displacement limit plug, a displacement sensor, an inductive magnetic ring, a support rod, a support cylinder reset spring, a support block, a support arm, a support arm reset leaf spring, a support arm reset spring, a telescopic cylinder piston, a circuit board, an insulating board, a two-position four-way solenoid valve, a battery, a battery plug, a battery shock absorber, etc.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 202510273654.X, filed on Mar. 10, 2025, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of petroleum and natural gas development equipment, and in particular, to an intelligent traction system and a control method thereof.

BACKGROUND

In the field of petroleum drilling and production, the exploration and development of oil and gas resources in China have gradually shifted towards fields of deep formations, deep-sea environments, and unconventional oil and gas wells. Complex structural wells, such as long horizontal section horizontal wells with a large displacement, have become the main types of wells for oil and gas extraction. However, conventional drilling and completion technologies are no longer sufficient to address the challenges of increasing speed and efficiency in deep wells and complex structural wells. Currently, the main issues in the development of long horizontal section horizontal wells with a large displacement include severe “inadequate pressure transmission” phenomena on coiled tubing, the inability to apply drilling pressure, low or even no penetration rates, and occurrences of buckling and locking, all of which significantly increase operational costs.

To effectively address the issues of “inadequate pressure transmission” on coiled tubing, the inability to apply drilling pressure, or the occurrence of buckling and locking phenomena during drilling, and to increase an extension length of the horizontal well, the industry has adopted various approaches. Currently, the mainstream manners involve using hydraulic oscillators and metal friction reducers to reduce the axial friction of coiled tubing. However, due to the limitations imposed by well depth, these manners show limited effectiveness in scenarios involving 2000 m horizontal sections and well deviation above 95°. Based on this, the industry has proposed a new approach of using a traction device to pull coiled tubing during drilling. To date, various forms of traction devices have been developed by institutions across the industry. For example, wheel-type, telescopic-type, track-type, spiral-type, and eccentric support-type traction devices, the wheel-type and telescopic-type traction devices being the most commonly used. The wheel-type traction devices include electro-hydraulic wheel-type traction device from Welltec, electric-driven wheel-type traction device from Sondex, TuffTRAC and UltraTRAC electric wheel-type traction device from Schlumberger, PowerTrac electric wheel-type traction device from Aker Solutions, QYQ1 wheel-type traction device from China Shipbuilding Industry Corporation (CSIC) 719 Institute, horizontal well testing instrument dragger from Harbin Institute of Technology, and horizontal well self-supporting electric cable traction device from China University of Petroleum (Beijing), etc. These traction devices rely on the friction generated between the rotating drive wheels and the casing wall to move forward. The advantages of this type of traction device are its high speed and flexibility. However, the traction force of such devices is relatively small, and they are unable to provide significant drilling pressure. As a result, they are mainly used in well logging and workover operations, but are not suitable for drilling development. The telescopic-type traction devices include MaxTRAC traction device from Schlumberger, Oil Tubing Tractors telescopic-type traction device from WWT International, Smar Tract telescopic-type traction device from Smart, cam self-locking telescopic-type pipeline robot from the National University of Defense Technology, and the hydraulic telescopic-type traction device from Southwest Petroleum University, etc. These types of traction devices move forward by alternating actions of two or more support mechanisms and telescopic systems. Most of these traction devices are hydraulically driven, which typically results in slower speeds, but they can provide significant traction force. Among the above traction devices, several foreign traction devices have been successfully applied earlier. However, they did not consider anti-corrosion structures, making that the sections where the main shaft diameter changes are highly susceptible to erosion, leading to a reduced service life. Additionally, the support mechanisms of these traction devices are prone to jamming and lack automatic control functionality. In contrast, several domestic traction devices are still in the prototype development stage in laboratories. These devices do not yet integrate control mechanisms within the body, with control mechanisms separated from the main body, serving only as proof-of-concept demonstrations, and there have been no reports of successful well entry. Other types of traction devices such as PowerTrac Invader track-type traction device from MWS, spiral wheel-type horizontal well traction robot from Wuhan University of Technology, active spiral drive pipeline robot from Southwest Petroleum University, a spring cam robot disclosed in U.S. Pat. No. 8,302,679B2, and a double-sloped spring plate support arm robot disclosed in U.S. Pat. No. 6,640,894B2 are all traction devices with a low traction force, which are not suitable for drilling development that requires a high traction force.

In summary, on the one hand, the existing telescopic traction devices applied in the market have a large traction force and can be used for drilling development. However, they do not consider erosion-resistant structures, and sections where the main shaft diameter changes are highly susceptible to erosion damage, leading to reduced service life. Additionally, the support mechanisms are prone to jamming and lack automatic control functions. On the other hand, wheel-type or other types of traction devices have a high speed and a low traction force, making them suitable for well logging or workover operations, but not suitable for drilling development.

SUMMARY

The present disclosure provides an intelligent traction system, comprising a drill pipe joint, an anti-erosion joint, a first shaft end cover seal, a second shaft end cover seal, a first main body shaft end cover, a second main body shaft end cover, a first shaft seal gasket, a second shaft seal gasket, a first displacement electrical connector, a second displacement electrical connector, a first limit plug, a second limit plug, a first displacement sensor, a second displacement sensor, a first inductive magnetic ring, a second inductive 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 reset spring, a second reset spring, a first support block, a second support block, a first inductive switch, a second inductive switch, a first switch sensor, a second switch sensor, a third reset spring, a fourth reset spring, a first support arm, a second support arm, a first reset leaf spring, a second reset leaf spring, a first telescopic cylinder piston, a second telescopic cylinder piston, a first piston screw, a second piston screw, a first telescopic cylinder end cover, a second telescopic cylinder end cover, a first shaft protective cylinder, a second shaft protective cylinder, a first shaft connecting screw, a second shaft connecting screw, a first valve body, a second valve body, a first elastic retaining ring, a second elastic retaining ring, a first valve body protective sleeve, a second valve body protective sleeve, a first valve body connecting screw, a second valve body connecting screw, a battery compartment, an insulating board, a circuit board, a battery compartment cover, a mud channel, a communication port cover, a drill tool joint, a first shaft electrical connector, a second shaft electrical connector, a first torsion-resistant screw, a second torsion-resistant screw, a first two-position four-way solenoid valve, a second two-position four-way solenoid valve, a third two-position four-way solenoid valve, a fourth two-position four-way solenoid valve, a first battery plug, a second battery plug, a battery, a battery shock absorber, and a pressure sensor.

The first main body shaft and the second main body shaft are fixed to the first valve body and the second valve body by the first shaft connecting screw and the second shaft connecting screw, respectively, the first valve body and the second valve body are fixed to an upper side and a lower side of the battery compartment by the first valve body connecting screw and the second valve body connecting screw, respectively, the first shaft protective cylinder and the second shaft protective cylinder are fixed to the first telescopic cylinder end cover and the second support cylinder end cover by threads, respectively, the first telescopic cylinder end cover and the second support cylinder end cover are sleeved on the first body shaft and the second body shaft, respectively, the first telescopic cylinder piston and the second telescopic cylinder piston are sleeved on the first main body shaft and the second main body shaft, respectively, and are fixed to the first main body shaft and the second main body shaft by the first piston screw and the second piston screw, respectively, the first support telescopic cylinder and the second support telescopic cylinder are sleeved on the first main body shaft and the second main body shaft, respectively, and are fixedly connected to the first telescopic cylinder end cover and the second support cylinder end cover by threads, respectively, the first reset spring and the second reset spring are sleeved on the first support rod and the second support rod, respectively, the first support rod and the second support rod are sleeved on the first main body shaft and the second main body shaft, respectively, the first support cylinder end cover and the second telescopic cylinder end cover are sleeved on the first main body shaft and the second main body shaft, and are connected to the first support telescopic cylinder and the second support telescopic cylinder, respectively, the first inductive magnetic ring and the second inductive magnetic ring are fixed to the first support cylinder end cover and the second telescopic cylinder end cover by a set of screws, respectively, and the first displacement sensor and the second displacement sensor are threaded onto the first main body shaft and the second main body shaft, respectively, the first limit plug and the second limit plug are threaded onto the first main body shaft and the second main body shaft, respectively, and are configured to limit the first displacement sensor and the second displacement sensor, respectively, the first displacement electrical connector and the second displacement electrical connector are connected to the first limit plug and the second limit plug by threads, respectively, the first shaft electrical connector and the second shaft electrical connector are connected to the first main body shaft and the second main body shaft by threads, respectively, the first shaft seal gasket and the second shaft seal gasket are tightly affixed to end surfaces of the first main body shaft and the second main body shaft, respectively, the first main body shaft end cover and the second main body shaft end cover are fixed to the first main body shaft and the second main body shaft by screws, respectively, and the first shaft end cover seal and the second shaft end cover seal are mounted in groove holes of the first main body shaft end cover and the second main body shaft end cover, respectively, the anti-erosion joint is fixed to the first main body shaft end cover by screws and the second shaft end cover seal is fixed to the second main body shaft end cover by screws, the drill pipe joint is sleeved on the first main body shaft and fixed to the first support cylinder end cover by threads, and an upper portion of the drill pipe joint is connected to a drill pipe, the drill tool joint is sleeved on the second main body shaft and fixed to the second telescopic cylinder end cover by threads, and a lower portion of the drill tool joint is connected to a measurement-while-drilling tool and a positive displacement motor (PDM) drill, the first support block and the second support block penetrate through openings of the first support telescopic cylinder and the second support telescopic cylinder, and are mounted on the first support rod and the second support rod by screws, respectively, the first inductive switch and the second inductive switch are mounted on the first support block and the second support block, respectively, and the first switch sensor and the second switch sensor are mounted on the first main body shaft and the second main body shaft, respectively, the first reset leaf spring and the second reset leaf spring are mounted in 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 by fixing pins, respectively, the first support arm and the second support arm are connected to the first support telescopic cylinder and the second support telescopic cylinder by cylindrical pins, respectively, and the cylindrical pins are configured to limit an axial displacement of the first support arm and the second support arm by set screws, the first shaft protective cylinder and the second shaft protective cylinder are sleeved on the first valve body and the second valve body, respectively, and the first torsion-resistant screw and the second torsion-resistant screw are fixedly connected to the first valve body and the second valve body, respectively, by penetrating through keyways of the first shaft protective cylinder and the second shaft protective cylinder, respectively, the first valve body protective sleeve and the second valve body protective sleeve are sleeved on the first valve body and the second valve body, respectively, and are limited by the first elastic retaining ring and the second elastic retaining ring, respectively, the battery compartment cover is fixed to the battery compartment by screws, and the communication port cover is fixed to the battery compartment by screws, the first two-position four-way solenoid valve and the second two-position four-way solenoid valve are mounted on the first valve body, the third two-position four-way solenoid valve and the fourth two-position four-way solenoid valve are mounted on the second valve body, the battery is threaded onto a battery hole of the battery compartment after being fixedly connected to the battery shock absorber, and two ends of the battery are limited by the first battery plug and the second battery plug, the first battery plug and the second battery plug are mounted on the battery compartment by limit pins, the pressure sensor is mounted on the battery compartment, and the mud channel is threaded onto the battery compartment and connected to the first valve body and the second valve body.

The present disclosure provides a method for controlling an intelligent traction system The first displacement sensor and the second displacement sensor, the first switch sensor and the second switch sensor, the pressure sensor, the circuit board, and the measurement-while-drilling tool cooperate to realize automatic control of the intelligent traction system. The method comprises: when the measurement-while-drilling tool detects that a drill tool fails to continue drilling forward in a horizontal section, sending a flag code of activating a drilling mode to the circuit board through a start-stop pump, upon the pressure sensor detects an analog signal, filtering out impurity waves through a filter and transmitting the analog signal to an analog-to-digital conversion module of the circuit board to convert the analog signal into a digital signal, upon recognizing the digital signal, sending, by a control unit, a control instruction to an actuator to control on/off states of four relays, to further control the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve to act in accordance with a preset logical sequence; firstly, initially calibrating the intelligent traction system, de-energizing the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve, filling liquid in right cavities of support hydraulic cylinders and telescopic hydraulic cylinders of a left moving sub and a right moving sub, respectively, the first support rod and the second support rod, and the first telescopic cylinder piston and the second telescopic cylinder piston are all at a left position, completing calibration of the telescopic hydraulic cylinders when a relative distance between the first displacement sensor and the first inductive magnetic ring or a relative distance between the second displacement sensor and the second inductive magnetic ring reaches a first threshold, and completing calibration of the support hydraulic cylinders when a relative distance between the first switch sensor and the first inductive switch or a relative distance between the second switch sensor and the second inductive switch is greater than an inductive range; secondly, energizing the first two-position four-way solenoid valve, when a relative distance between the first inductive switch and the first switch sensor is less than the inductive range, energizing the first switch sensor, indicating that the first support arm moves in place and is anchored to a wellbore wall, controlling, by the circuit board, the second two-position four-way solenoid valve to be energized, and driving, by the first main body shaft, the intelligent traction system to drill forward; when the relative distance between the first displacement sensor and the first inductive magnetic ring reaches a second threshold, indicating that the first telescopic cylinder piston move in place, controlling, by the circuit board, the third two-position four-way solenoid valve to be energized, and when the relative distance between the second switch sensor and the second inductive switch is less than the inductive range, energizing the second inductive switch sensor, indicating that the second support arm move in place and is anchored to the wellbore wall, and controlling, by the circuit board, the first two-position four-way solenoid valve to be de-energized; when the relative distance between the first inductive switch and the first switch sensor is greater than the inductive range, de-energizing the first switch sensor, indicating that the first support arm is disengaged from the wellbore wall, controlling, by the circuit board, the second two-position four-way solenoid valve and the fourth two-position four-way solenoid valve to be energized, and driving, by the first main body shaft, the intelligent traction system to drill forward, at the same time, restoring the first telescopic cylinder piston to the left position to ready for a next motion cycle; and when the relative distance between the second displacement sensor and the second inductive magnetic ring reaches a third threshold, indicating that the second telescopic cylinder piston moves in place, at this time, the intelligent traction system completing one full cycle of operation, alternately controlling the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve again to repeat the above operations until reaching a target region; at this time, sending a flag code of stopping the drilling mode to the circuit board through the start-stop pump, and upon recognizing the digital signal, enabling, by the circuit board, the intelligent traction system to return to an initial state to realize the automatic control of the intelligent traction system during a whole process.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic diagram illustrating a transverse sectional view of an intelligent traction system from one perspective;

FIG. 1B is a schematic diagram illustrating a transverse sectional view of an intelligent traction system from another perspective;

FIG. 2 is a schematic diagram illustrating an enlarged view of portion A in FIG. 1A;

FIG. 3 is a schematic diagram illustrating an enlarged view of portion B in FIG. 1A;

FIG. 4 is a schematic diagram illustrating an enlarged view of portion a in FIG. 3;

FIG. 5 is a schematic diagram illustrating an enlarged view of portion b in FIG. 3;

FIG. 6 is a schematic diagram illustrating an enlarged view of portion c in FIG. 3;

FIG. 7 is a schematic diagram illustrating an enlarged view of portion C in FIG. 1B;

FIG. 8 is a schematic diagram illustrating an enlarged view of portion D in FIG. 1B;

FIG. 9 is a schematic diagram illustrating an enlarged view of portion E in FIG. 1B;

FIG. 10 is a schematic diagram illustrating an enlarged view of portion F in FIG. 1B;

FIG. 11A is a schematic diagram illustrating a longitudinal sectional view of an intelligent traction system from one perspective;

FIG. 11B is a schematic diagram illustrating a longitudinal sectional view of an intelligent traction system from another perspective; and

FIG. 12 is a schematic diagram illustrating a control principle of an intelligent traction system.

Markings in the figures denote: 1, drill pipe joint; 2, anti-erosion joint; 3, first shaft end cover seal; 4, first main body shaft end cover; 5, first shaft seal gasket; 6, first displacement electrical connector; 7, first limit plug; 8, first displacement sensor; 9, first inductive magnetic ring; 10, first support cylinder end cover; 11, first support telescopic cylinder; 12, first main body shaft; 13, first support rod; 14, first reset spring; 15, first support block; 16, first inductive switch; 17, first inductive switch sensor; 18, first telescopic cylinder piston; 19, first piston screw; 20, first telescopic cylinder end cover; 21, first shaft protective cylinder; 22, first shaft connecting screw; 23, first valve body; 24, first elastic retaining ring; 25, first valve body protective sleeve; 26, first valve body connecting screw; 27, battery compartment; 28, insulating board; 29, circuit board; 30, battery compartment cover; 31, mud channel; 32, communication port cover; 33, second valve body protective sleeve; 34, second valve body connecting screw; 35, second elastic retaining ring; 36, second valve body; 37, third reset spring; 38, first support arm; 39, first reset leaf spring; 40, second shaft connecting screw; 41, second shaft protective cylinder; 42, second main body shaft; 43, second support cylinder end cover; 44, second support telescopic cylinder; 45, second support rod; 46, second reset spring; 47, second support block; 48, second support arm; 49, second inductive switch sensor; 50, second inductive switch; 51, fourth reset spring; 52, second reset leaf spring; 53, second telescopic cylinder piston; 54, second piston screw; 55, second telescopic cylinder end cover; 56, second displacement sensor; 57, second inductive magnetic ring; 58, second limit plug; 59, second displacement electrical connector; 60, second shaft seal gasket; 61, second main body shaft end cover; 62, second shaft end cover seal; 63, drill tool joint; 64, first shaft electrical connector; 65, fixing pin; 66, first torsion-resistant screw; 67, first two-position four-way solenoid valve; 68, second two-position four-way solenoid valve; 69, first battery plug; 70, battery; 71, battery shock absorber; 72, second battery plug; 73, third two-position four-way solenoid valve; 74, fourth two-position four-way solenoid valve; 75, second torsion-resistant screw; 76, second shaft electrical connector; 77, pressure sensor; 78, filter; and 79, relay.

DETAILED DESCRIPTION

The technical solutions of the present disclosure are further described below by means of the accompanying drawings and embodiments.

Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the ordinary meaning as understood by a person of ordinary skill in the field to which the present disclosure belongs.

It should be noted that an intelligent traction system mentioned below may be referred to as a small-sized intelligent traction system. The small-sized intelligent traction system refers to an intelligent traction system with a length ranging from 0.5 m to 3 m. The full name of the MWD mentioned below refers to measurement-while-drilling. A first shaft end cover seal mentioned below may be referred to as a first main body shaft end cover seal, and a second shaft end cover seal mentioned below may be referred to as a second main body shaft end cover seal. A first shaft seal gasket mentioned below may be referred to as a first main body shaft seal gasket, and a second shaft seal gasket mentioned below may be referred to as a second main body shaft seal gasket. A first displacement electrical connector mentioned below may be referred to as a first displacement sensor electrical connector, and a second displacement electrical connector mentioned below may be referred to as a second displacement sensor electrical connector. A first limit plug mentioned below may be referred to as a first displacement sensor limit plug, and a second limit plug mentioned below may be referred to as a second displacement sensor limit plug. A first reset spring mentioned below may be referred to as a first support cylinder reset spring, a second reset spring mentioned below may be referred to as a second support cylinder reset spring, a third reset spring mentioned below may be referred to as a first support arm reset spring, and a fourth reset spring mentioned below may be referred to as a second support arm reset spring. A first reset leaf spring mentioned below may be referred to as a first support arm reset leaf spring, and a second reset leaf spring mentioned below may be referred to as a second support arm reset leaf spring. A first shaft protective cylinder mentioned below may be referred to as a first main body shaft protective cylinder, and a second shaft protective cylinder mentioned below may be referred to as a second main body shaft protective cylinder. A first shaft connecting screw mentioned below may be referred to as a first main body shaft connecting screw, and a second shaft connecting screw mentioned below may be referred to as a second main body shaft connecting screw. A first shaft electrical connector mentioned below may be referred to as a first main body shaft electrical connector, and a second shaft electrical connector mentioned below may be referred to as a second main body shaft electrical connector. A first switch sensor mentioned below may be referred to as a first inductive switch sensor, and a second switch sensor mentioned below may be referred to as a second inductive switch sensor.

Embodiment 1

As shown in FIG. 1A to FIG. 12, an intelligent traction system comprises a drill pipe joint 1, an anti-erosion joint 2, a first shaft end cover seal 3, a second shaft end cover seal 62, a first main body shaft end cover 4, a second main body shaft end cover 61, a first shaft seal gasket 5, a second shaft seal gasket 60, a first displacement electrical connector 6, a second displacement electrical connector 59, a first limit plug 7, a second limit plug 58, a first displacement sensor 8, a second displacement sensor 56, a first inductive magnetic ring 9, a second inductive magnetic ring 57, a first support cylinder end cover 10, a second support cylinder end cover 43, a first support telescopic cylinder 11, a second support telescopic cylinder 44, a first main body shaft 12, a second main body shaft 42, a first support rod 13, a second support rod 45, a first reset spring 14, a second reset spring 46, a first support block 15, a second support 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 third reset spring 37, a fourth reset spring 51, a first support arm 38, a second support arm 48, a first reset leaf spring 39, a second 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 shaft protective cylinder 21, a second shaft protective cylinder 41, a first shaft connecting screw 22, a second 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 second valve body connecting screw 34, a battery compartment 27, an insulating board 28, a circuit board 29, a battery compartment cover 30, a mud channel 31, a communication port cover 32, a drill tool joint 63, a first shaft electrical connector 64, a second shaft electrical connector 76, a first torsion-resistant screw 66, a second torsion-resistant screw 75, a first two-position four-way solenoid valve 67, a second two-position four-way solenoid valve 68, a third two-position four-way solenoid valve 73, a fourth two-position four-way solenoid valve 74, a first battery plug 69, a second battery plug 72, a battery 70, a battery shock absorber 71, and a pressure sensor 77.

The first main body shaft 12 and the second main body shaft 42 are fixed to the first valve body 23 and the second valve body 36 by the first shaft connecting screw 22 and the second shaft connecting screw 40, respectively. The first valve body 23 and the second valve body 36 are fixed to an upper side and a lower side of the battery compartment 27 by the first valve body connecting screw 26 and the second valve body connecting screw 34, respectively. The first shaft protective cylinder 21 and the second shaft protective cylinder 41 are fixed to the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 by threads, respectively. 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, respectively. The first 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, respectively, and are fixed to the first main body shaft 12 and the second main body shaft 42 by the first piston screw 19 and the second piston screw 54, respectively. The first support telescopic cylinder 11 and the second support telescopic cylinder 44 are sleeved on the first main body shaft 12 and the second main body shaft 42, respectively, and are fixedly connected to the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 by threads, respectively. The first reset spring 14 and the second reset spring 46 are sleeved on the first support rod 13 and the second support rod 45, respectively. The first support rod 13 and the second support rod 45 are sleeved on the first main body shaft 12 and the second main body shaft 42, respectively. The first support 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 connected to the first support telescopic cylinder 11 and the second support telescopic cylinder 44, respectively. The first inductive magnetic ring 9 and the second inductive magnetic ring 57 are fixed to the first support cylinder end cover 10 and the second telescopic cylinder end cover 55 by a set of screws, respectively. The first displacement sensor 8 and the second displacement sensor 56 are threaded onto the first main body shaft 12 and the second main body shaft 42, respectively. The first limit plug 7 and the second limit plug 58 are threaded onto the first main body shaft 12 and the second main body shaft 42, respectively, and are configured to limit the first displacement sensor 8 and the second displacement sensor 56, respectively. The first displacement electrical connector 6 and the second displacement electrical connector 59 are connected to the first limit plug 7 and the second limit plug 58 by threads, respectively. The first shaft electrical connector 64 and the second shaft electrical connector 76 are connected to the first main body shaft 12 and the second main body shaft 42 by threads, respectively. The first shaft seal gasket 5 and the second shaft seal gasket 60 are tightly affixed to end surfaces of the first main body shaft 12 and the second main body shaft 42, respectively. 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, respectively. The first shaft end cover seal 3 and the second shaft end cover seal 62 are mounted in groove holes of the first main body shaft end cover 4 and the second main body shaft end cover 61, respectively. The anti-erosion joint 2 is fixed to the first main body shaft end cover 4 by screws, and the second shaft end cover seal 62 is fixed to the second main body shaft end cover 61 by screws. The drill pipe joint 1 is sleeved on the first main body shaft 12 and is fixed to the first support cylinder end cover 10 by threads, and an upper portion of the drill pipe joint 1 is connected to a drill pipe. The drill tool joint 63 is sleeved on the second main body shaft 42 and is fixed to the second telescopic cylinder end cover 55 by threads, and a lower portion of the drill tool joint 63 is connected to a measurement-while-drilling (MWD) tool and a positive displacement motor (PDM) drill. The first support block 15 and the second support block 47 penetrate through openings on the first support telescopic cylinder 11 and the second support telescopic cylinder 44, and are mounted on the first support rod 13 and the second support rod 45 by screws, respectively. The first inductive switch 16 and the second inductive switch 50 are mounted on the first support block 15 and the second support block 47, respectively. The first inductive switch sensor 17 and the second inductive switch sensor 49 are mounted on the first main body shaft 12 and the second main body shaft 42, respectively. The first reset leaf spring 39 and the second reset leaf spring 52 are mounted in dovetail grooves 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 pins 65, respectively. 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, respectively, and the cylindrical pins are configured to limit an axial displacement of the first support arm 38 and the second support arm 48 by set screws. The first shaft protective cylinder 21 and the second shaft protective cylinder 41 are sleeved on the first valve body 23 and the second valve body 36, respectively. The first torsion-resistant screw 66 and the second torsion-resistant screw 75 are connected to the first valve body 23 and the second valve body 36, respectively, by penetrating through keyways of the first shaft protective cylinder 21 and the second shaft protective cylinder 41, respectively. The first valve body protective sleeve 25 and the second valve body protective sleeve 33 are sleeved on the first valve body 23 and the second valve body 36, respectively, and are limited by the first elastic retaining ring 24 and the second elastic retaining ring 35, respectively. 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 first two-position four-way solenoid valve 67 and the second two-position four-way solenoid valve 68 are mounted on the first valve body 23, and the third two-position four-way solenoid valve 73 and the fourth two-position four-way solenoid valve 74 are mounted on the second valve body 36. The battery 70 is threaded onto a battery hole of the battery compartment 27 after being fixedly connected to the battery shock absorber 71, and two ends of the battery 70 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 limit pins, the pressure sensor 77 is mounted on the battery compartment 27, and the mud channel 31 is threaded onto the battery compartment 27 and connected to the first valve body 23 and second valve body 36.

In some embodiments, the intelligent traction system may further comprise a control unit, and the control unit may be configured to control one or more components (e.g., four relays 79) of the intelligent traction system to operate. The control unit may include a processor. Merely by way of example, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction processor (ASIP), a graphics processor (GPU), a microprocessor, etc., or any combination of the above.

The drill pipe joint refers to a device used to connect the drill pipe.

The anti-erosion joint refers to a tool joint used to resist the erosive wear of fluids.

The first main body shaft end cover refers to a seal cover for fixing the first main body shaft. The first main body shaft may be understood as a bearing of the intelligent traction system.

The second main body shaft end cover refers to a seal cover for fixing the second main body shaft. The second main body shaft may be understood as another bearing of the intelligent traction system, different from the first main body shaft.

The first shaft seal gasket refers to a gasket that seals the first main body shaft. The second shaft seal gasket refers to a gasket that seals the second main body shaft.

The first displacement electrical connector refers to a circuit connector that connects the first displacement sensor. The second displacement electrical connector refers to a circuit connector that connects the second displacement sensor. The first displacement sensor and the second displacement sensor are two displacement sensors mounted at different locations of the intelligent traction system.

The first limit plug may be used to fix the first displacement sensor. The second limit plug may be used to fix the second displacement sensor.

The first inductive magnetic ring refers to a ring-shaped magnetic conductor. The second inductive magnetic ring refers to another ring-shaped magnetic conductor, different from the first inductive magnetic ring.

In some embodiments, the first main body shaft and the second main body shaft are made of non-magnetic material, and the first main body shaft and the second main body shaft are designed with a mud channel hole, a displacement sensor mounting hole, a limit plug mounting hole, a displacement sensor electrical connector mounting hole, a cable hole, a first support cylinder hydraulic hole and a second support cylinder hydraulic hole, an inductive switch mounting hole, a first telescopic cylinder hydraulic hole and a second telescopic cylinder hydraulic hole, a piston fixing hole, respectively, and end surface sealing grooves are additionally provided on end surfaces of hydraulic holes and cable holes.

In some embodiments of the present disclosure, the intelligent traction system is designed with a displacement detection device, a torque detection device, and a control chip. Based on a real-time detected torque value and a displacement state of a machine, automatic control of the machine can be achieved, thereby enhancing the automation and intelligence level of a traction device and enabling high-precision rock breaking. Additionally, the intelligent traction system can also address issues in existing traction devices, such as jamming of the support mechanism, insufficient automation, and erosion-related damage to key components.

In some embodiments, a wiring groove is set on the first main body shaft end cover 4 and the second main body shaft end cover 61, respectively. When the first displacement electrical connector 6 and the second displacement electrical connector 59, and the first shaft electrical connector 64 and the second shaft electrical connector 76 are mounted in position, respectively, a wiring between the second displacement electrical connector 6 and the first shaft electrical connector 64 is connected in the wiring groove on the first main body shaft end cover 4, and a wiring between the second displacement electrical connector 59 and the second shaft electrical connector 76 is connected in the wiring groove on the second main body shaft end cover 61, and the wirings are sealed by the first shaft end cover seal 3 and the second shaft end cover seal 62, respectively. The first shaft end cover seal 3 and the second shaft end cover seal 62, the first shaft seal gasket 5 and the second shaft seal gasket 60, the first displacement electrical connector 6 and the second displacement electrical connector 59, and the first shaft electrical connector 64 and the second shaft electrical connector 76 form a sealing system.

In some embodiments of the present disclosure, the intelligent traction system adopts a fully closed structure, which can effectively prevent main body shafts from being damaged by erosion and at the same time increase the overall stiffness of the machine and the resistance to deflection, thereby improving the safety and service life of the traction system.

In some embodiments, the first support telescoping cylinder 11 and the second support telescoping cylinder 44 are of an integrated design. The first support cylinder end cover 10, the first support rod 13, the first support telescopic cylinder 11, the first telescopic cylinder piston 18, and the first telescopic cylinder end cover 20 form a support hydraulic cylinder and a telescopic hydraulic cylinder of an upper moving sub. The second support cylinder end cover 43, the second support telescopic cylinder 44, the second support rod 45, the second telescopic cylinder piston 53, and the second telescopic cylinder end cover 55 form a support hydraulic cylinder and a telescopic hydraulic cylinder of a lower moving sub.

The upper moving sub refers to a moving sub located at an upper portion of the intelligent traction system. The upper moving sub may be used for lifting or rotating a drill pipe.

The lower moving sub refers to a moving sub located at a lower portion of the intelligent traction system. The lower moving sub may be used for rotating or propelling the drill bit.

In some embodiments of the present disclosure, the support telescopic cylinders are of an integrated design, which can reduce the number of parts, improve the efficiency of mechanical use, and reduce the cost of processing and the failure rate.

In some embodiments, the first support arm 38 and the second support arm 48 are provided with a leaf spring mounting dovetail groove, a reset spring mounting groove, and an angle limit table, respectively. The first reset leaf spring 39 and the second reset leaf spring 52 have a T-shaped structure, head ends of the first reset leaf spring 39 and the second reset leaf spring 52 are mounted in the leaf spring mounting dovetail groove, and tail ends of the first reset leaf spring 39 and the second reset leaf spring 52 are fixed to the first support telescopic cylinder 11 and the second support telescopic cylinder 44 by the fixing pins 65, respectively. When the first support arm 38 and the second support arm 48 rotate and deploy, the first support arm 38 and the second support arm 48 are subjected to a rebound force of the first reset leaf spring 39 and the second reset leaf spring 52, and the angle limit table is configured to limit a rotation angle of the first support arm 38 and the second support arm 48. A reset spring mounting hole is disposed on the first support block 15 and the second support block 47, respectively, and the third reset spring 37 and the fourth reset spring 51 are inserted into the reset spring mounting hole and are pressed against the first support telescopic cylinder 11 and the second support telescopic cylinder 44 through the reset spring mounting groove of the first support arm 38 and the reset spring mounting groove of the second support arm 48, respectively. 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, the first support rod 13 and the second support rod 45 are subjected to a rebound force in an opposite direction. The first reset spring 14 and the second reset spring 46 are sleeved on the first support rod 13 and the second support rod 45, respectively, and 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, the first support rod 13 and the second support rod 45 are subjected to a rebound force in an opposite direction.

The leaf spring mounting dovetail groove refers to a dovetail groove for mounting a leaf spring.

The reset spring mounting groove refers to a groove structure for mounting a reset spring.

The angle limit table may be used to limit the rotation angle of the first support arm and the second support arm.

In some embodiments of the present disclosure, a support mechanism of the intelligent traction system is designed with multiple reset devices, which can effectively avoid jamming of the support arm, and greatly reduce the rate of jamming of the tractor.

In some embodiments, the first torsion-resistant screw 66 and the second torsion-resistant screw 75 that prevent reverse torque are mounted on the first valve body 23 and the second valve body 36. The first shaft protective cylinder 21 and the second shaft protective cylinder 41 are provided with the keyways, and the keyways engage with the first torsion-resistant screw 66 and the second torsion-resistant screw 75 to enable the first shaft protective cylinder 21 and the second shaft protective cylinder 41 to move axially relative to the first valve body 23 and the second valve body 36, but not rotate relative to the first valve body 23 and the second valve body 36.

The first torsion-resistant screw refers to a screw having a torsion-resistant property. The second torsion-resistant screw refers to another screw having a torsion-resistant property, different from the first torsion-resistant screw.

In some embodiments of the present disclosure, the intelligent traction system is equipped with a mechanism that prevents reverse torque, which prevents the support mechanism of the traction device from slipping due to the reverse torque generated by the lower drill tool during rock breaking, thereby enhancing the stability of the gripping system.

Embodiment 2

FIG. 12 is a schematic diagram illustrating a control principle of an intelligent traction system. In FIG. 12, VCC denotes a power supply port; GND denotes a ground port; A and B both denote an oil port of a hydraulic cylinder; T denotes a low-pressure port; P denotes a high-pressure port; p0 denotes an oil return port; and pi denotes an oil inlet port.

A method for controlling an intelligent traction system is provided. 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 a measurement-while-drilling (MWD) tool cooperate to realize automatic control of the intelligent traction system. The method is as follows. When the MWD tool detects that a drill tool fails to continue drilling forward in a horizontal section, it sends a flag code of activating a drilling mode to the circuit board 29 through a start-stop pump. Upon detecting an analog signal, the pressure sensor 77 filters out impurity waves through a filter 78 and transmits the analog signal to an analog-to-digital conversion module of the circuit board to convert the analog signal into a digital signal. Upon recognizing the digital signal, a control unit sends a control instruction to an actuator to control on/off states of four relays 79, which in turn controls the first two-position four-way solenoid valve 67, the second two-position four-way solenoid valve 68, the third two-position four-way solenoid valve 73, and the fourth two-position four-way solenoid valve 74 to act in accordance with a preset logical sequence. Firstly, the intelligent traction system is initially calibrated, the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve are all de-energized, liquid is filled in right cavities of support hydraulic cylinders and telescopic hydraulic cylinders of a left moving sub and a right moving sub, respectively, the first support rod 13 and the second support rod 45, and the first telescopic cylinder piston 18 and the second telescopic cylinder piston 53 are all at a left position. When a relative distance between the first displacement sensor 8 and the first inductive magnetic ring 9 or a relative distance between the second displacement sensor 56 and the second inductive magnetic ring 57 reaches a first threshold, calibration of the telescopic hydraulic cylinders is completed, and when a relative distance between the first inductive switch sensor 17 and the first inductive switch 16 or a relative distance between the second switch sensor 49 and the second inductive switch 50 is greater than an inductive range, calibration of the support hydraulic cylinders is completed. Secondly, the first two-position four-way solenoid valve 67 is energized, when a 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 moves in place and is anchored to a wellbore wall, and the circuit board 29 controls the second two-position four-way solenoid valve 68 to be energized, and the first main body shaft 12 drives the intelligent traction system to drill forward. When the relative distance between the first displacement sensor 8 and the first inductive magnetic ring 9 reaches a second threshold, it is indicated that the first telescopic cylinder piston 18 move in place, and the circuit board 29 controls the third two-position four-way solenoid valve 73 to be energized. When the relative distance between the second switch sensor 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 move in place and is anchored to the wellbore wall, and the circuit board 29 controls the first two-position four-way solenoid valve 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 48 is disengaged from the wellbore wall, and the circuit board 20 controls the second two-position four-way solenoid valve 68 and the fourth two-position four-way solenoid valve 74 to be energized, and the first main body shaft drives the intelligent traction system to drill forward, at the same time, the first telescopic cylinder piston 18 is restored to the left position and ready for a next motion cycle. When the relative distance between the second displacement sensor 56 and the second inductive magnetic ring 57 reaches a third threshold, it is indicated that the second telescopic cylinder piston 53 moves in place. At this time, the intelligent traction system completes one full cycle of operation, the first two-position four-way solenoid valve 67, the second two-position four-way solenoid valve 68, the third two-position four-way solenoid valve 73, and the fourth two-position four-way solenoid valve 74 are alternatively controlled again to repeat the above operations until a target region is reached. At this time, a flag code of stopping the drilling mode is sent to the circuit board 29 through the start-stop pump, and upon recognizing the digital signal, the circuit board 29 enables the intelligent traction system to return to an initial state to realize the automatic control of the intelligent traction system during a whole process.

For description of the control unit, please refer to the related description in Embodiment 1.

The inductive range refers to an effective inductive range between the first inductive switch and a first inductive sensor, or an effective inductive range between the second inductive switch and a second inductive sensor.

The relative distance between the first inductive switch sensor 17 and the first inductive switch 16 or the relative distance between the second inductive switch sensor 49 and the second inductive switch 50 being greater than the inductive range may be understood as the relative distance between the first inductive switch sensor 17 and the first inductive switch 16 being greater than the inductive range, or the relative distance between the second inductive switch sensor 49 and the second inductive switch 50 being greater than the inductive range.

The first threshold refers to an allowable maximum distance between the first displacement sensor and the first inductive magnetic ring, or an allowable maximum distance between the second displacement sensor and the second inductive magnetic ring, under the premise of guaranteeing the measurement accuracy and signal strength. The first threshold may be understood as the relative distance between the first displacement sensor and the first inductive magnetic ring reaching a maximum value, or the relative distance between the second displacement sensor and the second inductive magnetic ring reaching a maximum value.

The relative distance between the first displacement sensor 8 and the first inductive magnetic ring 9, or the relative distance between the second displacement sensor 56 and the second inductive magnetic ring 57 reaching the first threshold may be understood as the relative distance between the first displacement sensor 8 and the first inductive magnetic ring 9 reaching the first threshold, or the relative distance between the second displacement sensor 56 and the second inductive magnetic ring 57 reaching the first threshold.

The second threshold refers to an allowable minimum distance between the first displacement sensor and the first inductive magnetic ring under the premise of guaranteeing the measurement accuracy and signal strength. The second threshold may be understood as the relative distance between the first displacement sensor and the first inductive magnetic ring reaching a minimum value.

The third threshold refers to an allowable minimum distance between the second displacement sensor and the second inductive magnetic ring under the premise of guaranteeing the measurement accuracy and signal strength. The third threshold may be understood as the relative distance between the second displacement sensor and the second inductive magnetic ring reaching a minimum value.

In some embodiments, the preset logical sequence, the inductive range, the first threshold, the second threshold, and the third threshold may be predetermined by a person skilled in the art.

Some embodiments of the present disclosure provide a small-sized intelligent traction system. The small-sized intelligent traction system comprises a drill pipe joint 1, the anti-erosion joint 2, the first shaft end cover seal 3, the second shaft end cover seal 62, a first main body shaft end cover 4, the second main body shaft end cover 61, a first main body shaft seal gasket 5, the second main body shaft seal gasket 60, the first displacement sensor electrical connector 6, the second displacement sensor electrical connector 59, the first displacement sensor limit plug 7, the second displacement sensor limit plug 58, the first displacement sensor 8, the second displacement sensor 56, the first inductive magnetic ring 9, the second inductive magnetic ring 57, the first support cylinder end cover 10, the second support cylinder end cover 43, the first support telescopic cylinder 11, the second support telescopic cylinder 44, the first main body shaft 12, the second main body shaft 42, the first support rod 13, the second support rod 45, the first support cylinder reset spring 14, the second support cylinder reset spring 46, the first support block 15, the second support block 47, the first inductive switch 16, the second inductive switch 50, the first inductive switch sensor 17, the second inductive switch sensor 49, the first support arm reset spring 37, the second support arm reset spring 51, the first support arm 38, the second support arm 48, the first support arm reset leaf spring 39, the second support arm reset leaf spring 52, the first telescopic cylinder piston 18, the second telescopic cylinder piston 53, the first piston screw 19, the second piston screw 54, the first telescopic cylinder end cover 20, the second telescopic cylinder end cover 55, the first main body shaft protective cylinder 21, the second main body shaft protective cylinder 41, the first main body shaft connecting screw 22, the second main body shaft connecting screw 40, the first valve body 23, the second valve body 36, the first elastic retaining ring 24, the second elastic retaining ring 35, the first valve body protective sleeve 25, the second valve body protective sleeve 33, the first valve body connecting screw 26, the second valve body connecting screw 34, the battery compartment 27, the insulating board 28, the circuit board 29, the battery compartment cover 30, the mud channel 31, the communication port cover 32, the drill tool joint 63, the first main body shaft electrical connector 64, the second main body shaft electrical connector 76, the first torsion-resistant screw 66, the second torsion-resistant screw 75, the first two-position four-way solenoid valve 67, the second two-position four-way solenoid valve 68, the third two-position four-way solenoid valve 73, the fourth two-position four-way solenoid valve 74, the first battery plug 69, the second battery plug 72, the battery 70, the battery shock absorber 71, and the pressure sensor 77.

The first main body shaft 12 and the second main body shaft 42 are fixed to the first valve body 23 and the second valve body 36 by the first main body shaft connecting screw 22 and the second main body shaft connecting screw 40, respectively.

The first valve body 23 and the second valve body 36 are fixed to an upper side and a lower side of the battery compartment 27 by the first valve body connecting screw 26 and the second valve body connecting screw 34, respectively.

The first main body protective cylinder 21 and the second main body protective cylinder 41 are fixed to the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 by threads, respectively.

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, respectively.

The first 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, respectively, and are fixed to the first main body shaft 12 and the second main body shaft 42 by the first piston screw 19 and the second piston screw 54, respectively.

The first support telescopic cylinder 11 and the second support telescopic cylinder 44 are sleeved on the first main body shaft 12 and the second main body shaft 42, respectively, and are fixedly connected to the first telescopic cylinder end cover 20 and the second support cylinder end cover 43 by threads, respectively.

The first support cylinder reset spring 14 and the second support cylinder reset spring 46 are sleeved on the first support rod 13 and the second support rod 45, respectively.

The first support rod 13 and the second support rod 45 are sleeved on the first main body shaft 12 and the second main body shaft 42, respectively.

The first support 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 connected to the first support telescopic cylinder 11 and the second support telescopic cylinder 44, respectively.

The first inductive magnetic ring 9 and the second inductive magnetic ring 57 are fixed to the first support cylinder end cover 10 and the second telescopic cylinder end cover 55 by a set of screws, respectively. The first displacement sensor 8 and the second displacement sensor 56 are threaded onto the first main body shaft 12 and the second main body shaft 42, respectively.

The first displacement sensor limit plug 7 and the second displacement sensor limit plug 58 are threaded onto the first main body shaft 12 and the second main body shaft 42, respectively, and are configured to limit the first displacement sensor 8 and the second displacement sensor 56, respectively.

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, respectively.

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, respectively.

The first main body seal gasket 5 and the second main body seal gasket 60 are tightly affixed to end surfaces of the first main body shaft 12 and the second main body shaft 42, respectively. 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, respectively. The first main body end cover seal 3 and the second main body end cover seal 62 are mounted in groove holes of the first main body shaft end cover 4 and the second main body shaft end cover 61, respectively.

The anti-erosion joint 2 is fixed to the first main body shaft end cover 4 by screws, and the second shaft end cover seal 62 is fixed to the second main body shaft end cover 61 by screws.

The drill pipe joint 1 is sleeved on the first main body shaft 12 and is fixed to the first support cylinder end cover 10 by threads, and an upper portion of the drill pipe joint 1 is connected to a drill pipe.

The drill tool joint 63 is sleeved on the second main body shaft 42 and is fixed to the second telescopic cylinder end cover 55 by threads, and a lower portion of the drill tool joint 63 is connected to a measurement-while-drilling (MWD) tool and a positive displacement motor (PDM) drill.

The first support block 15 and the second support block 47 penetrate through openings on the first support telescopic cylinder 11 and the second support telescopic cylinder 44, and are mounted on the first support rod 13 and the second support rod 45 by screws, respectively.

The first inductive switch 16 and the second inductive switch 50 are mounted on the first support block 15 and the second support block 47, respectively. The first inductive switch sensor 17 and the second inductive switch sensor 49 are mounted on the first main body shaft 12 and the second main body shaft 42, respectively.

The first support arm reset leaf spring 39 and the second support arm reset leaf spring 52 are mounted in dovetail grooves 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 pins 65, respectively.

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, respectively, and the cylindrical pins are configured to limit an axial displacement of the first support arm 38 and the second support arm 48 by set screws.

The first main body protective cylinder 21 and the second main body protective cylinder 41 are sleeved on the first valve body 23 and the second valve body 36, respectively. The first torsion-resistant screw 66 and the second torsion-resistant screw 75 are fixedly connected to the first valve body 23 and the second valve body 36, respectively, by penetrating through keyways of the first main body protective cylinder 21 and the second main body protective cylinder 41, respectively.

The first valve body protective sleeve 25 and the second valve body protective sleeve 33 are sleeved on the first valve body 23 and the second valve body 36, respectively, and are limited by the first elastic retaining ring 24 and the second elastic retaining ring 35, respectively.

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 first two-position four-way solenoid valve 67 and the second two-position four-way solenoid valve 68 are mounted on the first valve body 23, and the third two-position four-way solenoid valve 73 and the fourth two-position four-way solenoid valve 74 are mounted on the second valve body 36. The battery 70 is threaded onto a battery hole of the battery compartment 27 after being fixedly connected to the battery shock absorber 71, and two ends of the battery 70 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 limit pins, the pressure sensor 77 is mounted on the battery compartment 27, and the mud channel 31 is threaded onto the battery compartment 27 and connected to the first valve body 23 and second valve body 36.

For more description, please refer to the related description in Embodiment 1 or Embodiment 2, and the related descriptions thereof.

Notably, the contents that are not elaborated in detail in the present disclosure are conventional technology and are well-known to those skilled in the art.

Therefore, by adopting the intelligent traction system and a control method thereof as described in the present disclosure, issues in the prior art, such as jamming of the support mechanism, insufficient automation, and erosion-related damage to key components can be resolved.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than serving as a limitation. Although the present disclosure has been described in detail with reference to preferred embodiments, those skilled in the art will understand that modifications or equivalent substitutions to the technical solutions described herein may still be made, without departing from the spirit and scope of the technical solutions of the present disclosure.

Claims

1. An intelligent traction system, comprising a drill pipe joint, an anti-erosion joint, a first shaft end cover seal, a second shaft end cover seal, a first main body shaft end cover, a second main body shaft end cover, a first shaft seal gasket, a second shaft seal gasket, a first displacement electrical connector, a second displacement electrical connector, a first limit plug, a second limit plug, a first displacement sensor, a second displacement sensor, a first inductive magnetic ring, a second inductive 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 reset spring, a second reset spring, a first support block, a second support block, a first inductive switch, a second inductive switch, a first switch sensor, a second switch sensor, a third reset spring, a fourth reset spring, a first support arm, a second support arm, a first reset leaf spring, a second reset leaf spring, a first telescopic cylinder piston, a second telescopic cylinder piston, a first piston screw, a second piston screw, a first telescopic cylinder end cover, a second telescopic cylinder end cover, a first shaft protective cylinder, a second shaft protective cylinder, a first shaft connecting screw, a second shaft connecting screw, a first valve body, a second valve body, a first elastic retaining ring, a second elastic retaining ring, a first valve body protective sleeve, a second valve body protective sleeve, a first valve body connecting screw, a second valve body connecting screw, a battery compartment, an insulating board, a circuit board, a battery compartment cover, a mud channel, a communication port cover, a drill tool joint, a first shaft electrical connector, a second shaft electrical connector, a first torsion-resistant screw, a second torsion-resistant screw, a first two-position four-way solenoid valve, a second two-position four-way solenoid valve, a third two-position four-way solenoid valve, a fourth two-position four-way solenoid valve, a first battery plug, a second battery plug, a battery, a battery shock absorber, and a pressure sensor, wherein

the first main body shaft and the second main body shaft are fixed to the first valve body and the second valve body by the first shaft connecting screw and the second shaft connecting screw, respectively,

the first valve body and the second valve body are fixed to an upper side and a lower side of the battery compartment by the first valve body connecting screw and the second valve body connecting screw, respectively,

the first shaft protective cylinder and the second shaft protective cylinder are fixed to the first telescopic cylinder end cover and the second support cylinder end cover by threads, respectively,

the first telescopic cylinder end cover and the second support cylinder end cover are sleeved on the first body shaft and the second body shaft, respectively,

the first telescopic cylinder piston and the second telescopic cylinder piston are sleeved on the first main body shaft and the second main body shaft, respectively, and are fixed to the first main body shaft and the second main body shaft by the first piston screw and the second piston screw, respectively,

the first support telescopic cylinder and the second support telescopic cylinder are sleeved on the first main body shaft and the second main body shaft, respectively, and are fixedly connected to the first telescopic cylinder end cover and the second support cylinder end cover by threads, respectively,

the first reset spring and the second reset spring are sleeved on the first support rod and the second support rod, respectively,

the first support rod and the second support rod are sleeved on the first main body shaft and the second main body shaft, respectively,

the first support cylinder end cover and the second telescopic cylinder end cover are sleeved on the first main body shaft and the second main body shaft, and are connected to the first support telescopic cylinder and the second support telescopic cylinder, respectively,

the first inductive magnetic ring and the second inductive magnetic ring are fixed to the first support cylinder end cover and the second telescopic cylinder end cover by a set of screws, respectively, and the first displacement sensor and the second displacement sensor are threaded onto the first main body shaft and the second main body shaft, respectively,

the first limit plug and the second limit plug are threaded onto the first main body shaft and the second main body shaft, respectively, and are configured to limit the first displacement sensor and the second displacement sensor, respectively,

the first displacement electrical connector and the second displacement electrical connector are connected to the first limit plug and the second limit plug by threads, respectively,

the first shaft electrical connector and the second shaft electrical connector are connected to the first main body shaft and the second main body shaft by threads, respectively,

the first shaft seal gasket and the second shaft seal gasket are tightly affixed to end surfaces of the first main body shaft and the second main body shaft, respectively,

the first main body shaft end cover and the second main body shaft end cover are fixed to the first main body shaft and the second main body shaft by screws, respectively, and the first shaft end cover seal and the second shaft end cover seal are mounted in groove holes of the first main body shaft end cover and the second main body shaft end cover, respectively,

the anti-erosion joint is fixed to the first main body shaft end cover by screws and the second shaft end cover seal is fixed to the second main body shaft end cover by screws,

the drill pipe joint is sleeved on the first main body shaft and fixed to the first support cylinder end cover by threads, and an upper portion of the drill pipe joint is connected to a drill pipe,

the drill tool joint is sleeved on the second main body shaft and fixed to the second telescopic cylinder end cover by threads, and a lower portion of the drill tool joint is connected to a measurement-while-drilling tool and a positive displacement motor (PDM) drill,

the first support block and the second support block penetrate through openings of the first support telescopic cylinder and the second support telescopic cylinder, and are mounted on the first support rod and the second support rod by screws, respectively, the first inductive switch and the second inductive switch are mounted on the first support block and the second support block, respectively, and the first switch sensor and the second switch sensor are mounted on the first main body shaft and the second main body shaft, respectively,

the first reset leaf spring and the second reset leaf spring are mounted in 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 by fixing pins, respectively,

the first support arm and the second support arm are connected to the first support telescopic cylinder and the second support telescopic cylinder by cylindrical pins, respectively, and the cylindrical pins are configured to limit an axial displacement of the first support arm and the second support arm by set screws,

the first shaft protective cylinder and the second shaft protective cylinder are sleeved on the first valve body and the second valve body, respectively, and the first torsion-resistant screw and the second torsion-resistant screw are fixedly connected to the first valve body and the second valve body, respectively, by penetrating through keyways of the first shaft protective cylinder and the second shaft protective cylinder, respectively,

the first valve body protective sleeve and the second valve body protective sleeve are sleeved on the first valve body and the second valve body, respectively, and are limited by the first elastic retaining ring and the second elastic retaining ring, respectively,

the battery compartment cover is fixed to the battery compartment by screws, and the communication port cover is fixed to the battery compartment by screws, and

the first two-position four-way solenoid valve and the second two-position four-way solenoid valve are mounted on the first valve body, the third two-position four-way solenoid valve and the fourth two-position four-way solenoid valve are mounted on the second valve body, the battery is threaded onto a battery hole of the battery compartment after being fixedly connected to the battery shock absorber, and two ends of the battery are limited by the first battery plug and the second battery plug, the first battery plug and the second battery plug are mounted on the battery compartment by limit pins, the pressure sensor is mounted on the battery compartment, and the mud channel is threaded onto the battery compartment and connected to the first valve body and the second valve body.

2. The intelligent traction system of claim 1, wherein a wiring groove is set in the first main body shaft end cover and the second main body shaft end cover, respectively, when the first displacement electrical connector and the second displacement electrical connector, the first shaft electrical connector and the second shaft electrical connector are mounted in position, respectively, a wiring between the first displacement electrical connector and the first shaft electrical connector is connected in the wiring groove on the first main body shaft end cover, and a wiring between the second displacement electrical connector and the second shaft electrical connector is connected in the wiring groove on the second main body shaft end cover, and the wirings are sealed by the first shaft end cover seal and the second shaft end cover seal, respectively, and

the first shaft end cover seal and the second shaft end cover seal, the first shaft seal gasket and the second shaft seal gasket, the first displacement electrical connector and the second displacement electrical connector, and the first shaft electrical connector and the second shaft electrical connector form a sealing system.

3. The intelligent traction system of claim 2, wherein the first support telescopic cylinder and the second support telescopic cylinder are of an integrated design, the first support cylinder end cover, the first support rod, the first support telescopic cylinder, the first telescopic cylinder piston, and the first telescopic cylinder end cover form a support hydraulic cylinder and a telescopic hydraulic cylinder of upper moving sub, and the second support cylinder end cover, the second support telescopic cylinder, the second support rod, the second telescopic cylinder piston, and the second telescopic cylinder end cover form a support hydraulic cylinder and a telescopic hydraulic cylinder of lower moving sub.

4. The intelligent traction system of claim 3, wherein the first support arm and the second support arm are provided with a leaf spring mounting dovetail groove, a reset spring mounting groove, and an angle limit table, respectively, the first reset leaf spring and the second reset leaf spring have a T-shape structure, head ends of the first reset leaf spring and the second reset leaf spring are mounted in the leaf spring mounting dovetail groove, and tail ends of the first reset leaf spring and the second reset leaf spring are fixed on the first support telescopic cylinder and the second support telescopic cylinder by the fixing pins, respectively,

when the first support arm and the second support arm rotate and deploy, the first support arm and the second support arm are subjected to a rebound force of the first reset leaf spring and the second reset leaf spring, and the angle limit table is configured to limit a rotation angle of the first support arm and the second support arm;

a reset spring mounting hole is disposed on the first support block and the second support block, respectively, and the third reset spring and the fourth reset spring are inserted into the reset spring mounting hole and are pressed against the first support telescopic cylinder and the second support telescopic cylinder through the reset spring mounting groove of the first support arm and the reset spring mounting groove of the second support arm, respectively, and when the first support rod and the second support rod move relative to the first support telescopic cylinder and the second support telescopic cylinder, the first support rod and the second support rod are subjected to a rebound force in an opposite direction; and

the first reset spring and the second reset spring are sleeved on the first support rod and the second support rod, respectively, and when the first support rod and the second support rod move relative to the first support telescopic cylinder and the second support telescopic cylinder, the first support rod and the second support rod are subjected to a rebound force in an opposite direction.

5. The intelligent traction system of claim 4, wherein the first torsion-resistant screw and the second torsion-resistant screw that prevent reverse torque are mounted on the first valve body and the second valve body, the first shaft protective cylinder and the second shaft protective cylinder are provided with the keyways, and the keyways engage with the first torsion-resistant screw and the second torsion-resistant screw to enable the first shaft protective cylinder and the second shaft protective cylinder to move axially relative to the first valve body and the second valve body, and not rotate relative to the first valve body and the second valve body.

6. A method for controlling the intelligent traction system of claim 1, wherein the first displacement sensor and the second displacement sensor, the first switch sensor and the second switch sensor, the pressure sensor, the circuit board, the measurement-while-drilling tool cooperate to realize automatic control of the intelligent traction system; the method comprising:

when the measurement-while-drilling tool detects that a drill tool fails to continue drilling forward in a horizontal section, sending a flag code of activating a drilling mode to the circuit board through a start-stop pump, upon the pressure sensor detects an analog signal, filtering out impurity waves through a filter and transmitting the analog signal to an analog-to-digital conversion module of the circuit board to convert the analog signal into a digital signal, upon recognizing the digital signal, sending, by a control unit, a control instruction to an actuator to control on/off states of four relays, to further control the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve to act in accordance with a preset logical sequence;

firstly, initially calibrating the intelligent traction system, de-energizing the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve, filling liquid in right cavities of support hydraulic cylinders and telescopic hydraulic cylinders of a left moving sub and a right moving sub, respectively, the first support rod and the second support rod, and the first telescopic cylinder piston and the second telescopic cylinder piston are all at a left position, completing calibration of the telescopic hydraulic cylinders when a relative distance between the first displacement sensor and the first inductive magnetic ring or a relative distance between the second displacement sensor and the second inductive magnetic ring reaches a first threshold, and completing calibration of the support hydraulic cylinders when a relative distance between the first switch sensor and the first inductive switch or a relative distance between the second switch sensor and the second inductive switch is greater than an inductive range;

secondly, energizing the first two-position four-way solenoid valve, when a relative distance between the first inductive switch and the first switch sensor is less than the inductive range, energizing the first switch sensor, indicating that the first support arm moves in place and is anchored to a wellbore wall, controlling, by the circuit board, the second two-position four-way solenoid valve to be energized, and driving, by the first main body shaft, the intelligent traction system to drill forward;

when the relative distance between the first displacement sensor and the first inductive magnetic ring reaches a second threshold, indicating that the first telescopic cylinder piston move in place, controlling, by the circuit board, the third two-position four-way solenoid valve to be energized, and when the relative distance between the second switch sensor and the second inductive switch is less than the inductive range, energizing the second inductive switch sensor, indicating that the second support arm move in place and is anchored to the wellbore wall, and controlling, by the circuit board, the first two-position four-way solenoid valve to be de-energized;

when the relative distance between the first inductive switch and the first switch sensor is greater than the inductive range, de-energizing the first switch sensor, indicating that the first support arm is disengaged from the wellbore wall, controlling, by the circuit board, the second two-position four-way solenoid valve and the fourth two-position four-way solenoid valve to be energized, and driving, by the first main body shaft, the intelligent traction system to drill forward, at the same time, restoring the first telescopic cylinder piston to the left position to ready for a next motion cycle; and

when the relative distance between the second displacement sensor and the second inductive magnetic ring reaches a third threshold, indicating that the second telescopic cylinder piston moves in place, at this time, the intelligent traction system completing one full cycle of operation, alternately controlling the first two-position four-way solenoid valve, the second two-position four-way solenoid valve, the third two-position four-way solenoid valve, and the fourth two-position four-way solenoid valve again to repeat the above operations until reaching a target region; at this time, sending a flag code of stopping the drilling mode to the circuit board through the start-stop pump, and upon recognizing the digital signal, enabling, by the circuit board, the intelligent traction system to return to an initial state to realize the automatic control of the intelligent traction system during a whole process.