公开(公告)号：US12297705B1

公开(公告)日：2025-05-13

申请号：US18939678

申请日：2024-11-07

Applicant: Chengdu University of Technology

Inventor： Xingming Wang ,  Qiaozhu Wang ,  Qingyou Liu ,  Haiyan Zhu ,  Xuelian Dong ,  Yuanyuan Yang ,  Jingran Tang ,  Luqing Li

IPC: E21B23/00 ,  E21B23/03 ,  E21B23/04 ,  E21B47/06

Abstract: The present invention discloses a support mechanism of a self-adaptive traction robot for a complex wellbore and a control method thereof, and relates to the technical field of oil and gas field development. Each support link assembly in a support mechanism is controlled by an independent hydraulic cylinder and hydraulic valve. When a well wall that each support link assembly contacts in a circumferential direction is irregular, the support mechanism contact effect is not ideal, which leads to a decrease in traction force. In this case, a displacement sensor in a telescopic mechanism detects that a displacement of a traction cylinder piston is small, which is fed back to a ground control system, and then a fluid inflow size of support cylinders corresponding to different support link assemblies is adjusted until the displacement sensor in the telescopic mechanism detects an effective traction distance.