Dinamični model togo-hiperelastične sklopitve in dinamične lastnosti vzmetnega vlečnega robota

The traditional anchoring mechanism of the traction robot is rigid, which is easy to be stuck in the wellbore. In order to solve the problem produced by the rigid anchoring mechanism of the traction robot, a novel anchoring mechanism was proposed based on the spring type of anchoring mechanism of the inclined block. The key to make the traction robot motion is whether the traction robot can be anchored on the wellbore under the action of the traction force. Therefore, a rigid-hyperelastic coupling dynamic model of the spring type of anchoring mechanism under the action of the traction force was established. On the basis, the effects of span, width, thickness and chamfer parameters on the anchoring performance of the spring type of traction robot were analyzed. Through the experimental comparison, it was found that the error between the theoretical supporting force and the experimental supporting force is only 6.1%, and the maximum error of theoretical and experimental maximum traction force is 4.9%. Experiments verified the correctness of the rigid-hyperelastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of spring type of traction robot. It can effectively ensure the downhole safety of oil and gas wells