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<p>Due to the high frictional resistance of coiled tubing (CT) in the horizontal well, problems such as ‘buckling’ and limited lateral extension are caused. The drilling robot based on the downhole tractor technology proposed in this paper can effectively solve these problems. This paper established an anchoring model between the anchoring mechanism of the drilling robot. The influence of inclined plane spacing and anchoring block thickness on the contact force distribution of the well wall was analyzed. The simulation result was verified through experiments. When the inclined plane spacing is 20 mm and the anchoring block thickness is 15 mm, the anchoring mechanism provides greater friction force. On this basis, the influence of machining error is further analyzed. when the spacing error is within ±0.06 mm, or when the error in the single inclined plane is within ±0.25°, the anchoring performance reaches its best.</p>

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Mechanical model and mechanical properties of anchoring mechanism of the drilling robot

  • 期刊论文

  • 发表日期：

    2025年8月1日

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  • Jianguo Zhao,
  • Huifeng Xie,
  • Xiaohua Xiao,
  • Guorong Wang,
  • Shiji Fang

摘要

Due to the high frictional resistance of coiled tubing (CT) in the horizontal well, problems such as ‘buckling’ and limited lateral extension are caused. The drilling robot based on the downhole tractor technology proposed in this paper can effectively solve these problems. This paper established an anchoring model between the anchoring mechanism of the drilling robot. The influence of inclined plane spacing and anchoring block thickness on the contact force distribution of the well wall was analyzed. The simulation result was verified through experiments. When the inclined plane spacing is 20 mm and the anchoring block thickness is 15 mm, the anchoring mechanism provides greater friction force. On this basis, the influence of machining error is further analyzed. when the spacing error is within ±0.06 mm, or when the error in the single inclined plane is within ±0.25°, the anchoring performance reaches its best.