A variable speed hydraulically driven double-rope powered catwalk electronic control system

Abstract

The present invention relates to the field of drilling tools for drilling equipment, and discloses an electronic control system for a variable speed hydraulically driven double-rope power catwalk: a sensor subsystem monitors and collects system information and provides it to a software subsystem in a main control cabinet subsystem for analysis; the main control cabinet subsystem outputs operation instructions to an internal power side and a process control side according to the system status and operation control instructions; according to the received operation instructions, the power side drives a hydraulic module, and the process control side controls a base transfer box system and a conveyor arm transfer box system; the process control side is equipped with an HMI module, which displays system protection monitoring and action-related status through a touch screen; the base transfer box system and the conveyor arm transfer box system receive instructions to drive mechanical components to act; the operating console subsystem and the wireless operating subsystem provide wired and wireless operation control modes and output operation control instructions; the software subsystem provides software support for information analysis, operation instruction coordination, speed regulation, system protection and visualization.

Description

Technical Field

[0001] The invention belongs to the field of drilling tools for drilling equipment, and in particular relates to an electric control system for a variable speed hydraulically driven double-rope power catwalk. Background Art

[0002] With the increasing demand for fossil liquid energy in recent years, in order to reduce the wear of land drilling rig drilling tools when going up and down the drill platform, improve drilling rig efficiency, reduce labor and drilling costs, a variable speed hydraulically driven double-rope power catwalk electronic control system has been developed to meet the current market demand for hydraulically driven double-rope power catwalks. This system has great practical significance for improving the market competitiveness of power catwalk products.

[0003] Currently, the performance requirements for the electronic control systems of variable-speed hydraulically driven double-rope power catwalks for oil drilling catwalks are becoming increasingly higher. Therefore, how to design an electronic control system for variable-speed hydraulically driven double-rope power catwalks that can simultaneously achieve stable operation, simple operation, convenient maintenance, smooth equipment operation, soft start and stop, adjustable speed, energy conservation, improved catwalk efficiency, meet the overall requirements of hydraulically driven double-rope power catwalks of different heights, and high efficiency, safety, and low cost is a technical problem that needs to be solved in this field. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a variable speed hydraulic drive double rope power catwalk electronic control system. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0005] A variable speed hydraulically driven double-rope powered catwalk electric control system, characterized by comprising a sensor subsystem, a main control cabinet subsystem, a base transfer box system, a conveyor arm transfer box system, an operating table subsystem, a wireless operation subsystem, and a software subsystem integrated in the main control cabinet subsystem; wherein,

[0006] The sensor subsystem is used to monitor and collect system information representing the status of each component in the variable speed hydraulic drive double rope power catwalk electronic control system and provide it to the software subsystem in the main control cabinet subsystem for analysis;

[0007] The main control cabinet subsystem is used to output corresponding operation instructions to the power side and process control side of the main control cabinet subsystem based on the system status obtained by analyzing and processing the system information and the received operation control instructions. The power side drives the hydraulic module according to the received operation instructions; the process control side controls the base transfer box system and the conveyor arm transfer box system according to the received operation instructions; wherein, the process control side is equipped with an HMI module, which displays the status of system protection monitoring and action related through a touch screen;

[0008] The base transfer box system and the conveyor arm transfer box system are used to receive instructions from the process control side of the main control cabinet subsystem to complete corresponding operation instructions and drive the actions of corresponding mechanical components;

[0009] The operating console subsystem and the wireless operating subsystem are used to provide a wired operation control mode and a wireless operation control mode respectively, and output corresponding operation control instructions to the main control cabinet subsystem;

[0010] The software subsystem is used to provide information analysis, operation instruction coordination, speed regulation, system protection and visualization software support for the variable speed hydraulic drive double-rope power catwalk electronic control system.

[0011] In one embodiment of the present invention, the sensor subsystem includes:

[0012] Protect and monitor the temperature transmitter, liquid level transmitter, main pump pressure transmitter, auxiliary pump pressure transmitter, main pressure switch, and auxiliary pressure switch of the hydraulic module; wherein the hydraulic module includes a main pump and auxiliary pump for providing hydraulic power source for the entire system;

[0013] Protect and monitor the low limit sensor, high limit sensor, conveyor arm analog position encoder for conveyor arm, and protect and monitor the trolley analog position encoder for trolley.

[0014] In one embodiment of the present invention, the power side of the main control cabinet subsystem is configured with:

[0015] Main motor control circuit for driving the main pump, auxiliary motor control circuit for driving the auxiliary pump, heat dissipation module control circuit for driving the hydraulic oil circulation pump and two air cooling fans, process control side DC power supply circuit and lighting circuit;

[0016] Among them, all motor circuits are equipped with rotation direction protection circuits and overload protection circuits.

[0017] In one embodiment of the present invention, in addition to the HMI module, the process control side of the main control cabinet subsystem is also configured with:

[0018] Profinet bus switch, RS485 bus module, programmable logic controller PLC, main control cabinet subsystem analog input module, main control cabinet subsystem analog output module, main control cabinet subsystem digital input module and main control cabinet subsystem digital output module.

[0019] In one embodiment of the present invention, the process control side of the main control cabinet subsystem is further configured with:

[0020] Main relief valve, auxiliary relief valve, main proportional flow valve, auxiliary proportional flow valve, main proportional pressure valve, auxiliary proportional pressure valve and three-color warning light for monitoring and displaying system status;

[0021] Among them, the main overflow valve and the auxiliary overflow valve are respectively used to cut off the hydraulic source provided by the main pump and the auxiliary pump to the subsequent valve group; the main proportional flow valve and the main proportional pressure valve are respectively used to control the flow and pressure of the main pump hydraulic circuit, which are used to control the movement process of the conveying arm; the auxiliary proportional flow valve and the auxiliary proportional pressure valve are respectively used to control the flow and pressure of the auxiliary pump hydraulic circuit, which are used to control the movement process of the cart; the three-color warning light includes a red warning light, a yellow warning light, a green warning light and a buzzer; the red warning light, the yellow warning light and the green warning light respectively indicate shutdown, warning and system operation when they are lit, and the buzzer provides sound support for system operation warnings.

[0022] In one embodiment of the present invention, the base transfer box system includes:

[0023] Hydraulic solenoid valve group of the base transfer box system, Profinet-IO interface module of the base transfer box system, and digital output module of the base transfer box system;

[0024] Among them, the hydraulic solenoid valve group of the base transfer box system includes: left pipe rack lifting valve, right pipe rack lifting valve, left pipe rack lowering valve, right pipe rack lowering valve, left upper material lifting valve, right upper material lifting valve, left upper material lowering valve, right upper material lowering valve, left auxiliary discharge lifting valve, right auxiliary discharge lifting valve, left auxiliary discharge lowering valve, right auxiliary discharge lowering valve, conveying arm lifting valve, conveying arm lowering valve and winch variable exhaust valve.

[0025] In one embodiment of the present invention, the conveying arm transfer box system includes:

[0026] Conveyor arm transfer box system hydraulic solenoid valve group, conveyor arm transfer box system Profinet-IO interface module and conveyor arm transfer box system digital output module;

[0027] Among them, the hydraulic solenoid valve group of the conveying arm transfer box system includes: left safety pin lifting valve, right safety pin lifting valve, left safety pin lowering valve, right safety pin lowering valve, left discharge lifting valve, right discharge lifting valve, left discharge lowering valve, right discharge lowering valve, cart forward valve and cart backward valve.

[0028] In one embodiment of the present invention, the operating console subsystem includes:

[0029] Explosion-proof operating console, operating console subsystem Profinet-IO interface module, operating console subsystem digital output module and operating console subsystem digital input module.

[0030] In one embodiment of the present invention, the wireless operation subsystem includes:

[0031] The wireless remote controller and the RS485 bus wireless receiver built into the main control cabinet subsystem.

[0032] In one embodiment of the present invention, the software subsystem includes:

[0033] PLC program and HMI configuration screen.

[0034] An embodiment of the present invention provides an electronic control system for a variable speed hydraulically driven double-rope power catwalk, which is applicable to all hydraulically driven double-rope power catwalks. The system protection collects system information through the sensor subsystem and enters it into the main control cabinet subsystem for analysis and processing, and displays it in the HMI module and modifies and confirms the protection parameters; the system protection analysis derives the system status, receives the operation control instructions through the operating console subsystem or the wireless operation subsystem, determines the current operation it carries, and then realizes the smooth and stable operation of the variable speed hydraulically driven double-rope power catwalk. The system can effectively collect and analyze equipment data in real time, and realize smooth and stable operation of the equipment through the HMI module and the main control cabinet subsystem, the base transfer box system and the conveying arm transfer box system. The variable speed hydraulically driven double-rope power catwalk electronic control system provided by the embodiment of the present invention has the advantages of simple communication mode, simple operation, simple network structure, easy maintenance, low maintenance cost, durability, high efficiency and safety. At the same time, it can realize the hydraulic speed regulation movement control of the conveying arm up and down, can reduce the inertia during the movement, realize soft start and stop, can improve the running stability of the power catwalk, and the system has high reliability, can save energy and has low requirements for manufacturing process. It can be widely used on double-rope power catwalks of oil drilling rigs at different heights to meet the requirements of oil drilling rigs for safe and reliable and stable upper and lower drilling tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram of a variable speed hydraulically driven double-rope powered catwalk electronic control system provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram showing the connection relationship between the main control cabinet subsystem and related components within the variable speed hydraulically driven double-rope powered catwalk electric control system provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram showing the connection relationship between the base transfer box system and related components within the electric control system for a variable speed hydraulically driven double-rope powered catwalk provided by an embodiment of the present invention;

[0038] Figure 4A schematic curve diagram of the conveying arm rise of the variable speed hydraulically driven double-rope power catwalk electric control system provided by an embodiment of the present invention;

[0039] Figure 5 A schematic curve diagram of the lowering of the conveying arm of the variable speed hydraulically driven double-rope power catwalk electronic control system provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram showing the connection relationship between the conveyor arm transfer box system and related components within the variable speed hydraulically driven double-rope powered catwalk electric control system provided by an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of the network configuration of Profinet and RS485 systems in the variable speed hydraulically driven double-rope powered catwalk electronic control system provided in an embodiment of the present invention;

[0042] Figure 8 A schematic diagram of the system HMI user interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided in an embodiment of the present invention;

[0043] Figure 9 A schematic diagram of the system HMI main interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided in an embodiment of the present invention;

[0044] Figure 10 A schematic diagram of the system HMI setting interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided in an embodiment of the present invention;

[0045] Figure 11 A schematic diagram of the system HMI operation record interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided in an embodiment of the present invention;

[0046] Figure 12 A schematic diagram of the system HMI alarm interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided in an embodiment of the present invention;

[0047] Figure 13 Schematic diagram of the system HMI information interface - network status interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, an embodiment of the present invention provides a variable speed hydraulic drive double rope power catwalk electric control system, hereinafter referred to as the system, which may include a sensor subsystem, a main control cabinet subsystem, a base transfer box system, a conveyor arm transfer box system, an operating table subsystem, a wireless operation subsystem, and a software subsystem integrated in the main control cabinet subsystem; wherein,

[0050] The sensor subsystem is used to monitor and collect system information representing the status of each component in the variable speed hydraulic drive double rope power catwalk electronic control system and provide it to the software subsystem in the main control cabinet subsystem for analysis;

[0051] The main control cabinet subsystem is used to output corresponding operation instructions to the power side and process control side of the main control cabinet subsystem based on the system status obtained by analyzing and processing system information and the received operation control instructions. The power side drives the hydraulic module according to the received operation instructions; the process control side controls the base transfer box system and the conveyor arm transfer box system according to the received operation instructions. The process control side is equipped with an HMI module, which displays the status of system protection monitoring and operation related to the touch screen.

[0052] The base transfer box system and the conveyor arm transfer box system are used to receive instructions from the process control side of the main control cabinet subsystem to complete corresponding operation instructions and drive the actions of corresponding mechanical components;

[0053] The console subsystem and wireless operation subsystem are used to provide wired operation control mode and wireless operation control mode respectively, and output corresponding operation control instructions to the main control cabinet subsystem;

[0054] The software subsystem is used to provide information analysis, operation command coordination, speed regulation, system protection and visualization software support for the variable speed hydraulic drive double rope power catwalk electronic control system.

[0055] Each subsystem is described below.

[0056] (1) Sensor subsystem

[0057] In an optional embodiment, the sensor subsystem includes:

[0058] The temperature transmitter, level transmitter, main pump pressure transmitter, auxiliary pump pressure transmitter, main pressure switch, and auxiliary pressure switch of the hydraulic module are used to protect and monitor the hydraulic module, which includes the main pump and auxiliary pump for providing hydraulic power source for the entire system.

[0059] Protect and monitor the low limit sensor, high limit sensor, conveyor arm analog position encoder for conveyor arm, and protect and monitor the trolley analog position encoder for trolley.

[0060] The temperature transmitter, level transmitter, main pump pressure transmitter, auxiliary pump pressure transmitter, main pressure switch, and auxiliary pressure switch can be connected to the main control cabinet subsystem. In this embodiment of the present invention, the main pump and auxiliary pump refer to hydraulic pumps, which provide the system with hydraulic power. The main pump also has a soft-start function. The temperature transmitter, level transmitter, main pressure switch, and auxiliary pressure switch are used to monitor the hydraulic oil status within the hydraulic module's reservoir. Specifically, the temperature transmitter monitors and provides feedback on temperature information, allowing the system to determine the operating status of the heat dissipation module and make appropriate adjustments, such as setting the heat dissipation module's start and stop temperatures and setting the system's high-temperature alarm temperature, thereby controlling the heat dissipation of the hydraulic module. The heat dissipation module includes a hydraulic oil circulation pump and two air-cooled cooling fans. The hydraulic oil circulation pump is used to circulate, filter, and cool the hydraulic oil within the hydraulic module, repeatedly circulating it to ensure the cleanliness and temperature of the hydraulic oil and maintain normal operation of the hydraulic module. The two air-cooled cooling fans are specifically used for heat dissipation. The liquid level transmitter is used to monitor and feedback the liquid level information of the hydraulic oil, so that the system can make corresponding adjustments to the system oil level related parameters, such as setting high oil level, low oil level, and very low oil level. The high oil level is used to feedback the highest oil level required by the system, the low oil level is used to feedback the bottom limit of the oil level required by the system, and the very low oil level is used to stop the main pump and auxiliary pump. The main pressure switch is used to monitor the oil impurities in the main pump and auxiliary pump, and the system prompts its filter replacement information through the HMI configuration screen of the software subsystem; the auxiliary pressure switch is used to monitor the oil impurities in the heat dissipation module, and the system prompts its filter replacement information through the HMI configuration screen. The main pump pressure transmitter and the auxiliary pump pressure transmitter respectively monitor the hydraulic output pressure of the main pump and auxiliary pump, and judge the pressure output capacity of the main pump and auxiliary pump respectively through the HMI configuration screen.

[0061] Among them, the low limit sensor, high limit sensor, conveyor arm analog position encoder, and cart analog position encoder can be connected to the conveyor arm transfer box system or the base transfer box system. The low limit sensor, high limit sensor, and conveyor arm analog position encoder are used to protect and monitor the position information of the conveyor arm. For example, by setting the highest bit of the conveyor arm movement process and using the high limit sensor to monitor the position of the conveyor arm in real time, the relevant alarm or protection device can be activated when it reaches the highest bit. The cart analog position encoder is used to protect and monitor the position information of the cart; similarly, some threshold parameters can be set for the relevant positions during the movement of the cart, and the position information of the cart can be monitored in real time through the cart analog position encoder. When the corresponding threshold parameters are reached, the relevant alarm or protection device can be activated. The specific details will not be explained here.

[0062] (2) Main control cabinet system

[0063] The master control cabinet subsystem in this embodiment is divided into a power side and a process control side. In practice, the master control cabinet subsystem can be represented by the "Main Site" symbol, which can be CC. "Main Site" stands for "master site" and "CC" stands for "master control cabinet." Furthermore, an IP address must be set for communication. For example, the IP address can be 192.168.0.1.

[0064] The power side corresponds to the hydraulic module. In an optional embodiment, the power side of the main control cabinet subsystem is configured with:

[0065] The main motor control circuit for driving the main pump, the auxiliary motor control circuit for driving the auxiliary pump, the heat dissipation module control circuit for driving the hydraulic oil circulation pump and two air cooling fans, the process control side DC power supply circuit and the lighting circuit.

[0066] All motor circuits are equipped with rotation direction protection and overload protection circuits. The power side of the main control cabinet subsystem is capable of soft-starting the main motor and driving other motors. The specific circuit structures of the control circuits, DC power supply circuits, and lighting circuits can be designed based on existing circuit structures and scenario requirements, and will not be explained in detail here.

[0067] The process control side corresponds to the sensor subsystem, the base transfer box system and the conveyor arm transfer box system. The HMI module in the process control side may include a touch screen that can display the status related to system protection monitoring and action. It can be understood that the various state parameters of collection and monitoring or the related parameters of setting and output in the system of the embodiment of the present invention can be displayed on the touch screen, and the functions of parameter input, output and display can be realized by providing a human-computer interaction interface and a corresponding operation module. The HMI module of the embodiment of the present invention can realize personalized and convenient applications by self-designing the display interface on the basis of existing technology. In addition, in actual use, the HMI module also needs to be configured with a corresponding IP address, such as 192.168.0.10, etc.

[0068] In an optional embodiment, in addition to the HMI module, the process control side of the main control cabinet subsystem is also configured with:

[0069] Profinet bus switch, RS485 bus module, programmable logic controller PLC, main control cabinet subsystem analog input module, main control cabinet subsystem analog output module, main control cabinet subsystem digital input module and main control cabinet subsystem digital output module.

[0070] Regarding the functions of the above-mentioned components on the process control side, please understand them in conjunction with the functions of existing devices and will not be explained in detail here.

[0071] In addition to the above components, the process control side of the main control cabinet subsystem is also equipped with:

[0072] Main relief valve, auxiliary relief valve, main proportional flow valve, auxiliary proportional flow valve, main proportional pressure valve, auxiliary proportional pressure valve and three-color warning light for monitoring and displaying system status;

[0073] Among them, the main relief valve and the auxiliary relief valve are used to cut off the hydraulic source provided by the main pump and the auxiliary pump to the subsequent valve group respectively; the main proportional flow valve and the main proportional pressure valve are used to control the flow and pressure of the main pump hydraulic circuit respectively, which are used to control the movement process of the conveying arm, and have high speed, high stability and high load capacity when controlling the upward and downward movement of the conveying arm. Specifically, by increasing the pressure output of the main proportional pressure valve, high load capacity can be achieved, and by increasing the flow output of the main proportional flow valve, high speed movement capacity can be achieved, and then high stability capacity can be achieved through coordinated distribution between the two proportional valves; the auxiliary proportional flow valve and the auxiliary proportional pressure valve are used to control the flow and pressure of the auxiliary pump hydraulic circuit respectively, which are used to control the movement process of the cart, and have high speed, high stability and high load capacity when controlling the forward and backward movement of the cart. Similar to the above, specifically, by increasing the pressure output of the auxiliary proportional pressure valve, high load capacity can be achieved, by increasing the flow output of the auxiliary proportional flow valve, high-speed movement capability can be achieved, and then by the coordinated distribution between the two proportional valves, high stability capability can be achieved; the three-color warning light includes a red warning light, a yellow warning light, a green warning light and a buzzer; the red warning light, the yellow warning light and the green warning light, when lit, respectively indicate shutdown, warning, and system operation, and the buzzer provides sound support for system operation warnings.

[0074] Among them, it should be supplemented that the programmable logic controller PLC of the embodiment of the present invention has the functions of console control and wireless remote control of the equipment, that is, it can accept the operation control instructions of the console subsystem or the wireless operation subsystem and realize the corresponding control output; the programmable logic controller PLC also has the function of adjusting the flow and pressure of the hydraulic module, which is achieved by controlling the main proportional flow valve, the auxiliary proportional flow valve, the main proportional pressure valve, and the auxiliary proportional pressure valve; specifically, after the programmable logic controller PLC receives the operation instruction, it distributes the pressure and flow of the catwalk action through the main proportional flow valve, the auxiliary proportional flow valve, the main proportional pressure valve, and the auxiliary proportional pressure valve. The distributed flow and pressure drive the corresponding action to be executed, so that the catwalk can achieve smooth, high-speed, and heavy-load back and forth movement within 80 seconds, so that the programmable logic controller PLC has the ability to control the smooth operation of the equipment, meet the production operation rhythm, and meet the unloading under specific conditions.

[0075] To understand the connection between the main control cabinet subsystem and related components, please refer to Figure 2 , Figure 2 Schematic diagram of the connection relationship between the main control cabinet subsystem and related components in an embodiment of the present invention.

[0076] Figure 2 Among them, the main pump pressure transmitter, auxiliary pump pressure transmitter, temperature transmitter, liquid level transmitter, main pressure switch and auxiliary pressure switch belong to the sensor subsystem.

[0077] To simplify, Figure 2 The power side of the central control cabinet subsystem only shows the main motor control circuit, auxiliary motor control circuit, and cooling module control circuit. The cooling module's dual air-cooling fans include air-cooling fan 1 and air-cooling fan 2; the cooling module control circuit includes the hydraulic oil circulation pump control circuit, air-cooling fan 1 control circuit, and air-cooling fan 2 control circuit.

[0078] To simplify, Figure 2 The process control side of the central control cabinet subsystem only shows the HMI module, main relief valve, auxiliary relief valve, main proportional flow valve, auxiliary proportional flow valve, main proportional pressure valve, auxiliary proportional pressure valve and three-color warning light.

[0079] Figure 2 In the example, port a of the main control cabinet subsystem is used to connect to the base transfer box system. Port b is used to receive operation control instructions, where the operation control instructions can come from the operation console subsystem or the wireless operation subsystem.

[0080] Figure 2 Components not shown in the main control cabinet subsystem are integrated inside the main control cabinet subsystem and will not be described in detail here.

[0081] (3) Base transfer box system

[0082] In practice, the base transfer box system can be represented by Base IO, and the corresponding symbol is BTB, where Base IO represents the name of the base transfer box in the software system, and BTB is the abbreviation of the base transfer box. Similarly, the base transfer box system requires a corresponding IP address to enable communication, such as 192.168.0.2.

[0083] In an optional embodiment, the base transfer box system includes:

[0084] Base transfer box system hydraulic solenoid valve group, base transfer box system Profinet-IO interface module and base transfer box system digital output module.

[0085] The functions of the Profinet-IO interface module and the digital output module of the base transfer box system should be understood in conjunction with the functions of existing devices and will not be explained in detail here.

[0086] Among them, the hydraulic solenoid valve group of the base transfer box system includes: left pipe rack lifting valve, right pipe rack lifting valve, left pipe rack lowering valve, right pipe rack lowering valve, left upper material lifting valve, right upper material lifting valve, left upper material lowering valve, right upper material lowering valve, left auxiliary discharge lifting valve, right auxiliary discharge lifting valve, left auxiliary discharge lowering valve, right auxiliary discharge lowering valve, conveying arm lifting valve, conveying arm lowering valve and winch variable exhaust valve.

[0087] Specifically, each hydraulic solenoid valve in the hydraulic solenoid valve group of the base transfer box system can be opened or closed under the corresponding operation control command. In the open state, each hydraulic solenoid valve is used to drive the corresponding mechanical components to move. The specific functions include:

[0088] The left pipe rack raising valve controls the upward movement of the left pipe rack; the right pipe rack raising valve controls the upward movement of the right pipe rack; the left pipe rack lowering valve controls the downward movement of the left pipe rack; and the right pipe rack lowering valve controls the downward movement of the right pipe rack. The left loading valve controls the upward movement of the left loading device; the right loading valve controls the upward movement of the right loading device; the left loading valve lowers the downward movement of the left loading device; and the right loading valve lowers the downward movement of the right loading device. The left auxiliary discharge valve controls the upward movement of the left auxiliary discharge device; the right auxiliary discharge valve controls the upward movement of the right auxiliary discharge device; the left auxiliary discharge valve lowers the downward movement of the left auxiliary discharge device; and the right auxiliary discharge valve lowers the downward movement of the right auxiliary discharge device. The conveyor arm raising valve controls the upward movement of the conveyor arm; and the conveyor arm lowering valve controls the downward movement of the conveyor arm. The winch displacement control valve controls the winch cable displacement change. When the catwalk requires high-load movement according to operating instructions, the system increases the winch load by changing the winch displacement. Those skilled in the art will understand that the above-mentioned mechanical components are part of the mechanical structure of the base and are integrated with the action cylinder and installed on the base of the base. The mechanical structure of the base can provide good stability for the catwalk system and provide stable support for the conveying arm up and down. The embodiment of the present invention integrates the above-mentioned mechanical actions into a base transfer box system, realizing modular customization.

[0089] Furthermore, in an optional embodiment, the low limit sensor and the conveying arm analog position encoder can be connected to the base transfer box system.

[0090] Moreover, the base transfer box system can be connected to the operating console subsystem, and receive the operation control instructions sent by the operating console subsystem through the corresponding Profinet network bus. The programmable logic controller PLC of the main station issues action instructions to control the opening and closing of the above-mentioned hydraulic solenoid valves, thereby achieving the purpose of driving the corresponding mechanical components to move.

[0091] For details about the components included and connected to the base transfer box system, please refer to Figure 3 As shown, the specific description will not be repeated here. Figure 3 Only the individual hydraulic solenoid valves of the hydraulic solenoid valve group of the base transfer box system, as well as the low limit sensor and the conveying arm analog position encoder are shown. Figure 3In the figure, port c is connected to port a; port d is connected to the operating table subsystem; and port e is connected to the conveyor arm transfer box system.

[0092] Regarding the rising and falling motion process of the conveying arm in the embodiment of the present invention, please refer to Figure 4 and Figure 5 understand, Figure 4 A schematic curve diagram of the conveying arm rise of the variable speed hydraulically driven double-rope power catwalk electric control system provided by an embodiment of the present invention; Figure 5 A schematic curve diagram of the conveying arm descent of the variable speed hydraulically driven double-rope power catwalk electronic control system provided in an embodiment of the present invention.

[0093] See Figure 4 , the rising curve shows the process of the conveyor arm rising and the process of the system controlling the hydraulic module. Figure 4 The conveyor arm moves from left to right, starting from position 0 and linearly accelerating until the speed reaches acceleration target 1, achieving maximum speed. It then runs smoothly until it reaches deceleration point 1, where it begins linear deceleration so that the speed reaches deceleration target 2. This allows it to respond to collisions at a smaller and smoother inflection point speed at the inflection point, reducing collision damage to mechanical components. After the collision, it begins linear acceleration from acceleration point 2 until the speed reaches acceleration target 2, achieving maximum speed. It then runs smoothly again until it reaches deceleration point 2 and begins linear deceleration until the speed decreases to 0, at which point the conveyor arm reaches its highest point and the ascent ends. Pressure needs to provide load capacity during this process. The working pressure is the normal pressure required to maintain stable operation. Due to the deceleration before the inflection point and the reduction in inertia, the load capacity of the conveyor arm needs to be increased after the equipment reaches the inflection point so that the conveyor arm can smoothly cross the inflection point. The inflection point is also the point of maximum load during the conveyor arm's operation and the point of impact of the conveyor arm.

[0094] See Figure 5 The descending process of the conveyor arm and the process of the system controlling the hydraulic module can be seen through the descending curve. Figure 5The conveyor arm moves from the right side to the left side. Starting from the highest point, it first accelerates linearly until the speed reaches acceleration target 1 and achieves the maximum speed. Then it runs smoothly until it reaches deceleration point 1 and begins linear deceleration until the speed is reduced to deceleration target 1. At this time, the conveyor arm is in the process of descending. In order to reduce the descent speed and the excessive speed caused by gravity acceleration, the descent slope is small at this time to avoid collision at excessive speed, so as to achieve a small and stable inflection point speed to deal with the collision at the inflection point and reduce the collision damage of mechanical parts. After the collision, it starts linear acceleration from acceleration point 2 again to reach acceleration target 2 and achieve the maximum speed. Then it runs smoothly again until it reaches deceleration point 2 and begins linear deceleration until the speed is reduced to 0. At this time, it reaches position 0 and the descent process ends. The pressure needs to provide load capacity for the process during this process. The working pressure can be the normal pressure to maintain stable operation.

[0095] The embodiment of the present invention achieves changes in load capacity by increasing or decreasing pressure values, and adjusts the up and down speeds by adjusting the flow of the hydraulic module. It can be seen that the ascending and descending processes of the conveying arm of the embodiment of the present invention greatly improve the operational stability of the equipment.

[0096] (4) Conveyor arm transfer box system

[0097] In practice, the Conveyor Arm Transfer Box system can be represented by "Conveyor Arm IO," and the corresponding symbol is "CATB." "Conveyor Arm IO" represents the software name for the Conveyor Arm Transfer Box, and "CATB" is the abbreviation for "Conveyor Arm Transfer Box." Similarly, the Conveyor Arm Transfer Box system requires an IP address for communication, such as 192.168.0.3.

[0098] In an optional embodiment, the conveyor arm transfer box system includes:

[0099] Conveyor arm transfer box system hydraulic solenoid valve group, conveyor arm transfer box system Profinet-IO interface module and conveyor arm transfer box system digital output module.

[0100] The functions of the Profinet-IO interface module and the digital output module of the conveyor arm transfer box system should be understood in conjunction with the functions of existing devices and will not be explained in detail here.

[0101] Among them, the hydraulic solenoid valve group of the conveying arm transfer box system includes: left safety pin lifting valve, right safety pin lifting valve, left safety pin lowering valve, right safety pin lowering valve, left discharge lifting valve, right discharge lifting valve, left discharge lowering valve, right discharge lowering valve, cart forward valve and cart backward valve.

[0102] Specifically, each hydraulic solenoid valve in the hydraulic solenoid valve group of the conveyor arm transfer box system can be opened or closed under the corresponding operation control command. In the open state, each hydraulic solenoid valve is used to drive the corresponding mechanical components to move. The specific functions include:

[0103] The left safety pin lifting valve is used to control the upward movement of the left safety pin; the right safety pin lifting valve is used to control the upward movement of the right safety pin; the left safety pin lowering valve is used to control the downward movement of the left safety pin; the right safety pin lowering valve is used to control the downward movement of the right safety pin; the left discharge lifting valve is used to control the upward movement of the left discharge device; the right discharge lifting valve is used to control the upward movement of the right discharge device; the left discharge lowering valve is used to control the downward movement of the left discharge device; the right discharge lowering valve is used to control the downward movement of the right discharge device; the trolley forward valve is used to control the forward movement of the trolley; the trolley backward valve is used to control the backward movement of the trolley. Those skilled in the art can understand that the above-mentioned mechanical components are part of the conveying arm mechanical mechanism, and are integrated with the action cylinder in the conveying arm structure. The conveying arm structure can provide good safety guarantee for the up and down movement of the catwalk system, and as the driving track of the trolley, the embodiment of the present invention integrates the above-mentioned mechanical actions into a conveying arm transfer box system, realizing modular customization.

[0104] Furthermore, in an optional embodiment, the high limit sensor and the cart analog position encoder may be connected to the conveying arm transfer box system.

[0105] Moreover, the conveyor arm transfer box system can be connected to the base transfer box system, and receive operation control instructions sent by the operating console subsystem through the Profinet bus network of the base transfer box system. The programmable logic controller PLC of the main station issues action instructions to control the opening and closing of the above-mentioned hydraulic solenoid valves, thereby achieving the purpose of driving the corresponding mechanical components to move.

[0106] For details about the components included and connected to the conveyor arm transfer box system, please refer to Figure 6 As shown, the specific description will not be repeated here. Figure 6 Only the individual hydraulic solenoid valves of the hydraulic solenoid valve group of the conveying arm transfer box system, as well as the high limit sensor and the cart analog position encoder are shown. Figure 6 In the example, port f is connected to port e.

[0107] It should be noted that when the mechanical components of the system are not in action, multiple valves including the main overflow valve, auxiliary overflow valve, main proportional flow valve, auxiliary proportional flow valve, main proportional pressure valve, auxiliary proportional pressure valve, base transfer box system hydraulic solenoid valve group, and conveying arm transfer box system hydraulic solenoid valve group are in a closed state, the system has no pressure flow, and is in standby state, which can greatly reduce energy loss.

[0108] (5) Operation console subsystem

[0109] In practice, the console subsystem can be represented by Drilling Platform IO, with the corresponding symbol CB, where Drilling Platform IO represents the console software system name and CB is the abbreviation for the console. Similarly, the console subsystem requires an IP address to enable communication, such as 192.168.0.4.

[0110] The console subsystem can be connected to the controlled subsystem or component via a wired connection. Specifically, the console subsystem can output operation control instructions to the main control cabinet subsystem, etc.

[0111] In an optional embodiment, the operating console subsystem includes:

[0112] Explosion-proof operating console, operating console subsystem Profinet-IO interface module, operating console subsystem digital output module and operating console subsystem digital input module.

[0113] The explosion-proof console features buttons for inputting commands and explosion-proof features for enhanced safety. The functions of the console subsystem's Profinet-IO interface module, digital output module, and digital input module should be understood in conjunction with existing components and will not be explained in detail here.

[0114] (6) Wireless operation subsystem

[0115] In an optional embodiment, the wireless operation subsystem includes:

[0116] Wireless remote control and RS485 bus wireless receiver built into the main control cabinet subsystem.

[0117] Among them, the wireless remote control serves as a transmitter, which generates a transmission instruction according to the input information. The transmission instruction is received by the RS485 bus wireless receiver built into the main control cabinet subsystem as an operation control instruction.

[0118] In an embodiment of the present invention, the console subsystem and the wireless operation subsystem are combined into the system's wired operation control mode and wireless operation control mode, so that the system can achieve dual operation redundancy, increase convenience, and at the same time avoid system operation failures caused by damage to a single operation control mode.

[0119] (7) Software subsystem

[0120] In an optional implementation manner, the software subsystem includes:

[0121] PLC program and HMI configuration screen.

[0122] Among them, the PLC program is used to receive instructions, process information, output instructions and related processing results; the HMI configuration screen is used to display the processing interface at different stages.

[0123] The PLC program and HMI configuration screen of the embodiment of the present invention are obtained by performing corresponding personalized design based on existing products according to scenario requirements. Among them, the PLC program of the embodiment of the present invention can adopt Siemens PORTAL-V16, and the HMI configuration screen can adopt Kunlun Tongtai McgsPro configuration software, etc.

[0124] To facilitate understanding of the relevant content of the software subsystem in the embodiment of the present invention, please refer to the following schematic diagram for understanding.

[0125] Figure 7 Schematic diagram of Profinet and RS485 system network configuration in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention; Figure 7 It can be seen that the system includes the process control side of the main control cabinet subsystem ( Figure 7 It is abbreviated as the process control side of the main control cabinet, which is equipped with a Profinet bus switch (Profinet bus is marked as PN / IE), RS485 bus module, programmable logic controller PLC, main control cabinet subsystem analog input module ( Figure 7 Analog input module for short), analog output module of main control cabinet subsystem ( Figure 7 Analog output module for short), digital input module of main control cabinet subsystem ( Figure 7 Digital input module for short), digital output module of main control cabinet subsystem ( Figure 7 Digital output module for short).

[0126] The base transfer box system includes: base transfer box system Profinet-IO interface module ( Figure 7 Profinet-IO interface module for short), base transfer box system digital output module ( Figure 7 Digital output module for short).

[0127] The conveyor arm transfer box system includes: conveyor arm transfer box system Profinet-IO interface module ( Figure 7 Profinet-IO interface module for short), digital output module for conveyor arm transfer box system ( Figure 7 Digital output module for short).

[0128] The console subsystem includes: console subsystem Profinet-IO interface module ( Figure 7 Profinet-IO interface module for short), console subsystem digital output module ( Figure 7 Digital output module for short), digital input module of console subsystem ( Figure 7 Digital input module for short).

[0129] The wireless operation subsystem includes: RS485 bus wireless receiver and wireless transmitter. Modbus RTU is an open serial protocol that uses RS-485 serial interface for communication.

[0130] in addition, Figure 7 The HMI in it represents the HMI module, the MCGS on it represents the Kunlun Tongtai McgsPro configuration software, and 192.168.0.10 represents the IP address of the HMI module.

[0131] in addition, Figure 13 Schematic diagram of the system HMI information interface - network status interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 13 The system includes the HMI configuration screen and the Information-Device Network screen, which displays the Profinet network connection status and module detection, and can guide maintenance.

[0132] The software subsystem includes Siemens PORTAL-V16 as the PLC program and Kunlun Tongtai McgsPro configuration software as the HMI configuration screen. Figure 1 、 Figure 7 、 Figure 13 This reflects that the system is connected through the Profinet protocol network and can quickly carry out data interaction. Figure 13 The screen clearly shows the network status and module status, which can reflect its working status. The system combined with the Profinet bus network in the embodiment of the present invention reduces the errors and workload caused by construction and greatly reduces the difficulty of maintenance.

[0133] Figure 8 Schematic diagram of the system HMI user interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 8 You can clearly see the system authority management screen including the HMI configuration screen. Figure 8The screen uses the user login button to log in with system permissions. The password of the current user login permission is modified through the modify password button. The management user button is used to manage other system users under the administrator permission. The user exit button is used to exit the user permission. The system operation mode and hydraulic system status are displayed in the box on the left of these four buttons. Among them, the wireless mode information box can display the wireless operation control mode, that is, the wireless mode, or the wired operation control mode, that is, the console mode; the drill collar information box can display the drill collar or the drill rod; the left information box can display the left or right side; the normal mode information box can display the normal mode or the limit position mode; the date and time box is used to display the year, month, date and specific time, such as 10 / 27 / 2022 14:22:36 means 14:22:36 on October 27, 2022. Administrator Manager represents the operation authority; OL represents the oil level, Figure 8 0.00m is used as a reference; MP represents the main pump. Figure 8 0.0MPa is used as an illustration; AP represents the auxiliary pump. Figure 8 0.0MPa is used as an example; TT represents the temperature transmitter. Figure 8 0.0 degrees Celsius is used as an illustration. Figure 8 The user interface User, main interface Main, setting interface Set, operation record Log, alarm interface Alarm, and information interface Information in the lower middle represent the corresponding interface switching buttons respectively.

[0134] Figure 9 Schematic diagram of the system HMI main interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 9 You can clearly see the system main interface including the system HMI configuration screen. Figure 9 The screen clearly displays the main pump data, including its running, stopped, and fault status, as well as the hydraulic module pressure and flow rate provided by the main pump. The screen also displays the auxiliary pump data, including its running, stopped, and fault status, as well as the hydraulic module pressure and flow rate provided by the auxiliary pump. The screen also displays the heat dissipation module data, including its running, stopped, and fault status. The screen also displays the position of the conveyor arm and the value of its analog position encoder (displayed as encoder data). The screen also displays the position of the trolley and the value of its analog position encoder (displayed as encoder data). The blank area of ​​the screen displays the actions being performed by the equipment. These include the remaining hydraulic solenoid valves in the base transfer box system hydraulic solenoid valve group, excluding the winch variable displacement valve, and the individual hydraulic solenoid valves in the conveyor arm transfer box system hydraulic solenoid valve group.

[0135] Figure 10 Schematic diagram of the system HMI setting interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 10 You can clearly see the system settings interface including the HMI configuration screen. Figure 10 The System Temperature Settings section on the screen allows you to set the cooling module's startup and shutdown temperatures, as well as the module's high-temperature alarm temperature, allowing for effective control of the hydraulic module's heat dissipation. The System Oil Level Settings section allows you to set the system's high, low, and critical oil levels. The high oil level indicates the system's maximum required oil level, the low oil level indicates the system's minimum required oil level, and the critical oil level stops the main and auxiliary pumps for pump protection. The screen also allows you to set the conveyor arm position. The maximum position (in the screen, the highest point of the main arm represents the highest point of the catwalk lift) is used to set the maximum position during the conveyor arm's movement (click Confirm once the arm reaches the desired position). The remaining information is used to monitor flow and position. The screen also allows you to configure the main and auxiliary pumps, allowing you to select the operating pump. Selecting the main pump and selecting the auxiliary pump allows you to select the pump, and Confirming the selection confirms the selected function. This screen allows you to set up system sensors, including the conveyor arm encoder (i.e., the conveyor arm analog position encoder), the cart encoder (i.e., the cart analog position encoder), and the main wire rope. This setting is used when a system sensor error causes the system to cease operation. In the encoder calibration screen, select the encoder to be calibrated, using the conveyor arm encoder and cart encoder.

[0136] Figure 11 A schematic diagram of the system HMI operation record interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 11 You can clearly see the system operation records including the HMI configuration screen. Figure 11 The screen records and displays the current operation actions in the box.

[0137] Figure 12 Schematic diagram of the system HMI alarm interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 12 You can clearly see the system alarm interface including the HMI configuration screen. Figure 12 The screen displays and records system alarms in a frame, and prompts text to guide maintenance.

[0138] Figure 13Schematic diagram of the system HMI information interface - network status interface of the Kunlun Tongtai McgsPro configuration software in the variable speed hydraulic drive double rope power catwalk electronic control system provided by the embodiment of the present invention. Figure 13 The system includes the HMI configuration screen's System Information screen and Network Status screen. The screen displays system network errors and module error information through blocks in the Profinet network error information window, providing maintenance guidance.

[0139] An embodiment of the present invention provides an electronic control system for a variable speed hydraulically driven double-rope power catwalk, which is applicable to all hydraulically driven double-rope power catwalks. The system protection collects system information through the sensor subsystem and enters it into the main control cabinet subsystem for analysis and processing, and displays it in the HMI module and modifies and confirms the protection parameters; the system protection analysis derives the system status, receives the operation control instructions through the operating console subsystem or the wireless operation subsystem, determines the current operation it carries, and then realizes the smooth and stable operation of the variable speed hydraulically driven double-rope power catwalk. The system can effectively collect and analyze equipment data in real time, and realize smooth and stable operation of the equipment through the HMI module and the main control cabinet subsystem, the base transfer box system and the conveying arm transfer box system. The variable speed hydraulically driven double-rope power catwalk electronic control system provided by the embodiment of the present invention has the advantages of simple communication mode, simple operation, simple network structure, easy maintenance, low maintenance cost, durability, high efficiency and safety. At the same time, it can realize the hydraulic speed regulation movement control of the conveying arm up and down, can reduce the inertia during the movement, realize soft start and stop, can improve the running stability of the power catwalk, and the system has high reliability, can save energy and has low requirements for manufacturing process. It can be widely used on double-rope power catwalks of oil drilling rigs at different heights to meet the requirements of oil drilling rigs for safe and reliable and stable upper and lower drilling tools.

[0140] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A variable speed hydraulically driven double rope power catwalk electronic control system, characterized in that: It includes a sensor subsystem, a main control cabinet subsystem, a base transfer box system, a conveyor arm transfer box system, an operating table subsystem, a wireless operation subsystem and a software subsystem integrated in the main control cabinet subsystem; wherein, The sensor subsystem is used to monitor and collect system information representing the status of each component in the variable speed hydraulic drive double rope power catwalk electronic control system and provide it to the software subsystem in the main control cabinet subsystem for analysis; The main control cabinet subsystem is used to output corresponding operation instructions to the power side and process control side of the main control cabinet subsystem based on the system status obtained by analyzing and processing the system information and the received operation control instructions. The power side drives the hydraulic module according to the received operation instructions; the process control side controls the base transfer box system and the conveyor arm transfer box system according to the received operation instructions; wherein, the process control side is equipped with an HMI module, which displays the status of system protection monitoring and action related through a touch screen; The base transfer box system and the conveyor arm transfer box system are used to receive instructions from the process control side of the main control cabinet subsystem to complete corresponding operation instructions and drive the actions of corresponding mechanical components; The operating console subsystem and the wireless operating subsystem are used to provide a wired operation control mode and a wireless operation control mode respectively, and output corresponding operation control instructions to the main control cabinet subsystem; The software subsystem is used to provide software support for information analysis, operation command coordination, speed regulation, system protection and visualization for the variable speed hydraulic drive double rope power catwalk electronic control system; Wherein, the base transfer box system includes: Hydraulic solenoid valve group of the base transfer box system, Profinet-IO interface module of the base transfer box system, and digital output module of the base transfer box system; The hydraulic solenoid valve group of the base transfer box system includes: left pipe rack lifting valve, right pipe rack lifting valve, left pipe rack lowering valve, right pipe rack lowering valve, left upper material lifting valve, right upper material lifting valve, left upper material lowering valve, right upper material lowering valve, left auxiliary discharge lifting valve, right auxiliary discharge lifting valve, left auxiliary discharge lowering valve, right auxiliary discharge lowering valve, conveying arm lifting valve, conveying arm lowering valve and winch variable exhaust valve; The conveyor arm transfer box system includes: Conveyor arm transfer box system hydraulic solenoid valve group, conveyor arm transfer box system Profinet-IO interface module and conveyor arm transfer box system digital output module; Among them, the hydraulic solenoid valve group of the conveying arm transfer box system includes: left safety pin lifting valve, right safety pin lifting valve, left safety pin lowering valve, right safety pin lowering valve, left discharge lifting valve, right discharge lifting valve, left discharge lowering valve, right discharge lowering valve, cart forward valve and cart backward valve.

2. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 1, characterized in that: The sensor subsystem comprises: Protect and monitor the temperature transmitter, liquid level transmitter, main pump pressure transmitter, auxiliary pump pressure transmitter, main pressure switch, and auxiliary pressure switch of the hydraulic module; wherein the hydraulic module includes a main pump and auxiliary pump for providing hydraulic power source for the entire system; Protect and monitor the low limit sensor, high limit sensor, conveyor arm analog position encoder for conveyor arm, and protect and monitor the trolley analog position encoder for trolley.

3. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 2, characterized in that: The power side configuration of the main control cabinet subsystem includes: Main motor control circuit for driving the main pump, auxiliary motor control circuit for driving the auxiliary pump, heat dissipation module control circuit for driving the hydraulic oil circulation pump and two air cooling fans, process control side DC power supply circuit and lighting circuit; Among them, all motor circuits are equipped with rotation direction protection circuits and overload protection circuits.

4. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 2, characterized in that: In addition to the HMI module, the process control side of the main control cabinet subsystem is also equipped with: Profinet bus switch, RS485 bus module, programmable logic controller PLC, main control cabinet subsystem analog input module, main control cabinet subsystem analog output module, main control cabinet subsystem digital input module and main control cabinet subsystem digital output module.

5. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 4 is characterized in that: The process control side of the main control cabinet subsystem is also equipped with: Main relief valve, auxiliary relief valve, main proportional flow valve, auxiliary proportional flow valve, main proportional pressure valve, auxiliary proportional pressure valve and three-color warning light for monitoring and displaying system status; Among them, the main overflow valve and the auxiliary overflow valve are respectively used to cut off the hydraulic source provided by the main pump and the auxiliary pump to the subsequent valve group; the main proportional flow valve and the main proportional pressure valve are respectively used to control the flow and pressure of the main pump hydraulic circuit, which are used to control the movement process of the conveying arm; the auxiliary proportional flow valve and the auxiliary proportional pressure valve are respectively used to control the flow and pressure of the auxiliary pump hydraulic circuit, which are used to control the movement process of the cart; the three-color warning light includes a red warning light, a yellow warning light, a green warning light and a buzzer; the red warning light, the yellow warning light and the green warning light respectively indicate shutdown, warning and system operation when they are lit, and the buzzer provides sound support for system operation warnings.

6. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 1, characterized in that: The operating console subsystem includes: Explosion-proof operating console, operating console subsystem Profinet-IO interface module, operating console subsystem digital output module and operating console subsystem digital input module.

7. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 1, characterized in that: The wireless operation subsystem includes: A wireless remote controller and an RS485 bus wireless receiver built into the main control cabinet subsystem.

8. The variable speed hydraulically driven double-rope powered catwalk electronic control system according to claim 1, characterized in that: The software subsystem includes: PLC program and HMI configuration screen.

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