An iron driller boom control method, an iron driller boom slewing device and an iron driller

Abstract

The application provides an iron driller boom control method, an iron driller boom rotating device and an iron driller. The method comprises the following steps: obtaining a target angle and an actual rotating angle of a boom; when a deviation value is less than a first deviation threshold, stopping rotation and locking the boom, wherein the deviation value is determined by the target angle and the actual rotating angle; judging a clamping state of a chuck, and adjusting a locking state of the boom according to the clamping state, comprising: when the clamping state is determined to be a clamping state, unlocking the boom, and when the clamping state is determined to be a non-clamping state, locking the boom, so as to ensure that the additional torque received by the boom of the iron driller during operation is eliminated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil equipment, in particular to an iron roughneck arm frame control method, an iron roughneck arm frame rotating device and an iron roughneck. BACKGROUND

[0002] The iron roughneck is a kind of oil machinery for drill pipes and drilling tools, and is the core equipment of pipe column automation, which replaces manual operation for make-up and break-out operations at the wellhead on the drilling platform and in the mouse hole. The main actions of the iron roughneck include rotating the arm frame, lifting the arm frame, clamping the drill pipe, etc.

[0003] When the iron roughneck is used for operation, there is always an error between the rotating angle of the arm frame and the actual required angle, that is, the direction of the arm frame cannot be completely aligned with the position of the drill pipe. When the arm frame clamps the drill pipe, the arm frame will be subjected to additional external force from the drill pipe, causing the arm frame to be forced to twist to the position corresponding to the drill pipe. The stress state of the entire arm frame is deteriorated, and the strength, reliability and service life of the arm frame will be adversely affected. In the prior art, the error between the rotating angle of the arm frame and the required angle is generally alleviated by improving the rotating accuracy of the arm frame, which cannot fundamentally eliminate the error and still causes the strength, reliability and service life of the arm frame to be affected. Some other prior art improves the strength of the arm frame to enhance the ability of the arm frame to resist additional torque, but increases the weight and cost of the arm frame, and cannot fundamentally solve the problem. SUMMARY

[0004] The problem solved by the present application is how to avoid the arm frame of the iron roughneck from being subjected to additional torque during operation.

[0005] To solve the above problems, the present application provides an iron roughneck arm frame control method, comprising:

[0006] obtaining a target angle and an actual rotating angle of the arm frame;

[0007] stopping rotation and locking the arm frame when the deviation value is less than a first deviation threshold, wherein the deviation value is determined by the target angle and the actual rotating angle;

[0008] judging the clamping state of the chuck and adjusting the locking state of the arm frame according to the clamping state, including: when the clamping state is determined to be a clamping state, unlocking the arm frame, and when the clamping state is determined to be a non-clamping state, locking the arm frame.

[0009] Compared with the prior art, the application controls the actual rotation angle of the arm frame within the range of operation by determining the deviation value of the target angle and the actual rotation angle, so as to ensure that the arm frame is roughly aligned with the drill pipe. After rough alignment, the chuck is controlled to clamp the drill pipe, and the clamping state of the chuck is judged. When the chuck is determined to clamp the drill pipe, the clamping state of the chuck is maintained and the arm frame is unlocked, so that the arm frame floats with the additional torque caused by the clamping force of the chuck, and the arm frame offsets the additional torque by passive floating. When the arm frame and the chuck are determined to be in a non-clamping state, the non-clamping state of the chuck is maintained while the arm frame is locked, so as to prevent the iron roughneck from rotating when the chuck is not clamped. At this time, the arm frame will not be subjected to additional torque.

[0010] Optionally, the judging of the clamping state of the chuck specifically comprises:

[0011] When the clamping force of the chuck is less than or equal to a first clamping threshold, it is determined that the chuck is in the non-clamping state.

[0012] When the clamping force of the chuck is greater than the first clamping threshold, it is determined that the chuck is in the clamping state.

[0013] Optionally, the judging of the clamping state of the chuck specifically comprises:

[0014] When the clamping force of the chuck is greater than the first clamping threshold and less than or equal to a second clamping threshold, it is determined that the chuck is in a low clamping state.

[0015] When the clamping force of the chuck is greater than the second clamping threshold, it is determined that the chuck is in a high clamping state.

[0016] Optionally, the judging of the clamping state of the chuck specifically comprises:

[0017] Judging the number of contacts between the clamping cylinders in the chuck and the drill pipe, and determining the clamping state of the chuck according to the number of contacts, wherein the chuck comprises at least two clamping cylinders.

[0018] When the number of contacts is 0, it is determined that the chuck is in the non-clamping state.

[0019] When the number of contacts is greater than 0 and less than the number of clamping cylinders, it is determined that the chuck is in a low clamping state.

[0020] When the number of contacts is equal to the number of clamping cylinders, it is determined that the chuck is in a high clamping state.

[0021] Optionally, the adjusting of the locking state of the arm frame according to the clamping state specifically further comprises:

[0022] controlling the locking force outputted by the locking device in the arm support to decrease with the increase of the clamping degree when the chuck enters the low clamping state from the high clamping state, so as to lock the arm support.

[0023] controlling the locking force outputted by the locking device in the arm support to decrease with the increase of the clamping degree when the chuck enters the low clamping state from the high clamping state, so as to lock the arm support.

[0024] Optionally, the adjusting the locking state of the arm support according to the clamping state further comprises:

[0025] controlling the locking force outputted by the locking device in the arm support to decrease with the increase of the clamping degree when the chuck enters the low clamping state from the high clamping state, so as to lock the arm support.

[0026] controlling the locking force outputted by the locking device in the arm support to decrease with the increase of the clamping degree when the chuck enters the low clamping state from the high clamping state, so as to lock the arm support.

[0027] Optionally, before the obtaining the target angle and the actual rotation angle of the arm support, the method further comprises:

[0028] determining a preset sampling period;

[0029] controlling the rotation of the arm support according to a proportional-integral-derivative control method based on the preset sampling period.

[0030] In another aspect, the present application further provides an iron roughneck arm support rotation device, comprising a control module, a rotation motor, a locking device and a clamping device;

[0031] the control module is used to implement the iron roughneck arm support control method as described above;

[0032] the rotation motor is used to control the rotation of the arm support;

[0033] the locking device is connected with the rotation motor and is used to lock the rotation of the arm support;

[0034] the clamping device comprises a chuck and is used to clamp a drill rod.

[0035] Optionally, the iron roughneck arm support rotation device further comprises an angle sensor and a pressure sensor, the angle sensor is connected with the arm support to obtain the rotation angle of the arm support, and the pressure sensor is connected with the chuck to obtain the pressure between the chuck and the drill rod.

[0036] The iron driller boom slewing device has the beneficial effects of the iron driller boom control method relative to the prior art, which will not be repeated here.

[0037] In a third aspect, the present application further provides an iron driller comprising the iron driller boom slewing device as described above.

[0038] The iron driller has the beneficial effects of the iron driller boom control method relative to the prior art, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 Flowchart of the iron driller boom control method of the embodiment of the present application;

[0040] Figure 2 Flowchart of the iron driller boom control method of the embodiment of the present application after refining step S300;

[0041] Figure 3 Another flowchart of the iron driller boom control method of the embodiment of the present application after refining step S300;

[0042] Figure 4 Still another flowchart of the iron driller boom control method of the embodiment of the present application after refining step S300;

[0043] Figure 5 Side view of the iron driller boom slewing device of the embodiment of the present application.

[0044] REFERENCE NUMERALS

[0045] 1 - slewing motor; 2 - locking device; 3 - clamping device. DETAILED DESCRIPTION

[0046] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are for exemplary purposes only, and are not intended to limit the scope of protection of the present application.

[0047] It should be understood that each step described in the method embodiments of the present application can be performed in different orders, and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0048] The term "include" and variations thereof, as used in this document, mean "to include, without limitation." The term "based on" means "based at least in part on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." The term "optional" means "optional in at least some embodiments." Related terms shall be construed accordingly. Note that, as used in this document, "exemplary" means "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The terms "first," "second," "third," etc. are used merely as identifiers to distinguish between different units, modules, or units, and are not intended to limit the order or interdependence of the functions performed by these units, modules, or units.

[0049] Note that the modification of "one" or "multiple" mentioned in the present application is illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0050] As shown in Figure 1 An embodiment of the present application provides an iron driller boom control method, which comprises the following steps:

[0051] In step S100, the target angle and the actual rotation angle of the boom are obtained.

[0052] Specifically, the boom comprises a plurality of sub-booms connected by rotation, and when working, the boom is stretched to the required length and height, and the boom is rotated to the required angle, so that the chuck is roughly aligned with the drill pipe, and then the drill pipe is clamped by the chuck to achieve the make-up and breakout operation.

[0053] In an embodiment, the actual rotation angle of the boom and the target angle will have a certain error, and when the boom is stretched and roughly aligned with the drill pipe, the distance between the end of the boom, i.e. the chuck, and the drill pipe will be enlarged, resulting in that after the chuck clamps the drill pipe, the drill pipe will exert a torsional force on the boom towards the drill pipe, and the boom and the drill pipe have a mutual torsional force.

[0054] In step S200, when the deviation value is less than a first deviation threshold, the rotation is stopped and the boom is locked, wherein the deviation value is determined by the target angle and the actual rotation angle.

[0055] Specifically, the deviation value is the absolute value of the difference between the target angle and the actual rotation angle, which is used to measure the error between the actual rotation angle and the target angle, and when the error is less than the first deviation threshold, it means that the error at this time can preliminarily meet the clamping requirements of the chuck and the drill pipe, the rotation of the boom is stopped and the boom is locked to prevent the boom from rotating uncontrollably, protect the equipment and ensure the safety of the operator.

[0056] Optionally, the first deviation threshold is 3°.

[0057] Step S300, judging the clamping state of the chuck, and adjusting the locking state of the arm support according to the clamping state, including: when judging that the clamping state is the clamping state, unlocking the arm support, and when judging that the clamping state is the non-clamping state, locking the arm support.

[0058] Specifically, after roughly aligning the chuck with the drill pipe, the chuck is controlled to clamp in the direction of the drill pipe, and the clamping state of the chuck and the drill pipe is judged, and whether the arm support will be subjected to the torsional force applied by the drill pipe is determined according to the clamping state, and then the locking strategy of the arm support is adjusted to eliminate the torsional force caused by errors in the clamping process.

[0059] In an embodiment, the clamping state is first judged by the first judging method, and when the first judging method is inaccurate or the data required by the first judging method is difficult to obtain, the clamping state is judged by the second judging method, so as to ensure that the state between the chuck and the drill pipe is accurately obtained to determine the appropriate clamping strategy.

[0060] Specifically, when the chuck clamps the drill pipe, it indicates that in this state, the rotation of the arm support will only be maintained within the elastic deformation range of the drill pipe and the arm support, and the iron roughneck will not be in an uncontrollable rotation state, at this time, the arm support is unlocked, and the arm support will adaptively float with the direction of the torque to ensure that the additional torsional force on the arm support is eliminated; when the clamping state changes from the clamping state to the non-clamping state, the arm support is continuously locked to prevent the arm support from rotating back to ensure safety.

[0061] In an embodiment, after locking the arm support, when it is judged that the chuck is in the non-clamping state, the locking of the arm support is maintained.

[0062] Compared with the prior art, the present application first controls the rotation angle of the arm support and the target angle within a certain error range, ensures that the arm support is roughly aligned with the drill pipe, and makes the chuck clamp the drill pipe, simultaneously judges the clamping state of the drill pipe and the chuck, unlocks the arm support when the chuck clamps the drill pipe, and locks the arm support when the chuck and the drill pipe are separated from the clamping, so as to ensure that the chuck floats with the position of the drill pipe when the chuck is in the working state, eliminate the additional torsional force on the arm support, and lock the arm support when the chuck exits the working state to protect the equipment and ensure the safety of the on-site personnel.

[0063] Optionally, as shown in Figure 2 judging the clamping state of the chuck, specifically including:

[0064] Step S301, when the clamping force of the chuck is less than or equal to a first clamping threshold, it is judged that the chuck is in the non-clamping state;

[0065] Step S302, when the clamping force of the chuck is greater than the first clamping threshold, it is judged that the chuck is in the clamping state.

[0066] In an embodiment, the clamping state of the chuck is determined by the clamping force. When the clamping force is between 0 and a first clamping threshold, the clamping force is considered to be small and can be regarded as an error, and the clamping force is ignored. At this time, it is determined that the chuck is in an unclamped state.

[0067] In another embodiment, when the clamping force is greater than the first clamping threshold, the chuck has a certain clamping force. At this time, it is determined that the chuck is in a clamped state, and the arm support is subjected to a certain torsional force. The arm support is unlocked to eliminate the torsional force.

[0068] Optionally, the first clamping threshold is between 0.2 MPa and 0.5 MPa.

[0069] In an embodiment, since the clamping force obtained by measurement has a large error, the first clamping threshold is set to 0.5 MPa to prevent false unlocking. In another embodiment, the clamping force obtained by measurement is relatively accurate and has a small error, so the first clamping threshold is set to 0.2 MPa.

[0070] Optionally, as shown in Figure 3 the determination of the clamping state of the chuck specifically comprises:

[0071] Step S303, when the clamping force of the chuck is greater than the first clamping threshold and less than or equal to a second clamping threshold, it is determined that the chuck is in a low clamping state.

[0072] Step S304, when the clamping force of the chuck is greater than the second clamping threshold, it is determined that the chuck is in a high clamping state.

[0073] In an embodiment, when the clamping force of the chuck is between the first clamping threshold and the second clamping threshold, the chuck has a certain clamping force, but the clamping force is in a low range. The chuck in this state is determined to be in a low clamping state. In the low clamping state, the torsional force on the arm support increases with the degree of clamping. Therefore, in this state, the arm support needs to be unlocked gradually to relieve the additional torsional force on the arm support.

[0074] In another embodiment, when the clamping force of the chuck is higher than the second clamping threshold, the clamping force of the chuck is high. The chuck in this state is determined to be in a high clamping state. In the high clamping state, if the arm support is still in a locked state, the torsional force on the arm support is the maximum torsional force to be received during the operation. Therefore, in the high clamping state, the arm support is kept unlocked, so that the arm support floats with the swing of the drill pipe during operation to eliminate the additional torsional force.

[0075] Preferably, the second clamping threshold is 5 MPa.

[0076] Optionally, as shown in Figure 4As shown, the judging the clamping state of the clamp head specifically comprises:

[0077] In step S310, the number of contacts between the clamping cylinders in the clamp head and the drill pipe is judged, and the clamping state of the clamp head is determined according to the number of contacts, wherein the clamp head comprises at least two clamping cylinders;

[0078] In step S311, when the number of contacts is 0, it is determined that the clamp head is in the non-clamping state.

[0079] In step S312, when the number of contacts is greater than 0 and less than the number of clamping cylinders, it is determined that the clamp head is in the low-clamping state.

[0080] In step S313, when the number of contacts is equal to the number of clamping cylinders, it is determined that the clamp head is in the high-clamping state.

[0081] In an embodiment, the clamp head comprises at least two clamping cylinders, and the number of contacts between the clamping cylinders and the drill pipe gradually increases during the clamping process of the clamp head to the drill pipe. The clamping state of the clamp head can also be determined from another aspect by the number of contacts between the clamping cylinders and the drill pipe.

[0082] When the number of contacts is 0, i.e., all clamping cylinders do not contact the drill pipe, it can be determined that the clamp head does not contact the drill pipe at this time, and the arm support is continuously locked in this state. When the number of contacts is greater than 0 and less than the number of clamping cylinders, it is determined that only a part of the clamping cylinders contact the drill pipe at this time, and it is determined that there is a certain clamping force but the clamping force is not large at this time, and the clamp head is in the low-clamping state. When all clamping cylinders contact the drill pipe, it is indicated that the drill pipe fully contacts the clamp head, and it is determined that the clamp head is in the high-clamping state. When the clamp head enters the high-clamping state, the arm support needs to be in the unlocked state, i.e., the floating state.

[0083] Optionally, the adjusting the locking state of the arm support according to the clamping state specifically further comprises:

[0084] When the clamp head enters the low-clamping state from the non-clamping state, the locking force output by the locking device in the arm support is controlled to decrease with the increase of the clamping degree, so that the arm support floats with the movement of the clamp head.

[0085] When the clamp head enters the high-clamping state from the low-clamping state, the locking force output by the locking device in the arm support is controlled to increase with the decrease of the clamping degree, so as to lock the arm support.

[0086] Optionally, the adjusting the locking state of the arm support according to the clamping state specifically further comprises:

[0087] When the chuck enters the low clamping state from the high clamping state, the locking force output by the locking device in the arm support is controlled to increase with the decrease of the clamping degree, so that the arm support floats with the movement of the chuck;

[0088] When the chuck enters the non-clamping state from the low clamping state, the locking force output by the locking device in the arm support is controlled to decrease with the increase of the clamping degree, so that the arm support is locked.

[0089] In an embodiment, when the clamping state of the chuck enters the low clamping state from the non-clamping state, the locking device starts to act, and the arm support enters the floating state from the locked state. Since the clamping state of the chuck changes gradually, the torsional force acting on the arm support also changes gradually with the change of the clamping state, so that the switching of the locked state and the floating state of the arm support also changes gradually with the change of the clamping state. When the clamping state changes from the low clamping state to the high clamping state, the locking device is completely unlocked and remains in the unlocked state, i.e., the floating state.

[0090] In another embodiment, when the clamping state of the chuck enters the low clamping state from the high clamping state, the locking device starts to act, and the locking device gradually changes from the floating state to the locked state with the change of the clamping state. When the chuck enters the non-clamping state, the locking device completely locks the arm support and remains in the locked state, so as to ensure that the current angle of the arm support is maintained.

[0091] Optionally, before the target angle and the actual rotation angle of the arm support are obtained, the method further comprises:

[0092] determining a preset sampling period;

[0093] controlling the rotation of the arm support according to a proportional-integral-derivative control method based on the preset sampling period.

[0094] Specifically, the rotation angle of the arm support is collected every preset sampling period, and proportional-integral-derivative control is performed according to the rotation angle and the target angle. Meanwhile, the rotation angle is compared with the target angle every preset sampling period. When the deviation value is less than a first deviation threshold, the rotation is stopped. The rotation angle of the arm support is no longer adjusted, and at this time, the arm support enters the locked state, and the angle of the arm support no longer changes in the locked state.

[0095] As shown in Figure 5 Another embodiment of the present application provides an iron roughneck arm support rotation device, which comprises a control module, a rotation motor 1, a locking device 2 and a clamping device 3.

[0096] The control module is used to implement the iron roughneck arm support control method as described above.

[0097] The rotation motor 1 is used to control the rotation of the arm support.

[0098] The locking device 2 is connected with the rotary motor 1, and is used for locking the rotation of the arm support;

[0099] The clamping device 3 comprises a chuck, and is used for clamping the drill rod.

[0100] In an embodiment, the control module is used for controlling the rotary motor 1 to rotate the arm support, controlling the locking device 2 to lock the rotation of the arm support, controlling the sensor to obtain the angle of the arm support, the clamping force of the chuck and the like information, and is further used for controlling the chuck to clamp and unclamp.

[0101] In another embodiment, the control module controls the rotary motor 1 to perform proportional integral derivative control, so as to ensure that the rotation angle of the arm support is within a preset error range of the target angle.

[0102] The locking state of the locking device 2 is determined by the clamping state of the chuck, so that the arm support is switched between the floating state and the locking state in time according to the clamping state.

[0103] Optionally, the locking device 2 comprises a floating valve, and the floating valve is an electromagnetic valve.

[0104] Optionally, the iron roughneck arm support rotation device further comprises an angle sensor and a pressure sensor, the angle sensor is used for being connected with the arm support, so as to obtain the rotation angle of the arm support, and the pressure sensor is connected with the chuck, and is used for obtaining the pressure between the chuck and the drill rod.

[0105] Optionally, the chuck comprises a main jaw and an auxiliary jaw.

[0106] In an embodiment, the pressure sensor is arranged on the main jaw and the auxiliary jaw. The clamping state of the chuck is determined by obtaining the data of the pressure sensor of the clamping oil cylinder of the main jaw and the auxiliary jaw.

[0107] Optionally, a rotary encoder is arranged on the arm support rotation mechanism, and the rotation angle of the rotation transmission device is detected.

[0108] Optionally, the locking device 2 comprises a bidirectional hydraulic lock.

[0109] In an embodiment, when the arm frame is rotated to the vicinity of the target angle by the proportional integral derivative control, and the deviation value is within the first deviation threshold, the rotation is stopped and the arm frame is locked by the floating valve, the chuck is controlled to clamp the drill pipe, the pressure values are obtained according to the pressure sensors on the main clamp and the auxiliary clamp, and then the clamping state of the chuck is judged, when the chuck is in a low clamping state, the floating valve is controlled to be in a disengaged state, when the clamping force of the chuck and the drill pipe is increased, the chuck is in a high clamping state, the floating valve is controlled to be in a floating state, and the floating state is maintained, so that the arm frame is not affected by the additional torsional force; when the chuck returns to the low clamping state, the floating valve is controlled to be in a disengaged state and gradually enter a locked state, and when the clamping state of the chuck is in a non-clamping state, the floating valve is controlled to be in a locked state, so that the arm frame enters the locked state.

[0110] Another embodiment of the present application provides an iron roughneck, which comprises the iron roughneck arm frame rotating device as described above.

[0111] The iron roughneck has the same beneficial effects as the iron roughneck arm frame rotating device, which will not be described herein again.

[0112] Still another embodiment of the present application provides an electronic device, which comprises a memory and a processor; the memory is used for storing a computer program; and the processor is used for implementing the iron roughneck arm frame control method as described above when the computer program is executed.

[0113] Still another embodiment of the present application provides a computer readable storage medium, which stores a computer program; and when the computer program is executed by a processor, the iron roughneck arm frame control method as described above is implemented.

[0114] Electronic devices that can be servers or clients of the present application will now be described, which are examples of hardware devices that can be applied to various aspects of the present application. The electronic devices are intended to represent a wide range of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computing devices. The electronic devices can also represent a wide range of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components, their connections, and relationships, and their functions, as described herein, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed herein.

[0115] The electronic device includes a computing unit that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0116] The computer system can include clients and servers. This relationship can be

[0117] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiment methods can be included. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like. In this application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, which can be located in one place or distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0118] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. An iron driller boom control method characterized by, The method comprises: acquiring a target angle and an actual rotation angle of an arm support; stopping rotation and locking the arm support when a deviation value determined by the target angle and the actual rotation angle is less than a first deviation threshold value; judging a clamping state of a chuck and adjusting a locking state of the arm support according to the clamping state, which comprises: determining that the chuck is in a non-clamping state when a clamping force of the chuck is less than or equal to a first clamping threshold value, determining that the chuck is in a clamping state when the clamping force of the chuck is greater than the first clamping threshold value, determining that the chuck is in a low-clamping state when the clamping force of the chuck is greater than the first clamping threshold value and less than or equal to a second clamping threshold value, determining that the chuck is in a high-clamping state when the clamping force of the chuck is greater than the second clamping threshold value, unlocking the arm support when the clamping state is determined to be the clamping state, and locking the arm support when the clamping state is determined to be the non-clamping state; controlling a locking force output by a locking device in the arm support to decrease with an increase in the clamping degree when the chuck enters the low-clamping state from the non-clamping state, so that the arm support floats with movement of the chuck, and controlling the locking force output by the locking device in the arm support to increase with a decrease in the clamping degree when the chuck enters the high-clamping state from the low-clamping state, so as to lock the arm support; controlling the locking force output by the locking device in the arm support to increase with a decrease in the clamping degree when the chuck enters the low-clamping state from the high-clamping state, so that the arm support floats with movement of the chuck, and controlling the locking force output by the locking device in the arm support to decrease with an increase in the clamping degree when the chuck enters the non-clamping state from the low-clamping state, so as to lock the arm support.

2. The method of claim 1, wherein, The judgment of the clamping state of the chuck specifically comprises: judging a contact number of clamping cylinders in the chuck and the drill pipe, and determining the clamping state of the chuck according to the contact number, wherein the chuck comprises at least two clamping cylinders; determining that the chuck is in the non-clamping state when the contact number is 0; determining that the chuck is in a low-clamping state when the contact number is greater than 0 and less than the number of the clamping cylinders; determining that the chuck is in a high-clamping state when the contact number is equal to the number of the clamping cylinders.

3. The method of claim 1, wherein, Before the acquisition of the target angle and the actual rotation angle of the arm support, the method further comprises: determining a preset sampling period; controlling the rotation of the arm support according to a proportional-integral-derivative control method based on the preset sampling period.

4. An Iron roughneck swivel apparatus, characterized in that, The control module, the rotation motor (1), the locking device (2) and the clamping device (3); The control module is used to implement the iron driller arm support control method according to any one of claims 1-3; The rotation motor (1) is used to control the rotation of the arm support; The locking device (2) is connected with the rotation motor (1) and is used to lock the rotation of the arm support; The clamping device (3) comprises a chuck and is used to clamp the drill pipe.

5. The Iron Draugher boom swing apparatus of claim 4, wherein, Also included are an angle sensor for connection with the arm stand to obtain the actual rotation angle of the arm stand, and a pressure sensor connected with the chuck for obtaining the pressure between the chuck and the drill pipe.

6. An iron driller characterized in that, The iron roughneck arm stand rotation device as claimed in any one of claims 4 or 5.

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