Drill tool detection device, iron roughneck, drill tool detection method, and tong body control method

Abstract

The application provides a drilling tool detection device, an iron roughneck, a drilling tool detection method and a tong body control method, relates to the technical field of drilling equipment, and the drilling tool detection device comprises two detection rods, an angle measuring device and a controller; each detection rod is used for being rotationally connected with the tong body of the iron roughneck and passing through the tong nip of the tong body; after the drilling tool enters the tong nip, the detection rod is in contact with the drilling tool and is rotated by being pushed by the drilling tool; the angle measuring device is used for measuring the rotation angle of the detection rod; and the controller is signal connected with the angle measuring device and is used for positioning the drilling tool according to the rotation angle of the detection rod. The drilling tool detection device provided by the application can position the drilling tool in real time, so that the iron roughneck is not only suitable for the working condition with fixed drilling tool position, but also suitable for the working condition with double hangers, mouse hole operation and other working conditions with inaccurate drilling tool position, the working condition type suitable for the iron roughneck is enriched, and the popularization and application of the iron roughneck are facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drilling equipment, in particular to a drilling tool detection device, an iron roughneck, a drilling tool detection method and a tong body control method. BACKGROUND

[0002] With the comprehensive promotion of automatic drilling technology and equipment in China, higher requirements are put forward for the automation level, adaptation range, equipment stability and reliability of automatic drilling equipment. The iron roughneck is one of the important components of automatic drilling equipment, which is used to clamp and release drilling tools such as drill pipes and drill collars at the wellhead. Its main operation steps (taking drill pipe makeup as an example) include extending the boom, finding the drill pipe, adjusting the height of the iron roughneck to adapt to the joint, high-speed low-torque makeup, low-speed high-torque makeup, loosening the drill pipe, and retracting the boom. In the step of finding the drill tool after the boom of the iron roughneck is extended, the tong of the iron roughneck must be able to accurately clamp the drill tool, so the drill tool needs to be positioned first.

[0003] Currently, when the iron roughneck is working, the position of the drill tool such as the drill pipe is fixed by the slip, and the position data is calibrated by the iron roughneck. The iron roughneck records the position of the drill tool, and then performs the operation at the recorded position of the drill tool each time. Obviously, this method cannot be applied to conditions such as double-hanging tool operations and mouse hole operations where the position of the drill tool cannot be accurately fixed, and the iron roughneck using this operation method is applicable to fewer types of working conditions. SUMMARY

[0004] The problem solved by the present application is how to enrich the types of working conditions applicable to the iron roughneck.

[0005] To solve the above problems, the present application provides a drilling tool detection device, comprising:

[0006] two detection rods, an angle measuring device and a controller;

[0007] Each of the detection rods is used to be rotationally connected with the tong body of the iron roughneck and to pass through the tong opening of the tong body. After the drill tool enters the tong opening, the detection rod is in contact with the drill tool and is rotated by the drill tool.

[0008] The angle measuring device is used to measure the rotation angle of the detection rod.

[0009] The controller is signal connected with the angle measuring device, and is used to position the drill tool according to the rotation angle of the detection rod.

[0010] Optionally, the drilling tool detection device comprises an elastic member, one end of the elastic member is connected with the detection rod, and the other end of the elastic member is used to be connected with the tong body.

[0011] Optionally, one end of the detection rod is provided with a connecting part, the connecting part is used for rotationally connecting with the plier body, and one end of the elastic member is connected to the detection rod at a position close to the connecting part.

[0012] Optionally, the detection rod rotates around a rotation axis, and the contact line of each detection rod with the drill tool is coplanar with the rotation axis of the detection rod.

[0013] Optionally, the two detection rods are rotationally connected to two sides of the plier body respectively, and the connecting points of the two detection rods with the plier body and the plier body center are on the same line perpendicular to the in-out direction of the plier body, and the plier body center is the position of the plier body for mounting the drill tool.

[0014] Optionally, the two detection rods are symmetrically arranged relative to the in-out direction of the plier body.

[0015] Optionally, the angle measuring device is arranged at the connecting position of the detection rod and the plier body.

[0016] The present application also provides an iron worker, which comprises a plier body and a drill tool detection device as described above.

[0017] The present application also provides a drill tool detection method, which is applied to the drill tool detection device as described above, and the drill tool detection method comprises the following steps.

[0018] Obtaining the rotation angle of the detection rod in the drill tool detection device;

[0019] Generating the position of the drill tool according to the rotation angle.

[0020] Optionally, the step of generating the position of the drill tool according to the rotation angle comprises the following steps.

[0021] Generating the axial position of the drill tool according to the size of the drill tool, the connecting position of the detection rod and the plier body, and the rotation angle.

[0022] The present application also provides a plier body control method of an iron worker, which comprises the following steps.

[0023] Combining the position of the plier body center and the position of the drill tool generated based on the drill tool detection method as described above, determining the position error of the drill tool relative to the plier body center;

[0024] When the position error is greater than a preset value, controlling the plier body to move in a direction for reducing the position error;

[0025] When the position error is less than the preset value, controlling the plier body to perform a clamping operation.

[0026] Compared with the prior art, the present application has at least the following beneficial effects:

[0027] The present application can quickly and efficiently detect the position of the drill tool, and can real-time position the drill tool of different sizes, thereby facilitating the quick and efficient detection of whether the tong body of the iron roughneck is aligned with the drill tool, and is not only suitable for the working condition that the position of the drill tool is fixed, but also suitable for the working condition that the position of the drill tool cannot be accurately fixed, such as double-hanging-car operation and mouse-hole operation, enriches the working condition types suitable for the iron roughneck, and is beneficial to the popularization and application of the iron roughneck.

[0028] By generating the position of the drill tool according to the rotation angle of the detection rod in the drill tool detection device, and determining the position error of the drill tool and the center of the tong body, the tong body is controlled to move or perform clamping operation according to the position error, so that the positioning and detection of the drill tool can be realized by relatively simple modification of the iron roughneck, and then the tong body is controlled according to the positioning and detection result of the drill tool, the accuracy and sensitivity of the tong body control are improved, and the iron roughneck is not afraid of working conditions such as double-hanging-car operation and mouse-hole operation, and is not afraid of harsh working conditions such as wellhead oil stains and vibration. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 Part of the structure schematic diagram of an embodiment of the iron roughneck of the present application;

[0030] Figure 2 Part of the structure schematic diagram of another embodiment of the iron roughneck of the present application;

[0031] Figure 3 Schematic diagram of the detection rod in the drill tool detection device of the present application;

[0032] Figure 4 Schematic diagram of one embodiment of the drill tool detection method of the present application;

[0033] Figure 5 Schematic diagram of one embodiment of the tong body control method of the iron roughneck of the present application.

[0034] Explanation of reference signs:

[0035] 1, tong body center; 2, detection rod; 3, rotation center; 4, elastic member; 5, drill tool; 6, tong. DETAILED DESCRIPTION

[0036] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes, and are not intended to limit the scope of protection of the present application. The term "comprising" and its variants used herein are open-ended, i.e., "including but not limited to"; 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 "optionally" means "optional embodiment". Related definitions of other terms will be given in the following description.

[0037] Referring to Figure 1 , the present embodiment proposes a drilling tool detection device, comprising two detection rods 2, an angle measuring device and a controller; each detection rod 2 is rotatably connected with the jaw body of the iron roughneck, and passes through the jaw opening 6 of the jaw body. After the drilling tool 5 enters the jaw opening 6, the detection rod 2 is in contact with the drilling tool 5 and is rotated by the drilling tool 5; the angle measuring device is used to measure the rotation angle of the detection rod 2; the controller is signal connected with the angle measuring device, and is used to position the drilling tool 5 according to the rotation angle of the detection rod 2.

[0038] Among them, the drilling tool detection device is used to be installed on the jaw body of the iron roughneck, and is used to detect the position of the drilling tool 5, so as to ensure that the drilling tool 5 is placed in the correct position, so as to ensure that the jaw body of the iron roughneck can accurately clamp the drilling tool 5. The jaw body is the main structure of the iron roughneck for clamping the drilling tool 5, and a jaw opening 6 extending to the center position of the jaw body is arranged on the jaw body, which is used to place and clamp the drilling tool 5. As shown in the jaw opening 6, it can be a U-shaped opening, a rectangular opening, a C-shaped opening, and other shapes of the jaw opening 6 can be selected according to the actual situation. Figure 1

[0039] The drilling tool detection device comprises two detection rods 2, which can be selected as long and thin metal rods, plastic rods or rods of other materials. The detection rod 2 passes through the jaw opening 6 of the jaw body, that is, the projection part of the detection rod 2 on the surface of the jaw body falls at the jaw opening 6, so that the drilling tool 5 can be in contact with the detection rod 2 after entering the jaw opening 6. When the drilling tool 5 is a drill pipe, a drill collar, a casing or the like, each detection rod 2 is tangent to the cross section of the drilling tool 5.

[0040] For the convenience of description, the connection point of the detection rod 2 and the jaw body is referred to as the rotation center 3. The position of the rotation center 3 is fixed, which can be arranged at a position deviated to one side of the entrance of the jaw opening 6 on the jaw body, or can be arranged at a position deviated to one side of the center 1 of the jaw body.

[0041] In an embodiment, as Figure 1 ​, one end of each detection rod 2 is rotationally connected to the tongs body, and the other end of each detection rod 2 passes through the tongs opening 6. In the initial state, the two detection rods 2 pass through the tongs opening 6 and can be parallel to each other or intersect with each other. After the drill 5 enters the tongs opening 6, the two detection rods 2 are blocked in the movement of the drill 5 to the center 1 of the tongs body, each detection rod 2 is in contact with the drill 5, and the drill 5 drives the two detection rods 2 to rotate around the rotation center 3. Among them, after the drill 5 enters the tongs opening 6, under the pushing of the drill 5, the two detection rods 2 can intersect in the tongs opening 6, forming a scissors-shaped structure. Among them, the center 1 of the tongs body refers to the position of the tongs opening for installing the drill 5.

[0042] The angle sensor can be arranged at one end of the detection rod 2 close to the rotation center 3, or can be arranged at the connection between the detection rod and the tongs body, that is, at the rotation center 3, so as to directly measure the rotation angle of the detection rod 2 and realize timely and accurate acquisition of the rotation angle.

[0043] The controller is signal-connected with the drill detection device, after the drill 5 drives the detection rod 2 to rotate, the angle sensor measures the rotation angle of the detection rod 2 and transmits it to the controller, and the controller determines the position of the drill 5 according to the rotation angle of the detection rod 2, so as to realize detection of the position of the drill 5. Among them, the controller includes a single-chip microcomputer or a PLC device.

[0044] The drill detection device includes two detection rods 2, an angle measuring device and a controller, each detection rod 2 is rotationally connected with the tongs body of the iron driller and passes through the tongs opening 6 of the tongs body, after the drill 5 enters the tongs opening 6, the detection rod 2 is in contact with the drill 5 and is driven to rotate by the drill 5, so as to convert the movement of the drill 5 to the direction of entering the tongs opening 6 into the rotary motion of the detection rod 2, and the angle measuring device is used to measure the rotation angle of the detection rod 2, and the controller is used to position the drill 5 based on the rotation angle of the detection rod 2, so as to quickly and efficiently detect the position of the drill and facilitate quick and efficient detection of whether the tongs body of the iron driller is aligned with the drill.

[0045] In the prior art, a proximity switch is installed on the back tongs to detect whether the drill is close to the drill, so as to realize positioning of the drill, because the proximity switch can only detect the drill rod in one direction and the detection distance is fixed, when different rod diameters of the drill are replaced, the accuracy of the positioning cannot be ensured, that is, the prior art cannot accurately position different sizes of the drill. The drill detection device provided in the embodiment of the present application directly contacts the drill 5 through the detection rod 2, and the positioning of the drill 5 is realized based on the physical contact, different rod diameters of the drill will not affect the direct physical contact between the detection rod 2 and the drill 5, that is, will not affect the accuracy of the drill detection device in positioning different sizes of the drill, so that the iron driller using the drill detection device of the embodiment of the present application can position different sizes of the drill in real time.

[0046] During the double-hook operation, the drill tool axis will randomly fluctuate within a certain range, and during the mouse hole operation, the drill tool axis will not only fluctuate within a certain range, but also randomly tilt. In the prior art, the position of the drill tool such as the drill rod is fixed by the slips, and the position data is calibrated by the iron roughneck, and the iron roughneck performs the operation each time it reaches the recorded drill tool position. This method has a large error and cannot accurately position the drill tool. The drill tool detection device provided in the embodiment of the present application directly physically contacts the detection rod 2 and the drill tool 5, and the positioning of the drill tool 5 is realized based on the physical contact. When the drill tool 5 moves, the detection rod 2 also moves, so as not to affect the accuracy of the drill tool detection device in positioning the drill tool. Therefore, the iron roughneck using the drill tool detection device of the present application is not only suitable for the working condition in which the position of the drill tool is fixed, but also suitable for the working condition in which the position of the drill tool cannot be accurately fixed, such as the double-hook operation and the mouse hole operation. The present application enriches the types of working conditions suitable for the iron roughneck and is conducive to the popularization and application of the iron roughneck.

[0047] Optionally, the drill tool detection device comprises an elastic member 4, one end of the elastic member 4 is connected with the detection rod 2, and the other end of the elastic member 4 is used to be connected with the tong body.

[0048] In the embodiment, the elastic member 4 can be a spring, specifically a compression spring, or a torsion spring. After the drill tool 5 enters the tong mouth 6, the drill tool 5 drives the detection rod 2 to rotate around the rotation center 3, the detection rod 2 applies a force to the elastic member 4, and the elastic member 4 provides a reverse force to the detection rod 2, so that the detection rod 2 is tightly attached to the drill tool 5, thereby improving the accuracy of the drill tool 5 position detection.

[0049] In one embodiment, as shown in Figure 1 , one end of the detection rod 2 is provided with a connecting portion, the connecting portion is used to be rotationally connected with the tong body, and one end of the elastic member is connected to the detection rod 2 at a position close to the connecting portion.

[0050] In the embodiment, the connecting portion of the detection rod 2 is used to be rotationally connected with the tong body, and the connecting point of the detection rod 2 and the tong body is referred to as the rotation center 3. Figure 1 In the embodiment, the detection rod 2 has two ends, one end of the detection rod 2 is provided with a connecting portion, and the connecting point of the elastic member and the detection rod 2 is located at a position close to the end where the connecting portion is located.

[0051] In the embodiment, one end of the elastic member 4 is connected to the detection rod 2 at a position close to the connecting portion, and the other end of the detection rod 2 does not need to be connected to other devices and can rotate freely, so that the entire drill tool detection device is more flexible.

[0052] Of course, the connecting position of one end of the elastic member and the detection rod 2 is not limited to the above embodiment, for example Figure 2As shown, in another embodiment, the elastic element can also be connected to the end of the detection rod 2 away from the connecting part. In this case, it is convenient for the detection rod to return to its original position after the measurement is completed. Specifically, the two detection rods 2 are respectively used to rotatably connect to both sides of the jaws 6. The elastic element 4 corresponds to the detection rod 2 connected to it. One end of the elastic element 4 is connected to the end of the corresponding detection rod 2 that is off-center from the rotation center 3, and the other end of the elastic element 4 is connected to the clamp body. Among them, one end of the detection rod 2 extends through the jaws to the other side of the clamp body, one end of the elastic element 4 is connected to the tail end of the detection rod 2, and the other end of the elastic element 4 is connected to the clamp body where the tail end of the detection rod 2 is located.

[0053] Optionally, the detection rod 2 rotates about the axis of rotation, and the contact line between each detection rod 2 and the drill 5 is coplanar with the axis of rotation of the detection rod 2.

[0054] The drill string 5 includes drill pipe, drill collar, casing and other tubing, so the detection rod 2 is in line contact with the drill string 5.

[0055] Figure 3 The top view of the detection rod 2 is shown. Figure 3 Point A in the diagram represents the contact line between the detection rod 2 and the drill bit 5, and point O represents the pivot of the detection rod 2. The detection rod 2 is used for rotatable connection with the tongs body, and it rotates around the pivot O. The pivot O of the detection rod 2 is set to be coplanar with the contact line between the detection rod 2 and the drill bit 5. After the detection rod 2 is connected to the tongs body, the position of the pivot O is fixed. Therefore, the straight line containing the contact line between the detection rod 2 and the drill bit 5 can be defined based on the position of the pivot O and the rotation angle of the detection rod 2. The axis of the drill bit 5 can be calculated based on the position where the straight line containing the contact line is tangent to the cross-section of the drill bit 5. Referring to the calculation below, at this time, the distance from the axis of the drill bit 5 to the straight line containing the contact line is exactly equal to the radius of the cross-section of the drill bit 5. This reduces the calculation difficulty of locating the drill bit 5 based on the rotation angle of the detection rod 2 and improves the positioning efficiency.

[0056] like Figure 1 The connection point (i.e., the rotation center 3) between the two detection rods 2 and the two sides of the jaws 6 can be set on the two sides of the jaws 6, biased towards the entrance of the jaws 6.

[0057] like Figure 2 The connection points (i.e., rotation centers 3) between the two detection rods 2 and the two sides of the jaw 6 can be set on the two sides of the jaw 6, biased towards the center 1 of the jaw body. Optionally, the two detection rods 2 are rotatably connected to the two sides of the jaw 6 respectively, and the connection points between the two detection rods 2 and the jaw body and the center 1 of the jaw body are on the same straight line perpendicular to the in-and-out direction of the jaw 6. The center 1 of the jaw body is the position of the jaw 6 for installing the drill bit 5.

[0058] like Figure 2A rectangular coordinate system is constructed with the center 1 of the clamp body as the origin, the Y-axis as the direction of the jaws 6 moving in and out, and the X-axis as the direction perpendicular to the jaws 6 moving in and out. The connection point (i.e., the rotation center 3) between the two detection rods 2 and the clamp body is set at... Figure 1 Points (L2,0) and (-L1,0) in the range.

[0059] Compared to setting the rotation center 3 on the side biased towards the inlet of the jaw 6, moving the rotation center 3 to the side biased towards the center 1 of the jaw body allows the drill bit detection device to achieve higher sensitivity and accuracy when the drill bit 5 is about to reach the center 1 of the jaw body. This is because at this time, the direction of movement of the drill bit 5 is closest to that of the vertical detection rod 2. At this time, when the drill bit 5 moves the same distance, the rotation angle of the detection rod 2 is larger, thus resulting in higher accuracy.

[0060] Optionally, the two detection rods 2 are symmetrically arranged with respect to the in-and-out direction of the jaws 6.

[0061] In such Figure 1 In the illustrated embodiment, L1 = L2, H1 = H2. In such... Figure 2 In the illustrated embodiment, L1 = L2. This reduces the computational complexity of positioning the drill bit 5 based on the rotation angle of the detection rod 2, thereby improving positioning efficiency.

[0062] Another embodiment of the present invention provides a drill bit assembly, including a clamp body and the drill bit detection device as described above. Its specific structure and effects have been described above and will not be repeated here.

[0063] Another embodiment of the present invention proposes a drill string inspection method, which is applied to the drill string inspection device described above. The corresponding program of the drill string inspection method of the present invention can be executed by the controller in the drill string inspection device. Figure 4 The drill string inspection method includes: obtaining the rotation angle of the inspection rod in the drill string inspection device; and generating the position of the drill string based on the rotation angle.

[0064] The controller receives the rotation angle of the detection rod 2 sent by the angle measuring device.

[0065] The position of drill string 5 is calculated based on the rotation angle. Specifically, the position of drill string 5 can be represented by its axial center position. Specifically, generating the position of drill string 5 based on the rotation angle includes: generating the axial center position of drill string 5 based on the dimensions of drill string 5, the connection point between the detection rod 2 and the tongs, and the rotation angle.

[0066] Among them, drill bit 5 is a standard part. During operation, the model of drill bit 5 will be set in the host computer. The size of drill bit 5 can be found according to the model of drill bit 5. The size of drill bit 5 here includes the cross-sectional radius of drill bit 5.

[0067] The connecting point position of the detection rod 2 and the jaw body rotation connection is a fixed position, which can be pre-stored and called when needed.

[0068] Further, as Figures 1-2 The coordinate system is established with the jaw body center 1 of the iron roughneck as the origin, the jaw opening 6 entering and exiting direction as the Y axis, and the direction perpendicular to the Y axis as the X axis. The coordinates of the rotation centers 3 of the two detection rods are (-L1, H1) and (L2, H2) respectively. The detection rod 2 rotates around the rotation axis, and the contact line of each detection rod 2 with the drilling tool 5 is coplanar with the rotation axis of the detection rod 2. The angles of the two detection rods relative to the X axis are β1 and β2 respectively. β1 and β2 can be obtained according to the rotation angles of the two detection rods, for example, the initial state before the rotation of the two detection rods is parallel to the X axis, at this time, β1 and β2 are equal to the rotation angles of the two detection rods. If the initial state before the rotation of the two detection rods is not parallel to the X axis, at this time, β1 and β2 can be calculated according to the initial angles of the two detection rods relative to the X axis and the rotation angles of the two detection rods. The axis coordinates of the drilling tool 5 are (x0, y0). The calculation steps of x0 and y0 are as follows:

[0069] Because the detection rod 2 rotates around the rotation axis, and the contact line of each detection rod 2 with the drilling tool 5 is coplanar with the rotation axis of the detection rod 2, the first detection rod straight line and the second detection rod straight line pass through the corresponding rotation center 3, so the following straight line equations are constructed:

[0070] The first detection rod straight line equation is y-H1=-tanβ1(x+L1) (1)

[0071] The second detection rod straight line equation is y-H2=tanβ2(x-L2) (2)

[0072] The distance from the axis center (x0, y0) of the drilling tool 5 to the straight line where the two detection rods are located is the cross-sectional radius R of the drilling tool. According to the point-to-line distance formula:

[0073]

[0074] Where A, B, and C are the coefficients of the straight line equation. Combined with equations (1) and (2), we have:

[0075]

[0076] In the formula, y0∈(0, H1), x0∈(-L1, L2)

[0077] We can get:

[0078]

[0079]

[0080] Since the point (x0, y0) is always above the straight line (1) and the straight line (2), then:

[0081] |y0+tanβ1x0+tanβ1L1-H1|>0

[0082] |y0-tanβ2x0-tanβ2L2-H2|>0

[0083] Simplify the formula (3) (4) as:

[0084]

[0085]

[0086] Let the formula (5)-(6) be:

[0087]

[0088] That is:

[0089]

[0090] Then:

[0091] According to the formula (6) again:

[0092]

[0093] In an embodiment, the rotation center 3 of the detection rod is symmetrically arranged about the y-axis, and L1=L2=L, H1=H2=H, then:

[0094]

[0095]

[0096] As Figure 5 , the iron roughneck jaw body control method provided by another embodiment of the present application comprises:

[0097] In combination with the position of the jaw body center 1 and the position of the drilling tool 5 generated by the drilling tool detection method described above, the position error of the drilling tool 5 and the jaw body center 1 is determined; when the position error is greater than a preset value, the jaw body is controlled to move in a direction to reduce the position error; when the position error is less than the preset value, the jaw body is controlled to perform a clamping operation.

[0098] The rotation angle can reflect the position of the detection rod 2, and further reflect the position of the drilling tool 5. The position of the jaw body center 1 is a preset known quantity, so the position error of the drilling tool 5 and the jaw body center 1 can be determined according to the rotation angle.

[0099] In an embodiment, the rotation angle can reflect the position of the detection rod 2, and further reflect the position of the drill tool 5, so that the position of the drill tool 5 can be represented by the rotation angle. A preset angle corresponding to the jaw body center 1 is pre-stored, and the actual rotation angle of the detection rod 2 sent by the drill tool detection device is compared with the preset angle to determine the position error of the drill tool 5 and the jaw body center 1. Taking two detection rods 2 as an example, the two detection rods 2 correspond to two actual rotation angles, and two angles corresponding to the preset jaw body center 1 are pre-stored. The two actual rotation angles are compared with the two angles corresponding to the preset jaw body center 1 respectively, and the difference values are calculated respectively. The two difference values are taken as the position error of the drill tool 5 and the jaw body center 1.

[0100] When the position error of the drill tool 5 and the jaw body center 1 is greater than a preset value, it indicates that the position deviation between the drill tool 5 and the jaw body center 1 is large, and the jaw body needs to be controlled to rotate, extend or retract to move in a direction to reduce the position error.

[0101] In an embodiment, the drill tool detection device has two detection rods 2, corresponding to two rotation angles, and two angles corresponding to the preset jaw body center 1 are pre-stored. Two difference values are generated respectively, and the two difference values are compared with the preset value respectively. If both of the two difference values are greater than the preset value, the jaw body is controlled to move in a direction to simultaneously reduce the two difference values. If only one of the two difference values is greater than the preset value, the jaw body also needs to be controlled to rotate, extend or retract to move in a direction to reduce the difference value greater than the preset value.

[0102] In another embodiment, according to the size of the drill tool 5, the position of the connection point of the detection rod 2 and the jaw body, and the rotation angle, the position of the axis of the drill tool 5 is generated, and the difference value between the position of the axis of the drill tool 5 and the position of the jaw body center 1 is calculated as the position error. Taking the foregoing example as an example, the coordinate system is established with the jaw body center 1 of the iron roughneck as the origin, the jaw opening 6 entering and exiting direction as the Y axis, and the direction perpendicular to the Y axis as the X axis. The drill tool 5 axis coordinates are (x0, y0), and the position error Δ X and Δ Y of the drill tool 5 axis relative to the jaw body center 1 in the X direction and the Y direction are respectively:

[0103] Δ X = |x0|

[0104] Δ Y = |y0|

[0105] When at least one of Δ X and Δ Y is greater than the corresponding preset value, it is determined that the position error is greater than the preset value, and the jaw body is controlled to move in a direction to reduce the position error. When Δ X and Δ Y are both less than the corresponding preset value, it is determined that the position error is less than the preset value.

[0106] When the position error of the drilling tool 5 and the tong body center 1 is less than a preset value, it is determined that the drilling tool 5 and the tong body center 1 are in position, and the tong body can be controlled to perform a clamping operation.

[0107] The embodiment of the present application generates the position of the drilling tool 5 according to the rotation angle of the detection rod 2 in the drilling tool detection device, determines the position error of the drilling tool 5 and the tong body center 1, and controls the tong body to move or perform a clamping operation according to the position error, so that the positioning detection of the drilling tool 5 can be realized by relatively simple modification of the tong, and then the tong body can be controlled according to the positioning detection result of the drilling tool 5, thereby improving the accuracy and sensitivity of the tong body control. Since the detection rod 2 in the drilling tool detection device is in real-time contact with the drilling tool 5, the drilling tool 5 can be positioned in real time, so that the tong is not afraid of double-hanger operation, mouse hole operation and other working conditions, and is not afraid of wellhead oil stains and vibration and other harsh working conditions.

[0108] Optionally, the tong body control method of the tong further includes: before calculating the position of the drilling tool 5, weakening the tong vibration and noise interference by a filtering algorithm, thereby improving the accuracy of the position error of the drilling tool 5 and the preset tong body center 1.

[0109] For the convenience of understanding, the following example is given: when the tong performs a make-up or break-out operation, the drilling tool 5 enters from the jaw opening until the axis (x0, y0) of the drilling tool 5 and the tong body center 1 O(0, 0) coincide or the distance error is less than a preset value, the clamping tong is tightened to the middle, the drilling tool 5 is clamped, and the subsequent make-up or break-out operation is performed. The detection rod 2 rotates around the rotation shaft, and the contact line of each detection rod 2 and the drilling tool 5 is coplanar with the rotation shaft of the detection rod 2. When the drilling tool 5 enters from the jaw 6, the drilling tool 5 will squeeze the two detection rods 2 to rotate, and the two detection rods 2 will be tightly attached to the drilling tool 5 under the action of the compression spring. At this time, the two angle sensors read the rotation angles β1 and β2 of the two detection rods 2 respectively, and the controller calculates the drilling tool 5 axis position (X0, Y0) through the values of β1, β2 and the drilling tool 5 radius R.

[0110] Although the present application is disclosed as above, the protection scope of the present application 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 application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A drill tool detection apparatus, characterized by, The device comprises: two detection rods (2), an angle measuring device and a controller; each of the detection rods (2) is used to be rotatably connected with a tongs body of an iron roughneck, and to pass through a tong opening (6) of the tongs body, after a drill tool (5) enters the tong opening (6), the detection rod (2) is in contact with the drill tool (5) and is rotated by the drill tool (5); the angle measuring device is used to measure a rotation angle of the detection rod (2); the controller is in signal connection with the angle measuring device, and is used to position the drill tool (5) according to the rotation angle of the detection rod (2); the drill tool detection device comprises an elastic member (4), one end of the elastic member (4) is connected with the detection rod (2), and the other end of the elastic member (4) is used to be connected with the tongs body.

2. The drill tool detection apparatus of claim 1, wherein, One end of the detection rod (2) is provided with a connecting part, the connecting part is used to be rotatably connected with the tongs body, and one end of the elastic member is connected to the detection rod (2) at a position close to the connecting part.

3. The drill tool detection apparatus of any one of claims 1 and 2, wherein, The detection rod (2) rotates around an axis of rotation, and a contact line of each of the detection rods (2) with the drill tool (5) is coplanar with the axis of rotation of the detection rod (2).

4. The drill tool detection apparatus of any one of claims 1 and 2, wherein, The two detection rods (2) are used to be rotatably connected on two sides of the tong opening (6) respectively, and the connecting points of the two detection rods (2) with the tongs body and the tongs body center (1) are on the same straight line perpendicular to the in-out direction of the tong opening (6), and the tongs body center (1) is a position of the tong opening (6) for mounting the drill tool (5).

5. The drill tool detection apparatus of claim 4, wherein, The two detection rods (2) are symmetrically arranged relative to the in-out direction of the tong opening (6).

6. The drill tool detection apparatus of any one of claims 1 and 2, wherein, The angle measuring device is arranged at the connecting position of the detection rod and the tongs body.

7. An iron driller characterized in that, The device comprises a tongs body and the drill tool detection device according to any one of claims 1 to 6.

8. A method of detecting a drill tool, the method comprising: The method is applied to the drill tool detection device according to any one of claims 1 to 6, and the method comprises: obtaining a rotation angle of a detection rod (2) in a drill tool detection device; generating a position of the drill tool (5) according to the rotation angle.

9. The drill tool detection method of claim 8, wherein, The generation of the position of the drill tool (5) according to the rotation angle comprises: generating an axis position of the drill tool (5) according to the size of the drill tool (5), the connecting position of the detection rod (2) with the tongs body and the rotation angle.

10. A method of controlling a jaw of an iron worker, characterized by, The device comprises: determining a position error of the drill tool (5) relative to the tongs body center (1) based on the position of the tongs body center (1) and the position of the drill tool (5) generated by the drill tool detection method according to claim 8 or 9; controlling the tongs body to move towards a direction of reducing the position error when the position error is greater than a preset value; controlling the tongs body to perform a clamping operation when the position error is less than the preset value.

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