A method and device for clamping control of an iron roughneck, an iron roughneck and a storage medium

Abstract

The application relates to the field of iron roughneck control, and discloses an iron roughneck clamping control method and device, an iron roughneck and a storage medium. The method comprises the following steps: acquiring the suspension displacement of a suspension oil cylinder and the rotation angle of a rotating motor in the iron roughneck, the suspension oil cylinder being used for controlling the suspension movement of a main clamp, and the rotating motor being used for controlling the rotation movement of the main clamp; calculating the rotating speed of the rotating motor through the rotation angle, and calculating the suspension speed of the main clamp when performing the suspension movement through the suspension displacement; calculating the theoretical pitch parameter of a drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck has rotation slip through the corresponding relationship between the actual pitch parameter and the theoretical pitch parameter of the drill rod; and when the iron roughneck has rotation slip, adjusting the pressure of a clamping oil cylinder in the iron roughneck, so that the clamping force of the main clamp and / or an auxiliary clamp of the iron roughneck is increased. The application improves the accuracy and timeliness of the identification of the slip phenomenon of the iron roughneck, and further improves the timeliness of the clamping force control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of iron roughneck control, and particularly relates to an iron roughneck clamping control method and device, an iron roughneck and a storage medium. BACKGROUND

[0002] An iron roughneck is a kind of petroleum machinery, which is a core equipment of pipe column automation and is mainly used for making up and breaking out the drill pipe at the wellhead and the mouse hole on the drilling platform. The main action mechanism of the iron roughneck includes an arm support, a main clamp and an auxiliary clamp. The working process of the iron roughneck generally includes the following steps: firstly, the arm support is controlled to rotate to the angle of the drill pipe; secondly, the arm support is controlled to lift to the height corresponding to the threaded joint of the drill pipe; thirdly, the arm support is controlled to stretch to the amplitude of the drill pipe; fourthly, the auxiliary clamp and the main clamp are controlled to clamp the drill pipe on both sides of the threaded joint of the drill pipe, the auxiliary clamp located at the lower side is fixed, and the main clamp located at the upper side performs the work of making up, striking or breaking out the threaded joint; and in the process of making up and breaking out, the main clamp performs the suspended movement synchronously with the drill pipe due to the up and down displacement caused by the rotation.

[0003] In the process of rotating the drill pipe by the main clamp and the auxiliary clamp, the auxiliary clamp needs to keep clamping the drill pipe, and the main clamp needs to clamp the drill pipe in the process of striking and making up the threaded joint. When the clamping force of the main clamp or the auxiliary clamp is small, the slip phenomenon may occur between the clamping clamp and the drill pipe. The slip is an abnormal working condition, which may reduce the working efficiency or even damage the clamping clamp or the drill pipe. In some technologies, the slip is generally found by the operator and measures are taken, which usually makes the slip phenomenon of the iron roughneck not found in time, the clamping force of the iron roughneck cannot be adjusted in time, and the abnormal working condition cannot be handled in time. Therefore, there is an urgent need for a scheme capable of finding the slip phenomenon of the iron roughneck in time and adjusting the clamping force of the iron roughneck. SUMMARY

[0004] Therefore, the present application provides an iron roughneck clamping control method and device, an iron roughneck and a storage medium to solve the problem that the clamping force of the iron roughneck cannot be adjusted in time due to the inaccurate and untimely identification of the slip phenomenon.

[0005] In a first aspect, the present application provides an iron roughneck clamping control method, which includes the following steps: acquiring the suspended displacement of a suspended oil cylinder and the rotation angle of a rotation motor in the iron roughneck, the suspended oil cylinder being used to control the suspended movement of the main clamp, and the rotation motor being used to control the making-up movement of the main clamp; calculating the rotation speed of the rotation motor through the rotation angle, and calculating the suspended speed of the main clamp in the suspended movement through the suspended displacement; calculating the theoretical pitch parameter of the drill pipe according to the suspended speed and the rotation speed, and identifying whether the iron roughneck has the rotation slip through the corresponding relationship between the actual pitch parameter and the theoretical pitch parameter of the drill pipe; and when the iron roughneck has the rotation slip, adjusting the pressure of a clamping oil cylinder in the iron roughneck to increase the clamping force of the main clamp and / or the auxiliary clamp of the iron roughneck.

[0006] The embodiment considers that when the clamping force of the iron roughneck is small and the rotation slip occurs, the number of rotations of the drill pipe is reduced, the suspension displacement generated by the suspension cylinder is less than the theoretical suspension displacement, and correspondingly, the suspension speed calculated in a certain time changes, so that the error between the theoretical pitch parameter and the actual pitch parameter of the drill pipe becomes large. The embodiment accurately and automatically identifies the rotation slip of the iron roughneck through the change of the corresponding relationship between the theoretical pitch parameter and the actual pitch parameter, and then adjusts the pressure of the clamping cylinder in the iron roughneck, so that the clamping force of the main clamp and / or auxiliary clamp of the iron roughneck is increased, and the accuracy and timeliness of the identification of the slip of the iron roughneck are improved, and then the timeliness of the clamping force control is improved.

[0007] In an alternative embodiment, the method further comprises: obtaining the pressure of the clamping cylinder in the iron roughneck, and calculating the clamping force of the main clamp and / or auxiliary clamp according to the pressure of the clamping cylinder; recording the initial suspension position of the suspension cylinder according to the clamping force and the rotation angle; determining the suspension increment of the suspension cylinder according to the difference between the suspension displacement and the initial suspension position; determining whether the iron roughneck has axial slip according to the size relationship between the suspension increment and the preset increment threshold; and adjusting the pressure of the clamping cylinder in the iron roughneck when the iron roughneck has axial slip, so that the clamping force of the main clamp and / or auxiliary clamp of the iron roughneck is increased.

[0008] The embodiment also accurately identifies the axial slip of the iron roughneck caused by the small clamping force. Specifically, the initial suspension position of the suspension cylinder is first recorded according to the pressure of the clamping cylinder and the rotation angle, and then the suspension increment of the suspension cylinder is determined by calculating the difference between the suspension displacement and the initial suspension position in real time. If the iron roughneck does not have axial slip, the suspension increment should change uniformly and stably and be the same as the axial displacement of the drill pipe, and when the iron roughneck has axial slip, the displacement of the suspension cylinder itself will be greater than the axial displacement of the drill pipe, so that the calculated suspension increment will have a large error. The embodiment characterizes the reasonable suspension increment range through the preset increment threshold, and monitors in real time whether the suspension increment exceeds the range characterized by the preset increment threshold, so as to accurately identify the axial slip of the iron roughneck, improve the timeliness of the identification of the axial slip of the iron roughneck, and then improve the timeliness of the control of the clamping force of the main clamp and / or auxiliary clamp of the iron roughneck.

[0009] In an alternative embodiment, the theoretical pitch parameter of the drill pipe is calculated according to the floatation speed and the rotation speed, comprising: calculating the ratio of the floatation speed to the rotation speed to obtain the theoretical pitch parameter.

[0010] In the embodiment, the measured pitch of the drill pipe is calculated according to the ratio of the floatation speed to the rotation speed, and the measured pitch is directly used as the theoretical pitch parameter without further algebraic processing, so that the subsequent comparison between the theoretical pitch parameter and the actual pitch parameter is simple and easy to implement, and the accuracy and efficiency of the rotating slip identification are further improved.

[0011] In an alternative embodiment, the rotating slip of the iron roughneck is identified by the corresponding relationship between the actual pitch parameter and the theoretical pitch parameter of the drill pipe, comprising: obtaining the pitch of the drill pipe as the actual pitch parameter; calculating the parameter difference between the theoretical pitch parameter and the actual pitch parameter; and determining that the rotating slip of the iron roughneck occurs when the parameter difference is greater than a preset parameter threshold.

[0012] In the embodiment, the parameter difference between the theoretical pitch parameter and the actual pitch parameter is calculated considering that there should be a certain error redundancy between the theoretical pitch parameter and the actual pitch parameter, and the rotating slip of the iron roughneck is determined when the parameter difference is greater than a preset parameter threshold. This avoids false positives when the difference between the theoretical pitch parameter and the actual pitch parameter is small, thereby preventing the clamping cylinder from frequently adjusting the pressure.

[0013] In an alternative embodiment, the initial floatation position of the floatation cylinder is recorded according to the clamping force and the rotation angle, comprising: identifying the initial state in which the iron roughneck has clamped the drill pipe and has not been rotated by the clamping force and the rotation angle; and obtaining the initial floatation displacement of the floatation cylinder when the iron roughneck is in the initial state as the initial floatation position.

[0014] In the embodiment, the initial state in which the iron roughneck has clamped the drill pipe and has not been rotated is identified by the clamping force and the rotation angle, and the initial floatation displacement of the floatation cylinder is indirectly recorded by directly identifying the initial state, thereby accurately recording the initial floatation position.

[0015] In an alternative embodiment, the initial state in which the iron roughneck has clamped the drill pipe and has not been rotated is identified by the clamping force and the rotation angle, comprising: determining whether the clamping force is greater than a preset clamping force threshold; calculating the angular velocity of the rotation motor by the rotation angle when the clamping force is greater than the preset clamping force threshold; and recording the current state of the iron roughneck as the initial state when the angular velocity is less than a preset angular velocity threshold.

[0016] The embodiment quantitatively judges whether the iron roughneck has clamped the drill pipe by presetting a clamping force threshold, and further analyzes the state when the angular velocity of the rotary motor is less than a preset angular velocity threshold, and considers that the iron roughneck has clamped the drill pipe and the initial state of the rotary motor not rotating, thereby realizing a method of quantitatively identifying the initial state of the iron roughneck, and improving the accuracy of the initial state identification of the iron roughneck.

[0017] In an optional embodiment, according to the size relationship between the suspension increment and the preset increment threshold, it is determined whether the iron roughneck occurs axial slip, comprising: when the iron roughneck is made to rotate, the suspension increment is counted at preset time intervals; the suspension increment counted at each time is compared with the preset increment threshold corresponding to each time in turn; when the suspension increment at a certain time is greater than the preset increment threshold corresponding to the time, it is determined that the iron roughneck occurs axial slip.

[0018] For the make-up or break-out operation of the drill pipe, the operation process is a continuous process, in order to further improve the accuracy of the axial slip identification, the embodiment sets a plurality of preset increment thresholds according to different operation times, so that the current suspension increment is compared with the corresponding preset increment threshold at every preset time interval, once the suspension increment at a certain time is greater than the preset increment threshold corresponding to the time, it is determined that the iron roughneck occurs axial slip, thereby realizing a real-time monitoring scheme for the axial slip phenomenon of the iron roughneck.

[0019] In a second aspect, the present application provides an iron roughneck clamping control device, the device comprising: a data acquisition module for acquiring the suspension displacement of the suspension cylinder in the iron roughneck and the rotation angle of the rotary motor, the suspension cylinder being used for controlling the suspension movement of the main clamp, and the rotary motor being used for controlling the rotation movement of the main clamp; a speed calculation module for calculating the rotation speed of the rotary motor through the rotation angle, and calculating the suspension speed of the main clamp when the main clamp is in suspension movement through the suspension displacement; a slip identification module for calculating the theoretical pitch parameter of the drill pipe according to the suspension speed and the rotation speed, and identifying whether the iron roughneck occurs rotary slip through the corresponding relationship between the actual pitch parameter of the drill pipe and the theoretical pitch parameter; a clamping control module for adjusting the pressure of the clamping cylinder in the iron roughneck when the iron roughneck occurs rotary slip, so as to increase the clamping force of the main clamp and / or auxiliary clamp of the iron roughneck.

[0020] In a third aspect, the present application provides an iron roughneck, comprising: a memory, a processor, a clamping oil cylinder, a clamping pressure sensor, a clamping control valve, a clamping control device, a suspension oil cylinder, a suspension displacement sensor, a suspension control valve, a suspension control device, a rotary motor, a rotary angle sensor, a rotary control valve and a rotary control device; the memory and the processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the method of the first aspect or any of the corresponding embodiments thereof by executing the computer instructions; the processor is in communication connection with the clamping control device, the suspension control device and the rotary control device; the clamping control device is in communication connection with the clamping control valve and is used to control the action of the rotary control valve; the suspension control device is in communication connection with the suspension control valve and is used to control the action of the suspension control valve; the rotary control device is in communication connection with the rotary control valve and is used to control the action of the rotary control valve; the clamping oil cylinder, the clamping pressure sensor and the clamping control valve are in hydraulic connection; the suspension oil cylinder, the suspension displacement sensor and the suspension control valve are in hydraulic connection; the rotary motor, the rotary angle sensor and the rotary control valve are in hydraulic connection; the clamping pressure sensor, the suspension displacement sensor and the rotary angle sensor are also in communication connection with the corresponding clamping control device, suspension control device and rotary control device respectively; the clamping control valve, suspension control valve and rotary control valve are used to control the action of the clamping oil cylinder, suspension oil cylinder and rotary motor respectively; the clamping oil cylinder, suspension oil cylinder and rotary motor are used to realize the clamping of the iron roughneck, the suspension of the main tong and the rotation of the main tong respectively.

[0021] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for making a computer execute the method of the first aspect or any of the corresponding embodiments thereof. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a flowchart of a clamping control method of an iron roughneck according to an embodiment of the present application;

[0024] Figure 2 is another flowchart of a clamping control method of an iron roughneck according to an embodiment of the present application;

[0025] Figure 3 is still another flowchart of a clamping control method of an iron roughneck according to an embodiment of the present application;

[0026] Figure 4 is a structural diagram of a clamp control device of an iron roughneck according to an embodiment of the present application;

[0027] Figure 5 is a schematic diagram of a hardware structure of an iron roughneck according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0029] According to the embodiments of the present application, an embodiment of a clamp control method of an iron roughneck is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0030] In the present embodiment, a clamp control method of an iron roughneck is provided, which can be used in the iron roughneck described above, Figure 1 is a flowchart of a clamp control method of an iron roughneck according to an embodiment of the present application, as shown in Figure 1 the flowchart includes the following steps:

[0031] In step S101, the suspension displacement of the suspension cylinder and the rotation angle of the rotation motor in the iron roughneck are obtained. The suspension cylinder is used to control the suspension movement of the main tong, and the rotation motor is used to control the rotation movement of the main tong.

[0032] Specifically, the present embodiment proposes a scheme of automatic identification of slipping during the running of make-up or break-out of the drill pipe based on the characteristics that the pitch of the drill pipe itself is constant. The present embodiment first measures the theoretical parameters about the pitch of the drill pipe, and compares them with the actual pitch parameters of the drill pipe. When the rotating slipping phenomenon occurs in the clamping tong in the main tong and / or auxiliary tong, the theoretical pitch parameters and the actual pitch parameters measured should have a large error, so as to realize the accurate identification of the rotating slipping of the iron roughneck. Based on this scheme, in this step, the suspension displacement of the suspension cylinder and the rotation angle of the rotation motor in the iron roughneck are obtained, so as to prepare for the subsequent measurement of the parameters about the pitch of the drill pipe.

[0033] In step S102, the rotation speed of the rotation motor is calculated through the rotation angle, and the suspension speed of the main tong when performing the suspension movement is calculated through the suspension displacement.

[0034] Similarly, the step prepares for the subsequent measurement of the theoretical pitch parameter of the drill pipe pitch by calculating the rotation speed of the rotary motor and the suspension speed of the main clamp suspension. Specifically, the embodiment can obtain the rotation angles of the rotary motor at two different times, and calculate the rotation speed of the rotary motor by the ratio of the change amount of the rotation angle and the time difference between the two times. In addition, the embodiment can record the suspension displacement of the suspension cylinder at two different times, and calculate the suspension speed of the main clamp suspension by the ratio of the change amount of the suspension displacement and the time difference between the two times.

[0035] Step S103, calculating the theoretical pitch parameter of the drill pipe according to the suspension speed and the rotation speed, and identifying whether the iron roughneck occurs rotational slip through the corresponding relationship between the actual pitch parameter and the theoretical pitch parameter of the drill pipe.

[0036] Specifically, the embodiment first calculates the theoretical pitch parameter of the drill pipe according to the suspension speed and the rotation speed. The calculation process can include: calculating the measurement pitch by the ratio of the suspension speed and the rotation speed; or calculating the inverse of the measurement pitch by the ratio of the rotation speed and the suspension speed. In addition, if the measurement pitch or the inverse of the measurement pitch has a small value, which is not convenient for analysis and judgment, the measurement pitch or the inverse of the measurement pitch can also be enlarged by a certain proportion. The above-mentioned calculation method of the theoretical pitch parameter is only used as an example, and is not limited thereto. Other methods of calculating the theoretical pitch parameter of the drill pipe pitch through algebraic processing are also available. Then, the actual pitch of the drill pipe is obtained, and the actual pitch parameter is obtained by corresponding processing of the actual pitch through the above-mentioned step. When the iron roughneck does not occur rotational slip, the actual pitch parameter and the theoretical pitch parameter should be the same. Therefore, when the actual pitch parameter and the theoretical pitch parameter are different, the embodiment determines that the iron roughneck occurs rotational slip, thereby realizing the automatic identification scheme for the rotational slip of the iron roughneck.

[0037] In some optional embodiments, the above-mentioned step S103 includes:

[0038] Step a1, calculating the ratio of the suspension speed to the rotation speed to obtain the theoretical pitch parameter.

[0039] Step a2, obtaining the pitch of the drill pipe as the actual pitch parameter.

[0040] Step a3, calculating the parameter difference between the theoretical pitch parameter and the actual pitch parameter.

[0041] Step a4, when the parameter difference is greater than a preset parameter threshold, determining that the iron roughneck occurs rotational slip.

[0042] Specifically, the embodiment calculates the measured pitch of the drill pipe by the ratio of the suspension speed and the rotation speed, and takes the measured pitch as the theoretical pitch parameter, so that the subsequent comparison step of the theoretical pitch parameter and the actual pitch parameter is more simple and easy to implement, and the accuracy and efficiency of the rotating slip identification are further improved. In addition, although the theoretical pitch parameter and the actual pitch parameter should be completely the same under ideal conditions, but in actual application, it is difficult to guarantee such ideal conditions, so the embodiment considers that there should be a certain error redundancy between the theoretical pitch parameter and the actual pitch parameter, so the parameter difference between the theoretical pitch parameter and the actual pitch parameter is calculated; secondly, when the parameter difference is greater than the preset parameter threshold, it is determined that the iron roughneck occurs rotating slip, which can effectively avoid the case of alarm when the theoretical pitch parameter and the actual pitch parameter have a small error, reduce the generation of false alarm, and further avoid the case of frequent adjustment of the pressure of the clamping cylinder, improve the reliability of the iron roughneck.

[0043] Step S104, when the iron roughneck occurs rotating slip, the pressure of the clamping cylinder in the iron roughneck is adjusted to increase the clamping force of the main jaw and / or auxiliary jaw of the iron roughneck.

[0044] Specifically, when the rotating slip of the iron roughneck is identified, the pressure of the clamping cylinder in the iron roughneck is adjusted in time to increase the clamping force of the main jaw and / or auxiliary jaw of the iron roughneck, and the drill pipe is further clamped to suppress the phenomenon of rotating slip from continuing to occur.

[0045] The embodiment provides a clamping control method of an iron roughneck, which combines the characteristics of the unchanged screw pitch of a drill pipe, and in the running process of screwing or unscrewing the drill pipe, the theoretical pitch parameter about the screw pitch can be calculated according to the ratio and quantity relationship between the rotation speed and the suspension speed of the up and down displacement. The embodiment considers that when the clamping jaw of the iron roughneck does not rotate and slip, the suspension displacement generated by the suspension cylinder should be stable and change at a constant speed, and correspondingly, the suspension speed calculated in a certain time should be stable and unchangeable, so that the theoretical pitch parameter calculated should have a stable and unchangeable corresponding relationship with the actual pitch parameter of the drill pipe. When the clamping force of the clamping jaw of the iron roughneck is small and the clamping jaw rotates and slips, the number of rotation of the drill pipe is reduced, so the axial displacement generated by the rotation of the thread is reduced, and then the suspension displacement generated by the suspension cylinder is smaller than the theoretical suspension displacement, and correspondingly, the suspension speed calculated in a certain time changes, so that the error between the theoretical pitch parameter and the actual pitch parameter of the drill pipe is larger. Based on this, the embodiment installs an angle sensor and a displacement sensor to the iron roughneck, monitors the suspension displacement of the suspension cylinder and the rotation angle of the rotation motor in real time, so as to calculate the theoretical pitch parameter; and then, through the corresponding relationship change between the theoretical pitch parameter and the actual pitch parameter, the phenomenon of the rotation and slip of the iron roughneck is accurately and automatically identified, and then the pressure of the clamping cylinder in the iron roughneck is adjusted, so that the clamping force of the main jaw and / or the auxiliary jaw of the iron roughneck is increased, the accuracy and timeliness of the slip phenomenon identification of the iron roughneck are improved, and then the timeliness of the clamping force control is improved.

[0046] In some optional embodiments, as shown in Figure 2 and Figure 3 The clamping control method of the iron roughneck provided by the embodiment further includes the following steps:

[0047] In step S201, the pressure of the clamping cylinder in the iron roughneck is obtained, and the clamping force of the main jaw and / or the auxiliary jaw is calculated according to the pressure of the clamping cylinder.

[0048] Specifically, in addition to the above embodiment identifying the phenomenon of rotating slip, the embodiment also provides an automatic identification scheme for axial slip of the iron roughneck in the suspension direction of the drill pipe. Specifically, data is collected through the pressure sensor installed on the clamping cylinder and the displacement sensor on the suspension cylinder, and the increment of the main clamp suspension movement is calculated based on the collected data, and then the suspension increment is identified. If the iron roughneck does not slip axially, the suspension increment should change uniformly and stably and remain the same as the axial displacement of the drill pipe. Based on this, the embodiment determines that the suspension increment should be within a certain range. When the iron roughneck slips axially, the increment of the suspension cylinder itself will be greater than the suspension displacement of the drill pipe, resulting in a large error in the calculated suspension increment, so as to realize automatic identification of axial slip by using the increment of the main clamp suspension movement. In order to realize the above idea, first, the pressure of the clamping cylinder in the iron roughneck is obtained, and the pressure of the clamping cylinder is converted and calculated according to the geometric relationship of the main clamp and / or auxiliary clamp to obtain the clamping force of the main clamp and / or auxiliary clamp, preparing for the subsequent steps.

[0049] Step S202, record the initial suspension position of the suspension cylinder according to the clamping force and the rotation angle.

[0050] Step S203, determine the suspension increment of the suspension cylinder according to the difference between the suspension displacement and the initial suspension position.

[0051] Specifically, the displacement sensor is used to record the current state of the suspension cylinder, specifically the suspension position, rather than directly recording the change amount, so that the embodiment needs to record the initial suspension position of the suspension cylinder in advance, and then determine the suspension increment of the suspension cylinder according to the difference between the suspension displacement and the initial suspension position. In the embodiment, the initial suspension position is identified by the clamping force and the rotation angle, for example: when the clamping force reaches a certain value and the rotation angle is at a certain specific angle, the suspension position corresponding to this state is defined as the initial suspension position, so that the initial suspension position is determined by real-time monitoring of the clamping force and the rotation angle, and compared with the pre-defined state, realizing a quantitative identification scheme for the initial suspension position. The state corresponding to the initial suspension position needs to be defined in combination with the actual application scenario, and the embodiment is only exemplified and is not limited thereto.

[0052] In some optional embodiments, the above step S202 comprises:

[0053] Step b1, identify the initial state that the iron roughneck has clamped the drill pipe and has not been rotated by the clamping force and the rotation angle.

[0054] Step b2, obtain the initial suspension displacement of the suspension cylinder when the iron roughneck is in the initial state as the initial suspension position.

[0055] Specifically, in order to further reduce the measurement error, the embodiment defines the state that the iron roughneck has clamped the drill pipe and has not carried out the make-up operation as the initial state according to the clamping force and the rotation angle, so as to represent the state that the iron roughneck can start the make-up operation at any time but has not formally started the make-up, and defines the initial suspension displacement of the suspension cylinder in the initial state as the suspension initial position. The state corresponding to the suspension initial position is a certain motion state that the iron roughneck is difficult to identify, thereby overcoming the problem that the suspension initial position is inaccurate due to inaccurate identification of the motion state.

[0056] In some optional embodiments, the step b1 includes:

[0057] Step c1, judging whether the clamping force is greater than a preset clamping force threshold.

[0058] Step c2, when the clamping force is greater than the preset clamping force threshold, calculating the angular velocity of the rotary motor through the rotation angle.

[0059] Step c3, when the angular velocity is less than a preset angular velocity threshold, recording the current state of the iron roughneck as the initial state.

[0060] Specifically, whether the iron roughneck has clamped the drill pipe belongs to a qualitative state rather than a quantitative state, and the computer cannot identify it by observation, so the embodiment proposes a scheme for quantitatively determining whether the main clamp has clamped the drill pipe through the clamping force of the main clamp, specifically by setting a preset clamping force threshold, and then judging whether the clamping force is greater than the preset clamping force threshold. The preset clamping force threshold needs to be flexibly set according to the actual application scenario, for example, at a certain historical moment, when the clamping jaws of the iron roughneck and the drill pipe are brand new (without any wear), and the surfaces of the clamping jaws and the drill pipe are also free of any substances that can produce lubrication effect, the historical monitoring clamping force when the clamping jaws can clamp the drill pipe for make-up operation without sliding is read, and the preset clamping force threshold is set based on the clamping force, for example, the preset clamping force threshold can be equal to the historical monitoring clamping force or the preset clamping force threshold can be slightly greater than the historical monitoring clamping force. Similarly, the embodiment provides a scheme for quantitatively identifying the non-rotation state of the iron roughneck through the angular velocity of the rotary motor, specifically by setting a preset angular velocity threshold, then calculating the angular velocity of the rotary motor through the rotation angle in a very short period of time, and then judging whether the angular velocity is less than the preset angular velocity threshold. The preset angular velocity threshold needs to be flexibly set according to the actual application scenario, for example, the preset angular velocity threshold is set to 1 degree per second (only as an example, not limited thereto), when the angular velocity of the rotary motor is lower than 1 degree per second, it is considered that the make-up operation has not started, thereby determining that the current state of the iron roughneck is the initial state. Through the above steps, the embodiment realizes a method for quantitatively identifying the initial state of the iron roughneck, and improves the accuracy of the initial state identification of the iron roughneck.

[0061] Step S204, according to the size relationship between the suspension increment and the preset increment threshold, it is determined whether the iron roughneck occurs axial slip.

[0062] Step S205, when the iron roughneck occurs axial slip, the pressure of the clamping cylinder in the iron roughneck is adjusted to increase the clamping force of the main jaw and / or auxiliary jaw of the iron roughneck.

[0063] Specifically, when the clamping force of the main jaw or auxiliary jaw is insufficient and axial slip occurs, in the process of making up or breaking out, the suspension increment generated by the main jaw (negative for making up, positive for breaking out) will exceed a certain reasonable range, and the embodiment defines the preset increment threshold to represent the reasonable range (according to the direction of making up or breaking out, the sign of the preset increment threshold is the same as the sign corresponding to the suspension increment), so that when the suspension increment exceeds the preset increment threshold, it is determined that the iron roughneck occurs axial slip, and then the pressure of the clamping cylinder in the iron roughneck is adjusted to increase the clamping force of the main jaw and / or auxiliary jaw of the iron roughneck. For example, when the screwing operation stops, the suspension increment generated by the main jaw is calculated, the suspension increment is compared with the preset increment threshold, when the suspension increment exceeds the preset increment threshold, it is determined that axial slip occurs, so that the clamping force of the main jaw and / or auxiliary jaw of the iron roughneck is adjusted to ensure that the next making up or breaking out operation does not occur slip phenomenon.

[0064] In some optional embodiments, the above step S204 comprises:

[0065] Step d1, when the iron roughneck is screwing, the suspension increment is counted at a preset time interval.

[0066] Step d2, the suspension increment counted at each time is compared with the preset increment threshold corresponding to each time in turn.

[0067] Step d3, when the suspension increment at a certain time is greater than the preset increment threshold corresponding to the time, it is determined that the iron roughneck occurs axial slip.

[0068] Specifically, in order to detect the axial slip problem in real time during the screwing operation of the iron roughneck, so as to further improve the timeliness of identifying the axial slip problem. The embodiment combines historical experience data for calculation, and different preset increment thresholds are set for different screwing times in advance, so that the suspension increment is counted at a preset time interval during the screwing operation of the iron roughneck, and the suspension increment counted at each time is compared with the preset increment threshold corresponding to each time in turn, once the suspension increment at a certain time is greater than the preset increment threshold corresponding to the time, it is determined that the iron roughneck occurs axial slip, so as to realize the real-time monitoring scheme for the axial slip phenomenon of the iron roughneck.

[0069] Specifically, the iron roughneck clamping control method provided by the embodiment of the present application can accurately identify the axial slip phenomenon of the iron roughneck caused by small clamping force through the above steps S201 to S205. Specifically, the initial suspension position of the suspension cylinder is recorded according to the pressure and rotation angle of the clamping cylinder, and then the suspension increment of the suspension cylinder is determined by calculating the difference between the suspension displacement and the initial suspension position. If the iron roughneck does not slip axially, the suspension increment should change uniformly and stably and be within a certain range. When the iron roughneck slips axially, the displacement of the suspension cylinder itself will be greater than the suspension displacement of the drill pipe, so that the calculated suspension increment will have a large error. The embodiment of the present application characterizes the reasonable suspension increment range by a preset increment threshold, and monitors in real time whether the suspension increment exceeds the range characterized by the preset increment threshold, so as to accurately identify the axial slip phenomenon of the iron roughneck, improve the timeliness of identifying the axial slip phenomenon of the iron roughneck, and further improve the timeliness of the iron roughneck controlling the clamping force of the main tong and / or auxiliary tong.

[0070] In the embodiment, an iron roughneck clamping control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and contemplated.

[0071] The embodiment provides an iron roughneck clamping control device, as shown in Figure 4 The device comprises:

[0072] The data acquisition module 401 is configured to acquire the suspension displacement of the suspension cylinder and the rotation angle of the rotary motor in the iron roughneck. The suspension cylinder is used to control the suspension movement of the main tong, and the rotary motor is used to control the rotation movement of the main tong. For details, refer to the related description of step S101 in the above method embodiment, which will not be described again here.

[0073] The speed calculation module 402 is configured to calculate the rotation speed of the rotary motor through the rotation angle, and calculate the suspension speed of the main tong when the main tong is in suspension movement through the suspension displacement. For details, refer to the related description of step S102 in the above method embodiment, which will not be described again here.

[0074] The slip identification module 403 is configured to calculate the theoretical pitch parameter of the drill pipe according to the suspension speed and the rotation speed, and identify whether the iron roughneck slips rotationally through the corresponding relationship between the actual pitch parameter and the theoretical pitch parameter of the drill pipe. For details, refer to the related description of step S103 in the above method embodiment, which will not be described again here.

[0075] The clamping control module 404 is used to adjust the pressure of the clamping cylinder in the iron drill when the drill slips during rotation, so as to increase the clamping force of the main clamp and / or auxiliary clamp of the iron drill. For details, please refer to the relevant description of step S104 in the above method embodiment, which will not be repeated here.

[0076] In this embodiment, a clamping control device for a steel driller is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0077] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0078] This invention also provides a drill maker with the above-described features. Figure 4 The image shows a clamping control device for a steel driller.

[0079] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an iron drill provided by an optional embodiment of the present invention, such as... Figure 5 As shown, it includes: memory 01, processor 02, clamping cylinder 03, clamping pressure sensor 04, clamping control valve 05, clamping control device 06, suspension cylinder 07, suspension displacement sensor 08, suspension control valve 09, suspension control device 10, rotary motor 11, rotation angle sensor 12, rotation control valve 13, and rotation control device 14.

[0080] The memory 01 and the processor 02 are interconnected and communicate with each other. The memory 01 stores computer instructions, and the processor 02 executes the computer instructions to perform the method provided in the above method embodiment.

[0081] The processor 02 is communicatively connected to the clamping control device 06, the suspension control device 10, and the rotation control device 14, respectively. The clamping control device 06 is communicatively connected to the clamping control valve 05 and is used to control the operation of the rotation control valve 13. The suspension control device 10 is communicatively connected to the suspension control valve 09 and is used to control the operation of the suspension control valve 09. The rotation control device 14 is communicatively connected to the rotation control valve 13 and is used to control the operation of the rotation control valve 13.

[0082] The clamping oil cylinder 03, the clamping pressure sensor 04 and the clamping control valve 05 are hydraulically connected; the suspension oil cylinder 07, the suspension displacement sensor 08 and the suspension control valve 09 are hydraulically connected; the rotary motor 11, the rotary angle sensor 12 and the rotary control valve 13 are hydraulically connected; the clamping pressure sensor 04, the suspension displacement sensor 08 and the rotary angle sensor 12 are also respectively in communication connection with the corresponding clamping control device 06, the suspension control device 10 and the rotary control device 14; the clamping control valve 05, the suspension control valve 09 and the rotary control valve 13 are respectively used for controlling the actions of the clamping oil cylinder 03, the suspension oil cylinder 07 and the rotary motor 11; the clamping oil cylinder 03, the suspension oil cylinder 07 and the rotary motor 11 are respectively used for realizing the clamping of the iron roughneck, the suspension of the main tong and the rotary buckling of the main tong. The clamping pressure sensor 04 is used for monitoring the pressure of the clamping oil cylinder, the suspension displacement sensor 08 is used for monitoring the displacement position of the suspension oil cylinder, and the rotary angle sensor 12 is used for monitoring the rotary angle of the rotary motor.

[0083] The processor 02 can process instructions executed in the iron roughneck, including instructions stored in the memory 01 or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory, if necessary. Also, multiple computer devices can be connected, each device providing part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 The processor is taken as an example in the embodiment.

[0084] The processor 02 can be a central processor, a network processor or a combination thereof. The processor 02 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a general array logic or any combination thereof.

[0085] The memory 01 stores instructions executable by the at least one processor, so that the at least one processor executes the method shown in the above embodiments.

[0086] The memory 01 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the computer device according to the display of a small program landing page, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-transient memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transient solid-state memory device. In some optional embodiments, the memory can optionally include a memory remotely arranged relative to the processor, and the remote memory can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0087] The memory 01 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk or a solid state disk; and the memory can also include a combination of the above-mentioned kinds of memories.

[0088] The clamping control valve 05, the suspension control valve 09 and the rotation control valve 13 are all electromagnetic reversing valves of the hydraulic system. The clamping control device 06, the suspension control device 10 and the rotation control device 14 are embedded chips capable of responding to instructions issued by the processor and forwarding corresponding control signals, such as 51 chips, STM32 chips, etc.

[0089] The embodiments of the present application also provide a computer readable storage medium, and the above-mentioned method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transient machine readable storage medium and stored in a local storage medium through network downloading of computer code, so that the method described herein can be processed by such software on a storage medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned kinds of memories. It can be understood that the computer, the processor, the microprocessor controller or the programmable hardware include a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor or the hardware, the method shown in the above embodiments is implemented.

[0090] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method of clamp control of an iron roughneck, characterized by, The method comprises: obtaining a suspension displacement of a suspension cylinder in the iron roughneck and a rotation angle of a rotation motor, the suspension cylinder being used to control a suspension movement of a main tong, and the rotation motor being used to control a rotation movement of the main tong; calculating a rotation speed of the rotation motor through the rotation angle and calculating a suspension speed of the main tong when the main tong is moving in suspension through the suspension displacement; calculating a theoretical pitch parameter of a drill pipe according to the suspension speed and the rotation speed, and identifying whether the iron roughneck has rotation slip through a corresponding relationship between the theoretical pitch parameter and an actual pitch parameter of the drill pipe; when the iron roughneck has rotation slip, adjusting a pressure of a clamping cylinder in the iron roughneck to increase a clamping force of the main tong and / or an auxiliary tong of the iron roughneck.

2. The method of claim 1, wherein, The method further comprises: obtaining the pressure of the clamping cylinder in the iron roughneck and calculating the clamping force of the main tong and / or the auxiliary tong according to the pressure of the clamping cylinder; recording a suspension initial position of the suspension cylinder according to the clamping force and the rotation angle; determining a suspension increment of the suspension cylinder according to a difference between the suspension displacement and the suspension initial position; judging whether the iron roughneck has axial slip according to a size relationship between the suspension increment and a preset increment threshold value; when the iron roughneck has axial slip, adjusting the pressure of the clamping cylinder in the iron roughneck to increase the clamping force of the main tong and / or the auxiliary tong of the iron roughneck.

3. The method according to claim 1 or 2, characterized in that, The calculating of the theoretical pitch parameter of the drill pipe according to the suspension speed and the rotation speed comprises: calculating a ratio of the suspension speed to the rotation speed to obtain the theoretical pitch parameter.

4. The method of claim 3, wherein, The identifying of whether the iron roughneck has rotation slip through the corresponding relationship between the theoretical pitch parameter and the actual pitch parameter of the drill pipe comprises: obtaining a pitch of the drill pipe as the actual pitch parameter; calculating a parameter difference between the theoretical pitch parameter and the actual pitch parameter; when the parameter difference is greater than a preset parameter threshold value, judging that the iron roughneck has rotation slip.

5. The method of claim 2, wherein, The recording of the suspension initial position of the suspension cylinder according to the clamping force and the rotation angle comprises: identifying an initial state in which the iron roughneck has clamped the drill pipe and has not performed rotation through the clamping force and the rotation angle; obtaining an initial suspension displacement of the suspension cylinder when the iron roughneck is in the initial state as the suspension initial position.

6. The method of claim 5, wherein, The identifying of the initial state in which the iron roughneck has clamped the drill pipe and has not performed rotation through the clamping force and the rotation angle comprises: judging whether the clamping force is greater than a preset clamping force threshold value; when the clamping force is greater than the preset clamping force threshold value, calculating an angular velocity of the rotation motor through the rotation angle; when the angular velocity is less than a preset angular velocity threshold value, recording a current state of the iron roughneck as the initial state.

7. The method of claim 2, wherein, The judging of whether the iron roughneck has axial slip according to the size relationship between the suspension increment and the preset increment threshold value comprises: when the iron roughneck performs rotation, statistically obtaining the suspension increment at a preset time interval; sequentially comparing the suspension increment obtained at each time with a preset increment threshold value corresponding to each time; when the suspension increment at a certain time is greater than the preset increment threshold value corresponding to the certain time, judging that the iron roughneck has axial slip.

8. A clamping control device for an iron roughneck, characterized by, The device comprises: a data acquisition module configured to acquire a suspension displacement of a suspension cylinder in the iron roughneck and a rotation angle of a rotation motor, the suspension cylinder being configured to control a suspension movement of a main tong, and the rotation motor being configured to control a rotation movement of the main tong; a speed calculation module configured to calculate a rotation speed of the rotation motor based on the rotation angle, and calculate a suspension speed of the main tong when performing the suspension movement based on the suspension displacement; a slip identification module configured to calculate a theoretical pitch parameter of the drill pipe based on the suspension speed and the rotation speed, and identify whether the iron roughneck has rotation slip based on a correspondence between an actual pitch parameter of the drill pipe and the theoretical pitch parameter; a clamping control module configured to adjust a pressure of a clamping cylinder in the iron roughneck to increase a clamping force of the main tong and / or an auxiliary tong of the iron roughneck when the iron roughneck has the rotation slip.

9. An iron roughneck characterized by, comprise: a memory, a processor, a clamping cylinder, a clamping pressure sensor, a clamping control valve, a clamping control device, a suspension cylinder, a suspension displacement sensor, a suspension control valve, a suspension control device, a rotation motor, a rotation angle sensor, a rotation control valve, and a rotation control device; the memory and the processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method in any one of claims 1 to 7; the processor is in communication connection with the clamping control device, the suspension control device, and the rotation control device respectively; the clamping control device is in communication connection with the clamping control valve and configured to control the rotation control valve; the suspension control device is in communication connection with the suspension control valve and configured to control the suspension control valve; and the rotation control device is in communication connection with the rotation control valve and configured to control the rotation control valve; the clamping cylinder, the clamping pressure sensor, and the clamping control valve are in hydraulic connection; the suspension cylinder, the suspension displacement sensor, and the suspension control valve are in hydraulic connection; the rotation motor, the rotation angle sensor, and the rotation control valve are in hydraulic connection; the clamping pressure sensor, the suspension displacement sensor, and the rotation angle sensor are also in communication connection with the clamping control device, the suspension control device, and the rotation control device respectively; the clamping control valve, the suspension control valve, and the rotation control valve are configured to control actions of the clamping cylinder, the suspension cylinder, and the rotation motor respectively; and the clamping cylinder, the suspension cylinder, and the rotation motor are configured to realize clamping of the iron roughneck, suspension of the main tong, and rotation of the main tong respectively.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to execute the method in any one of claims 1 to 7.

Images