Oil pipe remote screwing-on and screwing-off control system, method and equipment for under-pressure operation

Abstract

The invention relates to the field of oil and gas drilling and production control systems, in particular to an oil pipe remote screwing-on and screwing-off control system, method and equipment for under-pressure operation. The monitoring unit is used for monitoring the operation state of the iron roughneck in real time, the control unit issues the control instruction to the hydraulic adjusting unit, and the hydraulic adjusting unit adjusts hydraulic oil conveying of all the power assemblies in the iron roughneck according to the control instruction, so that the operation state of the iron roughneck is controlled, and screwing-on and screwing-off operation of oil pipe joints is completed. A worker can remotely control the iron roughneck to execute the screwing-on and screwing-off operation of the oil pipe joint, the worker does not need to make direct contact with the high-pressure environment, the worker can be prevented from being exposed in potential danger, and the risk of personnel injury is reduced. In the process of executing the screwing-on and screwing-off operation by using the device, the monitoring unit monitors the operation state of the iron roughneck in real time, and a worker can adjust each power assembly of the iron roughneck through the control unit, so that the accuracy of the screwing-on and screwing-off operation is ensured.

Description

Technical Field

[0001] The present invention relates to the field of oil and gas drilling and production control systems, and in particular to a control system, method and equipment for remote make-up and break-out of oil pipes under pressure operation. Background Art

[0002] When performing well repair operations under pressure in oil and gas fields, the Iron Roughneck is one of the core components of oil and gas well operation equipment. This equipment is mainly used for the make-up and make-out operations of oil pipe joints, as well as the screw-in operations. Traditional iron roughneck equipment requires workers to go to the pressurized operation platform and manually operate the equipment on site. This not only requires workers to be directly exposed to high-pressure environments, but also requires workers to manually push heavy equipment to complete tasks. In addition, since oil and gas fields are usually located in areas with harsh natural environments, there are often extreme climatic conditions such as strong winds and severe cold, which makes workers face higher safety risks when performing make-up and make-out operations, as well as screw-in operations. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that traditional iron roughneck equipment requires workers to personally work on a pressure-operated machine platform, which poses a high safety risk, and to provide a remote make-up and break-out control system, method and equipment for oil pipes under pressure.

[0004] First, the present invention provides a remote make-up and break-out control system for oil pipes under pressure operation. The remote make-up and break-out control system for oil pipes under pressure operation provided by the present invention includes: an iron roughneck, a monitoring unit, a control unit and a hydraulic adjustment unit. The iron roughneck is used to perform make-up and break-out operations of oil pipe joints. The iron roughneck includes: a main tong for clamping the upper pipe; a slewing mechanism for driving the main tong to rotate; and a backup tong for clamping the lower pipe. The power assembly of the slewing mechanism is configured as a hydraulic motor. The monitoring unit is used to monitor the operation state of the iron roughneck in real time. The hydraulic adjustment unit is connected to the hydraulic motor through a hydraulic pipeline, and adjusts the hydraulic parameters of the hydraulic motor by adjusting the delivery of hydraulic oil, thereby controlling the operation state of the slewing mechanism. The control unit generates a control instruction according to the monitoring data of the monitoring unit and sends it to the hydraulic adjustment unit. The hydraulic adjustment unit adjusts the hydraulic parameters of the hydraulic motor according to the control instruction to complete the make-up and break-out operations of the oil pipe joint. When performing the make-up operation, the hydraulic motor works in sequence with the first hydraulic parameter, the second hydraulic parameter, and the third hydraulic parameter. Preferably, the pressure of the hydraulic motor when operating at the first hydraulic parameter is lower than the pressure of the hydraulic motor when operating at the second hydraulic parameter. The hydraulic motor gradually increases the pressure to a third preset pressure when operating at the third hydraulic parameter.

[0005] According to a preferred embodiment, the main tongs are arranged above the slewing mechanism, and the backup tongs are arranged below the slewing mechanism. The power assembly of the iron roughneck also includes: a main tongs hydraulic cylinder configured for the main tongs and a backup tongs hydraulic cylinder configured for the backup tongs. The main tongs hydraulic cylinder, the hydraulic motor and the backup tongs hydraulic cylinder are respectively connected to the hydraulic adjustment unit through hydraulic pipelines. The hydraulic adjustment unit can control the working parameters of the main tongs, the hydraulic motor and the backup tongs hydraulic cylinder by adjusting the hydraulic parameters of the main tongs hydraulic cylinder, the hydraulic motor and the backup tongs hydraulic cylinder.

[0006] According to a preferred embodiment, the monitoring unit includes: a camera for collecting docking images of the upper pipeline and the lower pipeline; an encoder, which is arranged on the rotary mechanism and is used to obtain the number of rotations and the rotation speed of the rotary mechanism. The camera and the encoder are respectively connected to the control unit for communication.

[0007] According to a preferred embodiment, the hydraulic parameters include: hydraulic pressure, flow rate, and flow direction. The hydraulic adjustment unit can clamp or loosen the main clamp by adjusting the hydraulic parameters of the main clamp cylinder. The hydraulic adjustment unit can control the speed and rotation direction of the hydraulic motor by adjusting the hydraulic parameters of the hydraulic motor, and then control the speed and rotation direction of the main clamp driven by the slewing mechanism. The hydraulic adjustment unit can clamp or loosen the backup clamp by adjusting the hydraulic parameters of the backup clamp cylinder. Preferably, after the make-up is completed or the break-out is completed, the control unit controls the main clamp and the backup clamp to loosen through the hydraulic adjustment unit.

[0008] According to a preferred embodiment, when performing the make-up operation, the control unit first determines whether the upper pipe and the lower pipe have been fastened together through the camera. In the case of fastening together, the control unit controls the main clamp and the backup clamp to clamp the oil pipe through the hydraulic adjustment unit. In the case that the main clamp clamps the upper pipe and the backup clamp clamps the lower pipe, the control unit controls the hydraulic motor to work for a first preset time with a first hydraulic parameter through the hydraulic adjustment unit, so that the slewing mechanism drives the main clamp to rotate in a first direction; and the control unit determines whether the upper pipe and the lower pipe are fastened successfully through the data collected by the camera and the encoder. In the case that the upper pipe and the lower pipe are fastened successfully, the control unit controls the hydraulic motor to work for a second preset time with a second hydraulic parameter through the hydraulic adjustment unit, and then the control unit controls the hydraulic motor to work with a third hydraulic parameter through the hydraulic adjustment unit until the make-up is completed.

[0009] According to a preferred embodiment, when the hydraulic motor works with a first hydraulic parameter, the hydraulic motor drives the slewing mechanism to rotate in a first direction with a first preset pressure. When the hydraulic motor works with a second hydraulic parameter, the hydraulic motor drives the slewing mechanism to rotate in a first direction with a second preset pressure. Wherein, the first preset pressure is less than the second preset pressure. When the hydraulic motor works with a third hydraulic parameter, the hydraulic motor drives the slewing mechanism to rotate in a first direction, and the hydraulic motor gradually pressurizes to a third preset pressure. Wherein, when the hydraulic motor pressurizes to the third preset pressure, the make-up is completed.

[0010] According to a preferred embodiment, when performing the shattering operation, the control unit first controls the main tongs and the backup tongs to clamp the oil pipe through the hydraulic adjustment unit. When the main tongs clamp the upper pipeline and the backup tongs clamp the lower pipeline, the control unit controls the hydraulic motor to work with the fourth hydraulic parameter through the hydraulic adjustment unit until the shattering is completed. When the hydraulic motor works with the fourth hydraulic parameter, the hydraulic motor drives the slewing mechanism to rotate in the second direction with a fourth preset pressure. The second direction is opposite to the first direction. The control unit determines whether the upper pipeline and the lower pipeline are separated through the camera, and if the upper pipeline and the lower pipeline are separated, the shattering is completed.

[0011] According to a preferred embodiment, the control unit is provided with a display screen, a data processor and an input module. The data processor is respectively connected to the display screen, the input module, the monitoring unit and the hydraulic adjustment unit. The data collected by the monitoring unit is processed by the data processor and transmitted to the display screen for display. The hydraulic parameters of the power assembly are processed by the data processor and transmitted to the display screen for display. The data processor generates a control instruction according to the data sent by the input module and sends the control instruction to the hydraulic adjustment unit to control the operation state of the iron roughneck.

[0012] Secondly, the present invention also provides a method for controlling the remote make-up and make-out of a tubing under pressure. The method for controlling the remote make-up and make-out of a tubing under pressure provided by the present invention is implemented by using the aforementioned control system for controlling the remote make-up and make-out of a tubing under pressure. When performing the make-up operation, the method for controlling the remote make-up and make-out of a tubing under pressure provided by the present invention comprises the following steps: S11, judging whether the upper pipe and the lower pipe are fastened together; if they are fastened together, executing step S12; S12, the main tongs clamp the upper pipe, and the backup tongs clamp the lower pipe; S13, the slewing mechanism drives the main clamp to rotate along the first direction, and determines whether the buckling is successful; if the buckling is unsuccessful, the main clamp releases the upper pipe, lifts the upper pipe, and buckles it again; if the buckling is successful, execute step S14; S14, the rotary mechanism drives the main pliers to rotate a preset number of revolutions or a second preset time in the first direction; and the rotation speed of the rotary mechanism in step S14 is higher than the rotation speed of the rotary mechanism in step S13; S15, the slewing mechanism drives the main pliers to continue rotating in the first direction until the pressure of the hydraulic motor reaches a third preset pressure; S16, the main tongs release the upper pipeline, and the backup tongs release the lower pipeline.

[0013] According to a preferred embodiment, when performing a shackle operation, the method for controlling a remote shackle of a tubing under pressure provided by the present invention comprises the following steps: S21, the main tongs clamp the upper pipe, and the backup tongs clamp the lower pipe; S22, the rotary mechanism drives the main clamp to rotate along the second direction until the upper pipe is separated from the lower pipe; S23, the main tongs release the upper pipeline, and the backup tongs release the lower pipeline.

[0014] Finally, the present invention also provides a pressure-operated operation equipment, including a power catwalk, a pipe lifting system, a pressure-operated operation machine, a tabletop robot arm and a ground robot arm. The power catwalk is arranged on one side of the pressure-operated operation machine. The ground robot arm is arranged between the power catwalk and the pressure-operated operation machine. The tabletop robot arm is arranged on the top platform of the pressure-operated operation machine. The pipe lifting system is used to transport the oil pipe between the power catwalk and the pressure-operated operation machine. The pressure-operated operation equipment also includes the oil pipe remote buckling and unbuckling control system for pressure-operated operation provided by the present invention, wherein the iron driller is installed on the pressure-operated operation machine.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a monitoring unit to monitor the operating status of the iron roughneck in real time, and sends a control instruction to the hydraulic adjustment unit through a control unit. The hydraulic adjustment unit adjusts the hydraulic oil delivery of each power component in the iron roughneck according to the control instruction, thereby controlling the operating status of the iron roughneck to complete the make-up and break-out operation of the oil pipe joint. The present invention remotely controls the iron roughneck to perform the make-up and break-out operation of the oil pipe joint through a control unit and a hydraulic adjustment unit, without requiring workers to directly contact a high-pressure environment, avoiding workers from being exposed to potential dangers, reducing the risk of personal injury, and ensuring the safety of performing the make-up and break-out operation of the oil pipe joint. In the process of performing the make-up and break-out operation using the present invention, the monitoring unit monitors the operating status of the iron roughneck in real time, and the worker can adjust the various power components of the iron roughneck through the control unit to ensure the accuracy of the make-up and break-out operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a communication connection diagram of a remote make-up and make-down control system for oil pipes under pressure operation according to a preferred embodiment of the present invention; Figure 2 A schematic diagram of an iron roughneck of a remote make-up and break-out control system for oil pipes under pressure operation according to a preferred embodiment of the present invention; Figure 3 A method for controlling the remote make-up and make-out of a tubing under pressure according to a preferred embodiment of the present invention is a flow chart of the make-up operation; Figure 4 This is a schematic diagram of a pressure working device according to a preferred embodiment of the present invention.

[0017] Markings in the figure: Iron roughneck 100, sliding rod 101, coil spring 102, connecting rod 103, main clamp 110, main clamp hydraulic cylinder 111, first mounting shell 112, through hole 113, mounting ear 114, slewing mechanism 120, hydraulic motor 121, spare clamp 130, spare clamp hydraulic cylinder 131, second mounting shell 132, monitoring unit 200, camera 210, encoder 220, control unit 300, hydraulic adjustment unit 400, power catwalk 501, pipe lifting system 502, belt pressure working machine 503, table robot arm 504, ground robot arm 505. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0019] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0020] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0021] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0022] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0023] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0024] Example 1 This embodiment is a remote make-up and break-out control system for oil pipes under pressure. Figure 1 The remote make-up and make-out control system for oil pipes under pressure provided in this embodiment includes: an iron roughneck 100, a monitoring unit 200, a control unit 300 and a hydraulic adjustment unit 400. The iron roughneck 100 is used to perform the make-up and make-out operation of the oil pipe joint. The monitoring unit 200 is used to monitor the operation status of the iron roughneck 100 in real time. Preferably, the monitoring unit 200 and the hydraulic adjustment unit 400 are respectively connected to the control unit 300 by signal. The power assembly of the iron roughneck 100 is connected to the hydraulic adjustment unit 400 through a hydraulic pipeline. The control unit 300 can send a control instruction to the hydraulic adjustment unit 400 according to the monitoring data of the monitoring unit 200, and the hydraulic adjustment unit 400 adjusts the delivery of the hydraulic oil according to the control instruction, thereby adjusting the operation status of the iron roughneck 100 to complete the make-up and make-out operation of the oil pipe joint.

[0025] See also Figure 2 Preferably, the iron roughneck 100 comprises: a main tong 110 for clamping the upper pipe; a slewing mechanism 120 for driving the main tong 110 to rotate; a backup tong 130 for clamping the lower pipe; and a power assembly of the slewing mechanism 120 is configured as a hydraulic motor 121. The upper pipe refers to the pipe far away from the wellbore during the make-up and break-out operation; the lower pipe refers to the pipe close to the wellbore or located in the wellbore during the make-up and break-out operation.

[0026] The hydraulic adjustment unit 400 is connected to the hydraulic motor 121 through a hydraulic pipeline, and adjusts the hydraulic parameters of the hydraulic motor 121 by adjusting the delivery of hydraulic oil, thereby controlling the operating state of the slewing mechanism 120 .

[0027] The control unit 300 generates a control instruction according to the monitoring data of the monitoring unit 200 and sends it to the hydraulic adjustment unit 400. The hydraulic adjustment unit 400 adjusts the hydraulic parameters of the hydraulic motor 121 according to the received control instruction to complete the make-up and break-out operation of the oil pipe joint.

[0028] When performing the make-up operation, the hydraulic motor 121 works in sequence with the first hydraulic parameter, the second hydraulic parameter, and the third hydraulic parameter. The pressure when the hydraulic motor 121 works with the first hydraulic parameter is less than the pressure when the hydraulic motor 121 works with the second hydraulic parameter. When the hydraulic motor 121 works with the third hydraulic parameter, the pressure is gradually increased to the third preset pressure. In this embodiment, the monitoring unit 200 is used to monitor the working state of the iron roughneck 100 in real time, and the control unit 300 sends a control instruction to the hydraulic adjustment unit 400. The hydraulic adjustment unit 400 adjusts the hydraulic oil delivery of each power component in the iron roughneck 100 according to the control instruction, thereby controlling the working state of the iron roughneck 100 to complete the make-up and break-out operation of the oil pipe joint. In this embodiment, the control unit 300 and the hydraulic adjustment unit 400 remotely control the iron roughneck 100 to perform the make-up and break-out operation of the oil pipe joint, without the need for workers to directly contact the high-pressure environment, avoiding workers from being exposed to potential dangers, reducing the risk of personal injury, and ensuring the safety of performing the make-up and break-out operation of the oil pipe joint. During the process of performing the make-up and break-out operations using this embodiment, the monitoring unit 200 monitors the working status of the iron roughneck 100 in real time, and the worker can adjust the power components of the iron roughneck 100 through the control unit 300 to ensure the accuracy of the make-up and break-out operations.

[0029] Example 2 This embodiment is a further improvement of embodiment 1 and the repeated contents are not repeated here. Figure 2 Preferably, the main tongs 110 are arranged above the slewing mechanism 120, and the backup tongs 130 are arranged below the slewing mechanism 120. The backup tongs 130 are close to the wellbore, the main tongs 110 are far away from the wellbore, and the slewing mechanism 120 is arranged between the main tongs 110 and the backup tongs 130. The power assembly of the iron roughneck 100 also includes: a main tongs hydraulic cylinder 111 configured for the main tongs 110 and a backup tongs hydraulic cylinder 131 configured for the backup tongs 130. The main tongs hydraulic cylinder 111, the hydraulic motor 121 and the backup tongs hydraulic cylinder 131 are respectively connected to the hydraulic adjustment unit 400 through hydraulic pipelines. The hydraulic adjustment unit 400 can control the working parameters of the main tongs 110, the hydraulic motor 121 and the backup tongs hydraulic cylinder 131 by adjusting the hydraulic parameters of the main tongs hydraulic cylinder 111, the hydraulic motor 121 and the backup tongs hydraulic cylinder 131.

[0030] Preferably, the monitoring unit 200 includes: a camera 210 for collecting docking images of the upper pipe and the lower pipe; an encoder 220, which is arranged on the rotary mechanism 120 and is used to obtain the number of rotations and the rotation speed of the rotary mechanism 120. The camera 210 and the encoder 220 are respectively connected to the control unit 300 for communication.

[0031] Preferably, the hydraulic parameters include: hydraulic pressure, flow rate, and flow direction. The hydraulic adjustment unit 400 can clamp or loosen the main clamp 110 by adjusting the hydraulic parameters of the main clamp cylinder 111. The hydraulic adjustment unit 400 can control the speed and rotation direction of the hydraulic motor 121 by adjusting the hydraulic parameters of the hydraulic motor 121, and then control the speed and rotation direction of the main clamp 110 driven by the slewing mechanism 120. The hydraulic adjustment unit 400 can clamp or loosen the backup clamp 130 by adjusting the hydraulic parameters of the backup clamp cylinder 131. Preferably, after the make-up is completed or the break-out is completed, the control unit 300 controls the main clamp 110 and the backup clamp 130 to loosen through the hydraulic adjustment unit 400.

[0032] See also Figure 2 The main pliers 110 are provided with a first mounting housing 112 , which is elastically connected to the slewing mechanism 120 via four elastic components. The backup pliers 130 are provided with a second mounting housing 132 , which is fixedly connected to the slewing mechanism 120 .

[0033] See also Figure 2 The first installation shell 112 may be a rectangular parallelepiped structure with six openings. Figure 2 A through hole 113 for the oil pipe to pass through is provided in the vertical direction (up and down direction) as shown, and a centralizer is installed on the side of the through hole 113 away from the slewing mechanism 120. Preferably, the centralizer of this embodiment can use the oil pipe centralizer commonly used in industrial production. In this embodiment, the centralizer is installed on the side of the through hole 113 away from the slewing mechanism 120. When the upper pipeline enters the iron roughneck 100, the upper pipeline first passes through the centralizer, and the centralizer will guide the upper pipeline into the correct axis to achieve pre-alignment and reduce the difficulty of subsequent clamping; because the upper pipeline has been pre-aligned by the centralizer, the main clamp 110 can clamp the pipe column faster and more accurately, thereby improving the clamping efficiency of the main clamp 110 and speeding up the entire make-up and breakout process.

[0034] The main clamp 110 is equipped with two main clamp teeth, which are respectively installed on the left and right sides of the first installation shell 112, and the two main clamp teeth are arranged opposite to each other. The two main clamp teeth are each equipped with a main clamp hydraulic cylinder 111. The output end of the main clamp hydraulic cylinder 111 is connected to the main clamp teeth. When the upper pipeline is located between the two main clamp teeth, the output end of the main clamp hydraulic cylinder 111 pushes the main clamp teeth, so that the two main clamp teeth arranged opposite to each other are close to each other, and the pipe column is clamped. The shape of the main clamp teeth is generally arc-shaped. When clamping the upper pipeline, the main clamp teeth can fit the pipe column to maintain the stability of the pipe column.

[0035] Preferably, the slewing mechanism 120 is a hydraulic slewing mechanism (also called a hydraulic slewing transmission device), which includes a hydraulic motor 121, a brake, a reducer, a valve group, a gear end structure, etc. The hydraulic slewing mechanism can adjust the torque, speed, etc. of the hydraulic slewing mechanism by adjusting the hydraulic parameters (such as pressure, flow, flow direction, etc.) of the hydraulic motor 121. Preferably, the slewing mechanism 120 is a hydraulic slewing mechanism, which can provide a stronger torque, so that the iron roughneck 100 can easily handle high-strength and large-size pipe string connections.

[0036] In the existing iron roughneck 100, the main tongs 110 and the slewing mechanism 120 are mostly rigidly connected. During the process of making and breaking out, the distance between the upper pipe and the lower oil pipe will change as the thread of the pipe string is tightened or loosened. The rigid connection between the main tongs 110 and the slewing mechanism 120 lacks an adjustment and compensation device, which can easily cause damage to the pipe string. In addition, if there is an angle deviation when the upper pipe and the lower oil pipe are aligned after the main tongs 110 clamp the upper pipe, it is also easy to cause damage to the joint of the pipe string.

[0037] Preferably, in order to solve the problem caused by the rigid connection between the main tongs 110 and the slewing mechanism 120, the main tongs 110 and the slewing mechanism 120 of the iron roughneck 100 in this embodiment are connected by an elastic component.

[0038] See also Figure 2 The first installation shell 112 is provided with a mounting ear 114 at a position corresponding to the elastic component. Four mounting ears 114 are installed around the first installation shell 112 in a rectangular parallelepiped shape.

[0039] See also Figure 2 The elastic component includes a slide bar 101 and a coil spring 102 sleeved on the slide bar 101. The slide bars 101 located on the same side of the first mounting housing 112 are connected to the same connecting rod 103. Figure 2 After the slide rod 101 passes through the mounting ear 114, the upper end of the slide rod 101 is fixedly connected to the connecting rod 103, and the lower end of the slide rod 101 is fixedly connected to the upper surface of the rotating mechanism 120; one end of the coil spring 102 abuts against the lower surface of the mounting ear 114, and the other end of the coil spring 102 abuts against the upper surface of the rotating mechanism 120.

[0040] Preferably, the slide bar 101 is inserted into the mounting ear 114, and the mounting ear 114 provides a precise linear guide, ensuring that the main clamp 110 can move along a predetermined vertical path during the distance adjustment process, avoiding lateral displacement and improving the movement accuracy; using the spiral spring 102 as an elastic element, its elastic coefficient can be selected according to different specifications of the pipe string and working conditions. By replacing springs with different stiffnesses, the size of the compensation force can be flexibly adjusted to adapt to various working conditions. Four elastic components are used, which can be evenly distributed around the first mounting housing 112, and each elastic component works independently, ensuring that the main clamp 110 is evenly stressed, moves smoothly, and improves working stability.

[0041] The sliding rod 101 located on the same side of the first mounting shell 112 is connected to the same connecting rod 103, so that the two elastic components on the same side form a linkage mechanism, which maintains synchronous and approximately equal movement during compression, so that the main clamp 110 can maintain a good balance during the adjustment process and avoid tilting or twisting; the introduction of the connecting rod 103 can also form a rigid frame-like structure on both sides of the first mounting shell 112, thereby enhancing the overall rigidity of the main clamp 110, and maintaining stability even under the action of lateral force, which helps to prevent accidental lateral displacement of the main clamp 110 during operation.

[0042] Preferably, the main clamp 110 is mounted on the first mounting housing 112 and is elastically connected to the slewing mechanism 120 through four elastic components. The elastic components act as a stroke compensation device. During the process of making and breaking the main clamp 110, the elastic components can compensate for the distance change caused by the tightening or loosening of the pipe string thread; the elastic components also provide the necessary buffering effect, so that the iron roughneck 100 can flexibly adapt to the change in the distance between the upper pipe and the lower oil pipe. And the design of using four elastic components not only provides the adjustment capability in the vertical direction, but also can adapt to the angle deviation in the horizontal plane to a certain extent. When the main clamp 110 clamps the upper pipe, if the upper pipe is not coaxial with the lower pipe string and there is an angle deviation, these elastic components can provide a slight angle adjustment to help better align the pipe string. The iron roughneck 100 cleverly solves various problems caused by the rigid connection between the main clamp 110 and the slewing mechanism 120 by setting the elastic components, which not only improves the adaptability and operating efficiency of the equipment, but also greatly reduces the risk of pipe string damage, and improves the safety and reliability of well repair operations under pressure.

[0043] See also Figure 2 Since there are often pollutants such as mud, rock cuttings, and oil in the oil and gas field environment, an overflow cavity is set in the second mounting shell 132. The design of the overflow cavity provides a discharge channel for these pollutants. For example, when taking out the oil pipe, it can prevent the sewage in the oil pipe from spraying onto the table, keep the iron drill clean, and is beneficial to the environmental protection of the oil field.

[0044] See also Figure 2 The backup clamp 130 is provided with two backup clamp teeth, and the two backup clamp teeth are respectively installed on the left and right sides of the second installation shell 132, and the two backup clamp teeth are arranged opposite to each other. The two backup clamp teeth are each provided with a backup clamp fluid cylinder 131. The output end of the backup clamp fluid cylinder 131 is connected to the backup clamp teeth. When the lower oil pipe is located between the two backup clamp teeth, the output end of the backup clamp fluid cylinder 131 pushes the backup clamp teeth, so that the two backup clamp teeth arranged opposite to each other are close to each other, and the pipe column is clamped. The shape of the backup clamp teeth is generally arc-shaped. When clamping the upper pipe, the backup clamp teeth can fit the pipe column to maintain the stability of the pipe column.

[0045] Furthermore, an observation window and a door panel are provided on one side of the second mounting housing 132. The door panel is hinged to the second mounting housing 132, and the observation window can be closed when the door panel is closed. A push rod is installed on the second mounting housing 132, and the push rod is used to drive the door panel to open or close. Specifically, the push rod can be a hydraulic cylinder, an oil cylinder, or a gas cylinder.

[0046] Preferably, the door panel and the observation window together provide a direct access to the interior of the second mounting housing 132. The staff can open the door panel and directly clean the accumulated mud, rock debris and other pollutants through the observation window to keep the interior clean and extend the service life of the equipment. When the spare clamp 130 or the internal pipeline of the second mounting housing 132 needs to be repaired, the technician can directly open the door panel on site to quickly replace the components and reduce downtime.

[0047] Preferably, when performing the beading operation, the control unit 300 first determines whether the upper pipe and the lower pipe are fastened together through the camera 210. When the fastening is completed, the control unit 300 controls the main clamp 110 and the backup clamp 130 to clamp the oil pipe through the hydraulic adjustment unit 400. When the main clamp 110 clamps the upper pipe and the backup clamp 130 clamps the lower pipe, the control unit 300 controls the hydraulic motor 121 to work for a first preset time with a first hydraulic parameter through the hydraulic adjustment unit 400, so that the slewing mechanism 120 drives the main clamp 110 to rotate in the first direction; and the control unit 300 determines whether the upper pipe and the lower pipe are fastened successfully through the data collected by the camera 210 and the encoder 220. The method for judging whether the upper and lower pipes are successfully threaded can be to observe whether the upper and lower pipes are tightened when the slewing mechanism 120 drives the main clamp 110 to rotate along the first direction through the image captured by the camera 210; if the upper and lower pipes are tightened when the slewing mechanism 120 drives the main clamp 110 to rotate along the first direction, the threading is successful; if the upper and lower pipes are not tightened when the slewing mechanism 120 drives the main clamp 110 to rotate along the first direction, the threading fails. In the case of failure to thread the upper and lower pipes, the control unit 300 stops the rotation of the slewing mechanism 120 through the hydraulic adjustment unit 400, and causes the main clamp 110 to loosen the upper pipe, so as to facilitate the subsequent lifting and inspection of the upper pipe. If the upper pipe is confirmed to have no problem after inspection, it is threaded again and threaded; if the upper pipe is confirmed to have a fault after inspection, the upper pipe is replaced and threaded again. When the upper and lower pipes are successfully threaded, the control unit 300 controls the hydraulic motor 121 to work at the second hydraulic parameter for the second preset time through the hydraulic adjustment unit 400, and then the control unit 300 controls the hydraulic motor 121 to work at the third hydraulic parameter through the hydraulic adjustment unit 400 until the threading is completed. Preferably, when the upper and lower pipes are successfully threaded, the control unit 300 can also control the hydraulic motor 121 to work at the second hydraulic parameter through the hydraulic adjustment unit 400 so that the slewing mechanism 120 rotates a preset number of circles, and then control the hydraulic motor 121 to work at the third hydraulic parameter until the threading is completed.

[0048] Preferably, when the hydraulic motor 121 works with the first hydraulic parameter, the hydraulic motor 121 drives the slewing mechanism 120 to rotate in the first direction with the first preset pressure. When the hydraulic motor 121 works with the second hydraulic parameter, the hydraulic motor 121 drives the slewing mechanism 120 to rotate in the first direction with the second preset pressure. Preferably, the first preset pressure is less than the second preset pressure. When the hydraulic motor 121 works with the third hydraulic parameter, the hydraulic motor 121 drives the slewing mechanism 120 to rotate in the first direction, and the hydraulic motor 121 gradually pressurizes to the third preset pressure. Preferably, when the hydraulic motor 121 pressurizes to the third preset pressure, the make-up is completed.

[0049] Preferably, when performing the shattering operation, the control unit 300 first controls the main clamp 110 and the backup clamp 130 to clamp the oil pipe through the hydraulic adjustment unit 400. When the main clamp 110 clamps the upper pipeline and the backup clamp 130 clamps the lower pipeline, the control unit 300 controls the hydraulic motor 121 to work with the fourth hydraulic parameter through the hydraulic adjustment unit 400 until the shattering is completed. When the hydraulic motor 121 works with the fourth hydraulic parameter, the hydraulic motor 121 drives the rotary mechanism 120 to rotate in the second direction with the fourth preset pressure. The second direction is opposite to the first direction. The first direction is the direction for tightening the upper pipeline and the lower pipeline, and the second direction is the direction for unfastening the upper pipeline and the lower pipeline. The control unit 300 determines whether the upper pipeline and the lower pipeline are separated through the camera 210, and if the upper pipeline and the lower pipeline are separated, the shattering is completed.

[0050] Preferably, for pipes of different specifications, the first hydraulic parameter, the second hydraulic parameter, the third hydraulic parameter, the fourth hydraulic parameter, the first preset pressure, the second preset pressure, the third preset pressure, the fourth preset pressure, the first preset time, the second preset time, and the preset number of turns are different.

[0051] Preferably, the hydraulic parameters (flow, pressure, flow direction, etc.) of the hydraulic motor 121 are linearly related to the torque, speed, direction, etc. of the slewing mechanism 120. The pressure gauge, flow meter and other sensors configured in the pipeline connecting the hydraulic adjustment unit 400 and the hydraulic motor 121 can obtain the hydraulic parameters when the hydraulic motor 121 drives the slewing mechanism 120 to perform a specific working condition.

[0052] For pipelines of the same specification, the corresponding relationship between the hydraulic parameters of the hydraulic motor 121 and the working conditions of the slewing mechanism 120 during the shackle process can be tested in advance; When the tubing make-up and make-out operation is formally carried out, the control unit 300 can adjust the hydraulic parameters of the hydraulic motor 121 according to the corresponding relationship between the hydraulic parameters of the hydraulic motor 121 and the working condition of the slewing mechanism 120, thereby controlling the working condition of the slewing mechanism 120 to complete the make-up and make-out operation.

[0053] For a pipe of a certain specification, after testing the corresponding relationship between the hydraulic parameters of the hydraulic motor 121 and the working conditions of the rotary mechanism 120 during the make-up and break-out process, the make-up operation process can be divided into three steps: low-pressure make-up, fast make-up, and low-speed tightening.

[0054] Low-pressure threading means that the control unit 300 first controls the hydraulic motor 121 through the hydraulic adjustment unit 400 to work with the first hydraulic parameter for a first preset time to determine whether the upper pipeline and the lower pipeline are threaded successfully.

[0055] Quick make-up means that: when the make-up is successful, the control unit 300 controls the hydraulic motor 121 to work at the second hydraulic parameter for the first preset time through the hydraulic adjustment unit 400, or when the make-up is successful, the control unit 300 controls the hydraulic motor 121 to work at the second hydraulic parameter through the hydraulic adjustment unit 400 so that the slewing mechanism 120 rotates a preset number of times; Low-speed tightening means that the control unit 300 controls the hydraulic motor 121 to operate with a third hydraulic parameter through the hydraulic adjustment unit 400, the hydraulic motor 121 drives the slewing mechanism 120 to rotate in the first direction, and the hydraulic motor 121 gradually increases the pressure to a third preset pressure.

[0056] Preferably, the control unit 300 is provided with a display screen, a data processor and an input module. The data processor is respectively connected to the display screen, the input module, the monitoring unit 200 and the hydraulic adjustment unit 400. The data collected by the monitoring unit 200 is processed by the data processor and transmitted to the display screen for display. The hydraulic parameters of the power assembly are processed by the data processor and transmitted to the display screen for display. The data processor generates a control instruction according to the data sent by the input module and sends the control instruction to the hydraulic adjustment unit 400 to control the operation state of the iron roughneck 100.

[0057] Preferably, the hydraulic adjustment unit 400 is equipped with several electronic valves, which can adjust the parameters such as the delivery pressure, flow rate, and flow direction of the hydraulic oil through the electronic valves. The hydraulic adjustment unit 400 can adjust the hydraulic parameters of the power components such as the main clamp cylinder 111, the hydraulic motor 121, and the backup clamp cylinder 131 through the electronic valves. Preferably, the electronic valves and the power components are equipped with sensors such as pressure gauges and flow meters that can detect hydraulic parameters, and these sensors are connected to the control unit 300 in communication, so that the control unit 300 can obtain the hydraulic parameters of the power components.

[0058] Example 3 This embodiment provides a method for controlling the remote make-up and break-out of a tubing under pressure. The method for controlling the remote make-up and break-out of a tubing under pressure provided in this embodiment is implemented by using the remote make-up and break-out control systems for tubing under pressure in Embodiments 1 and 2. When performing a make-up operation, the method for controlling the remote make-up and break-out of a tubing under pressure provided in this embodiment includes the following steps: S11, judging whether the buckling is successful. Judging whether the upper pipe and the lower pipe are buckled; if the buckling is successful, executing step S12; S12, clamping the pipeline. The main clamp 110 clamps the upper pipeline, and the backup clamp 130 clamps the lower pipeline; S13, low-pressure buckling. The rotary mechanism 120 drives the main clamp 110 to rotate in the first direction and determines whether the buckling is successful; if the buckling is unsuccessful, the main clamp 110 releases the upper pipe, lifts the upper pipe, and re-buckles; if the buckling is successful, execute step S14; S14, fast make-up. The swivel mechanism 120 drives the main pliers 110 to rotate in the first direction for a preset number of revolutions or for a second preset time; and the rotation speed of the swivel mechanism 120 in step S14 is higher than the rotation speed of the swivel mechanism 120 in step S13; S15, low speed tightening. The slewing mechanism 120 drives the main pliers 110 to continue rotating in the first direction until the pressure of the hydraulic motor 121 reaches a third preset pressure; S16, loosening the pipeline: The main tongs 110 loosen the upper pipeline, and the backup tongs 130 loosen the lower pipeline.

[0059] Preferably, when performing a shackle operation, the method for controlling a remote shackle of a tubing under pressure provided in this embodiment comprises the following steps: S21, the main tongs 110 clamp the upper pipe, and the backup tongs 130 clamp the lower pipe; S22, the rotary mechanism 120 drives the main clamp 110 to rotate along the second direction until the upper pipe is separated from the lower pipe; S23, the main tongs 110 release the upper pipeline, and the backup tongs 130 release the lower pipeline.

[0060] Example 4 This embodiment provides a pressure-operated equipment. Figure 4 The pressure working equipment includes a power catwalk 501, a pipe lifting system 502, a pressure working machine 503, a tabletop robot arm 504 and a ground robot arm 505. The power catwalk 501 is arranged on one side of the pressure working machine 503. The ground robot arm 505 is arranged between the power catwalk 501 and the pressure working machine 503. The tabletop robot arm 504 is arranged on the top platform of the pressure working machine 503. The pipe lifting system 502 is used to transport the oil pipe between the power catwalk 501 and the pressure working machine 503. During the process of transporting the oil pipe by the pipe lifting system 502, the tabletop robot arm 504 and the ground robot arm 505 straighten the oil pipe through the robot arm to prevent the oil pipe from hitting the pressure working machine 503. The pressure working equipment also includes the oil pipe remote buckling control system for pressure working provided in this embodiment, wherein the iron roughneck 100 is installed on the pressure working machine 503.

[0061] When the pressurized working equipment provided in this embodiment is performing tubing make-up and make-out operations, the remote make-up and make-out control system for the pressurized working tubing utilizes the monitoring unit 200 to monitor the working status of the iron roughneck 100 in real time, and sends control instructions to the hydraulic adjustment unit 400 through the control unit 300. The hydraulic adjustment unit 400 adjusts the hydraulic oil delivery of each power component in the iron roughneck 100 according to the control instructions, thereby controlling the working status of the iron roughneck 100 to complete the make-up and make-out operations of the tubing joint.

[0062] The control unit 300 and the hydraulic adjustment unit 400 remotely control the iron roughneck 100 to perform the make-up and break-out operations of the tubing joint, eliminating the need for workers to directly contact the high-pressure environment, thus preventing workers from being exposed to potential dangers, reducing the risk of personal injury, and ensuring the safety of performing the make-up and break-out operations of the tubing joint.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote make-up and make-out control system for oil pipes under pressure, characterized in that: include: Iron roughneck (100), used to perform make-up and break-out operations of oil pipe joints; The iron roughneck (100) comprises: a main tong (110) for clamping an upper pipe; a slewing mechanism (120) for driving the main tong (110) to rotate; and a backup tong (130) for clamping a lower pipe; the power assembly of the slewing mechanism (120) is configured as a hydraulic motor (121); A monitoring unit (200) for monitoring the operating status of the iron roughneck (100) in real time; A hydraulic adjustment unit (400) connected to the hydraulic motor (121) via a hydraulic pipeline, and adjusting the hydraulic parameters of the hydraulic motor (121) by adjusting the delivery of hydraulic oil, thereby controlling the operating state of the slewing mechanism (120); The control unit (300) generates a control instruction according to the monitoring data of the monitoring unit (200) and sends it to the hydraulic adjustment unit (400); the hydraulic adjustment unit (400) adjusts the hydraulic parameters of the hydraulic motor (121) according to the control instruction to complete the make-up and break-out operation of the oil pipe joint; When performing a make-up operation, the hydraulic motor (121) operates in sequence with a first hydraulic parameter, a second hydraulic parameter, and a third hydraulic parameter; Wherein, the pressure when the hydraulic motor (121) works at the first hydraulic parameter is lower than the pressure when the hydraulic motor (121) works at the second hydraulic parameter; The hydraulic motor (121) gradually increases pressure to a third preset pressure when operating at a third hydraulic parameter.

2. The remote make-up and make-out control system for oil pipes under pressure according to claim 1, characterized in that: The main tongs (110) are arranged above the slewing mechanism (120), and the backup tongs (130) are arranged below the slewing mechanism (120); The power assembly of the iron roughneck (100) further comprises: a main clamp hydraulic cylinder (111) configured for the main clamp (110) and a backup clamp hydraulic cylinder (131) configured for the backup clamp (130); The main clamp hydraulic cylinder (111), the hydraulic motor (121) and the backup clamp hydraulic cylinder (131) are respectively connected to the hydraulic adjustment unit (400) via hydraulic pipelines; The hydraulic adjustment unit (400) is capable of controlling the working parameters of the main clamp (110), the hydraulic motor (121) and the backup clamp cylinder (131) by adjusting the hydraulic parameters of the main clamp cylinder (111), the hydraulic motor (121) and the backup clamp cylinder (131).

3. The remote make-up and make-out control system for oil pipes under pressure operation according to claim 2, characterized in that: The monitoring unit (200) comprises: A camera (210) is used to collect an image of the connection between the upper pipe and the lower pipe; An encoder (220), arranged on the rotary mechanism (120), and used to obtain the number of rotations and the rotation speed of the rotary mechanism (120); The camera (210) and the encoder (220) are respectively connected to the control unit (300) for communication.

4. The remote make-up and make-out control system for oil pipes under pressure operation according to claim 3, characterized in that: The hydraulic parameters include: hydraulic pressure, flow rate, and flow direction; The hydraulic adjustment unit (400) can clamp or loosen the main clamp (110) by adjusting the hydraulic parameters of the main clamp hydraulic cylinder (111); The hydraulic adjustment unit (400) can control the rotation speed and rotation direction of the hydraulic motor (121) by adjusting the hydraulic parameters of the hydraulic motor (121), thereby controlling the rotation speed and rotation direction of the main tongs (110) driven by the slewing mechanism (120); The hydraulic adjustment unit (400) can clamp or loosen the backup clamp (130) by adjusting the hydraulic parameters of the backup clamp hydraulic cylinder (131); Wherein, after the make-up is completed, or after the break-out is completed, the control unit (300) controls the main clamp (110) and the backup clamp (130) to be released through the hydraulic adjustment unit (400).

5. The remote make-up and make-out control system for oil pipes under pressure operation according to claim 4, characterized in that: When performing a make-up operation, the control unit (300) first determines, through the camera (210), whether the upper pipe and the lower pipe have been completely fastened together; if the fastening is completed, the control unit (300) controls the main clamp (110) and the backup clamp (130) to clamp the oil pipe through the hydraulic adjustment unit (400); When the main clamp (110) clamps the upper pipe and the backup clamp (130) clamps the lower pipe, the control unit (300) controls the hydraulic motor (121) to work for a first preset time with a first hydraulic parameter through the hydraulic adjustment unit (400), so that the slewing mechanism (120) drives the main clamp (110) to rotate in a first direction; and the control unit (300) determines whether the upper pipe and the lower pipe are successfully threaded through the data collected by the camera (210) and the encoder (220); When the upper pipe and the lower pipe are successfully threaded, the control unit (300) controls the hydraulic motor (121) to operate at a second hydraulic parameter for a second preset time period through the hydraulic adjustment unit (400), and then the control unit (300) controls the hydraulic motor (121) to operate at a third hydraulic parameter through the hydraulic adjustment unit (400) until threading is completed.

6. The remote make-up and make-out control system for oil pipes under pressure according to claim 5, characterized in that: When the hydraulic motor (121) operates at a first hydraulic parameter, the hydraulic motor (121) drives the rotary mechanism (120) to rotate in a first direction at a first preset pressure; When the hydraulic motor (121) operates at a second hydraulic parameter, the hydraulic motor (121) drives the rotary mechanism (120) to rotate in a first direction at a second preset pressure; Wherein, the first preset pressure is less than the second preset pressure; When the hydraulic motor (121) operates at a third hydraulic parameter, the hydraulic motor (121) drives the rotary mechanism (120) to rotate in a first direction, and the hydraulic motor (121) gradually increases pressure to a third preset pressure; When the hydraulic motor (121) is pressurized to a third preset pressure, the make-up is completed.

7. The remote make-up and break-out control system for oil pipes under pressure according to claim 6, characterized in that: When performing a breakout operation, the control unit (300) first controls the main clamp (110) and the backup clamp (130) to clamp the oil pipe through the hydraulic adjustment unit (400); When the main tongs (110) clamp the upper pipeline and the backup tongs (130) clamp the lower pipeline, the control unit (300) controls the hydraulic motor (121) to operate at a fourth hydraulic parameter through the hydraulic adjustment unit (400) until the shackle is completed; When the hydraulic motor (121) operates at a fourth hydraulic parameter, the hydraulic motor (121) drives the rotary mechanism (120) to rotate in a second direction at a fourth preset pressure; The second direction is opposite to the first direction; The control unit (300) determines whether the upper pipe and the lower pipe are separated through the camera (210), and if the upper pipe and the lower pipe are separated, the shackle is completed.

8. The remote make-up and break-out control system for oil pipes under pressure operation according to claim 2, characterized in that: The control unit (300) is provided with a display screen, a data processor and an input module; The data processor is communicatively connected to the display screen, the input module, the monitoring unit (200) and the hydraulic adjustment unit (400) respectively; The data collected by the monitoring unit (200) is processed by the data processor and then transmitted to the display screen for display; The hydraulic parameters of the power assembly are processed by the data processor and then transmitted to the display screen for display; The data processor generates a control instruction according to the data sent by the input module and sends the control instruction to the hydraulic adjustment unit (400) to control the operating state of the iron roughneck (100).

9. A method for controlling the remote make-up and make-out of a tubing under pressure, characterized in that: The method is realized by using the remote make-up and make-down control system for oil pipes under pressure operation as claimed in any one of claims 1 to 8; When performing the make-up operation, the following steps are included: S11, judging whether the upper pipe and the lower pipe are fastened together; if they are fastened together, executing step S12; S12, the main clamp (110) clamps the upper pipe, and the backup clamp (130) clamps the lower pipe; S13, the rotary mechanism (120) drives the main clamp (110) to rotate along the first direction, and determines whether the locking is successful; if the locking is unsuccessful, the main clamp (110) releases the upper pipe, lifts the upper pipe, and re-locks it; if the locking is successful, executes step S14; S14, the rotating mechanism (120) drives the main pliers (110) to rotate in a first direction for a preset number of revolutions or for a second preset time period; and the rotation speed of the rotating mechanism (120) in step S14 is higher than the rotation speed of the rotating mechanism (120) in step S13; S15, the slewing mechanism (120) drives the main pliers (110) to continue rotating in the first direction until the pressure of the hydraulic motor (121) reaches a third preset pressure; S16: The main tongs (110) release the upper pipeline, and the backup tongs (130) release the lower pipeline.

10. A pressure working device, comprising a power catwalk (501), a pipe lifting system (502), a pressure working machine (503), a tabletop mechanical arm (504) and a ground mechanical arm (505); The power catwalk (501) is arranged on one side of the belt pressure working machine (503); The ground mechanical arm (505) is arranged between the power catwalk (501) and the belt pressure working machine (503); The tabletop mechanical arm (504) is arranged on the top platform of the belt pressure working machine (503); The pipe lifting system (502) is used to transport the oil pipe between the power catwalk (501) and the belt pressure working machine (503); It is characterized in that It also comprises a remote make-up and break-out control system for oil pipes under pressure operation as claimed in any one of claims 1 to 8, wherein the iron roughneck (100) is installed on the under pressure operation machine (503).

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