Remote control type gas well under-pressure operation equipment and control system and method thereof

Abstract

The invention relates to the technical field of under-pressure operation equipment, in particular to remote control type gas well under-pressure operation equipment and a control system and method thereof. The remote control type gas well under-pressure operation equipment comprises a working platform and a control device, wherein the working platform is provided with a plurality of working devices; the working device is connected to a hydraulic power source through a hydraulic pipeline; the hydraulic power source is in signal connection with the remote control center, and the remote control center is provided with a series of detection equipment used for collecting under-pressure operation data and working data of the working device. And the remote control center controls the hydraulic power source according to data collected by the detection equipment, so that the hydraulic power source adjusts hydraulic parameters of the working device to complete under-pressure operation. According to the invention, a worker can finely adjust each power assembly of related working devices through the remote control center, so that the operation of conveying, lifting, lowering, spinning and the like of an oil pipe can be realized; the workers are prevented from being exposed in the under-pressure operation environment, the risk that the workers are injured is reduced, and meanwhile the precision of various under-pressure operations is ensured.

Description

Technical Field

[0001] The present invention relates to the field of gas well operation, and in particular to a remote-controlled gas well pressure operation device and a control system and method thereof. Background Art

[0002] During oil and gas extraction operations, a series of pipe operations are involved, such as pipe transportation, lifting, pipe laying, docking, etc. When performing pipe operations with traditional technology, construction workers are often required to operate on a work platform, which exposes workers to greater safety risks, especially in pressure operations and harsh natural environments. If workers operate on a work platform, the safety risks they bear will increase, which can easily lead to personal safety accidents.

[0003] Therefore, using a control system that enables operators to complete related pipe operations through remote control to complete pipe operations can ensure the personal safety of operators and reduce the probability of operational safety accidents.

[0004] For example, the invention patent with publication number CN209025645U provides a remote control system for a high-pressure manifold for cementing operations, including a remote PLC controller, a hydraulic subsystem, and at least one hydraulically controlled plug valve and at least one hydraulically controlled needle valve arranged at corresponding control points of the high-pressure manifold for cementing operations, wherein the hydraulically controlled plug valve has a plug valve controller that maintains real-time communication with the remote PLC controller, and the hydraulically controlled needle valve has a needle valve controller that maintains real-time communication with the remote PLC controller, and the hydraulic subsystem is used to provide hydraulic power to the hydraulically controlled plug valve and the hydraulically controlled needle valve respectively, and the action of the hydraulic subsystem providing hydraulic power to the hydraulically controlled plug valve is controlled by the plug valve controller, and the action of the hydraulic subsystem providing hydraulic power to the hydraulically controlled needle valve is controlled by the needle valve controller.

[0005] Although the prior art has begun to introduce remote control systems for operation, the existing remote control systems have relatively single functions and cannot complete a series of pipe fitting operations well. Summary of the invention

[0006] The purpose of the present invention is to overcome the problem of single function of remote control system in the prior art, and to provide a remote-controlled gas well pressure operation equipment and a control system and method thereof.

[0007] First, the present invention provides a remote-controlled gas well pressure operation equipment, including: a work platform, built above the drilling well. And the work platform is equipped with a number of working devices. The power control of the working device adopts hydraulic control; and the working device is connected to a hydraulic power source through a hydraulic pipeline. The hydraulic power source is connected to the remote control center data. And the hydraulic power source adjusts the hydraulic parameters of the working device in response to the control instructions of the remote control center to complete the corresponding pressure operation content. Preferably, the remote control center is equipped with a number of detection devices for collecting pressure operation data and the working data of the working device.

[0008] According to a preferred embodiment, the working device includes: a wellhead device, a power catwalk, a lifting device, a ground manipulator and a table manipulator. The wellhead device is arranged on the top floor of the working platform and is used to perform related pressure operations. The power catwalk is arranged on the ground on one side of the working platform and is used to place and transport oil pipes on the ground. The lifting device is used to drive the oil pipes up or down. The ground manipulator is arranged between the working platform and the power catwalk and is used to support the oil pipes. The table manipulator is arranged on the edge of the top floor of the working platform and is used to support the oil pipes. The power control of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator adopts hydraulic control. And the power components of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator are all connected to the hydraulic power source through hydraulic pipelines. The hydraulic power source is connected to the remote control center by signal, and the hydraulic power source adjusts the hydraulic parameters of the power components of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator in response to the control command of the remote control center to complete the corresponding pressurized operation content. Preferably, the remote control center is equipped with a number of detection devices for collecting pressurized operation data and the working data of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator.

[0009] According to a preferred embodiment, the pressure operation content includes at least: a first operation content, transporting the oil pipe between the working platform and the power catwalk. When executing the first operation content, the remote control center controls the hydraulic parameters of the power components of the power catwalk, the lifting device, the ground manipulator and the table manipulator through the hydraulic power source. Preferably, the power catwalk includes: a transport track and a sliding shoe. The transport track is used to place the oil pipe. The sliding shoe is arranged at one end of the transport track away from the working platform, and the sliding shoe can move along the transport track to push the oil pipe placed in the transport track to the working platform. The lifting device includes: a traveling carriage and a winch; the traveling carriage and the winch are connected by a traction steel cable; the winch drives the traveling carriage to move by retracting and releasing the traction steel cable. The traveling carriage is equipped with an elevator and a first swing arm; the elevator is hinged at one end of the first swing arm to clamp one end of the oil pipe. Preferably, in the case of transporting the oil pipe from the power catwalk to the work platform, the control performed by the remote control center includes: controlling the winch to lower the traveling carriage to the transport track so that the hanging card reaches the transport track and prepares to clamp the oil pipe; controlling the sliding shoe to push the oil pipe and push the oil pipe into the hanging card to complete the clamping; controlling the winch to raise the traveling carriage; controlling the sliding shoe to continue pushing the oil pipe until the oil pipe leaves the transport track; and controlling the ground manipulator and the table manipulator to support the oil pipe.

[0010] According to a preferred embodiment, the pressure operation content also includes: a second operation content, lowering the oil pipe to the wellhead or lifting the oil pipe from the wellhead. In the case of executing the second operation content, the remote control center controls the hydraulic parameters of the power components of the wellhead device, the lifting device and the table manipulator through the hydraulic power source. Preferably, the wellhead device at least includes a guide component. The guide component at least includes: a mounting plate, a bell mouth and a fourth hydraulic telescopic rod. The mounting plate is arranged at the wellhead. The bell mouth is arranged in the middle of the mounting plate and is used to guide the suspended oil pipe during the buckling process. The fourth hydraulic telescopic rod is connected to the bell mouth and is used to adjust the position of the bell mouth on the mounting plate. In the case of lowering the oil pipe to the wellhead, the control performed by the remote control center includes: controlling the swing angle of the first swing arm and the table manipulator so that the oil pipe is in a vertical state; controlling the lowering of the traveling block so that the suspended end of the oil pipe approaches the bell mouth; controlling the extension and contraction of the fourth hydraulic telescopic rod, adjusting the position of the bell mouth, so that the oil pipe enters the bell mouth, thereby guiding the oil pipe.

[0011] According to a preferred embodiment, the pressure operation content also includes: a third operation content, performing a screw-in operation to complete the screw-in and screw-out of the oil pipe. The remote control center controls the hydraulic parameters of the power component of the wellhead device through a hydraulic power source. Preferably, the wellhead device also includes an iron roughneck. The iron roughneck includes: a main tong, a slewing mechanism and a backup tong. The main tong is used to clamp the upper pipeline. The power component of the main tong is configured as a first hydraulic cylinder. The slewing mechanism is used to drive the main tong to rotate. The power component of the slewing mechanism is configured as a first hydraulic motor. The backup tong is used to clamp the lower pipeline. The power component of the backup tong is configured as a second hydraulic cylinder. In the case of performing the screw-in operation, the control performed by the remote control center includes: controlling the main tong to clamp the upper pipeline, controlling the backup tong to clamp the lower pipeline; and controlling the third hydraulic motor to work in sequence with the first hydraulic parameter, the second hydraulic parameter, and the third hydraulic parameter. Preferably, the pressure when the third hydraulic motor works with the first hydraulic parameter is less than the pressure when the third hydraulic motor works with the second hydraulic parameter. Preferably, the third hydraulic motor gradually increases pressure to a third preset pressure when operating with a third hydraulic parameter.

[0012] According to a preferred embodiment, the detection equipment includes: an encoder, a pressure sensor and a camera. The encoder includes a first encoder, a second encoder and a third encoder. The first encoder is arranged on the slewing mechanism, and is used to obtain the number of rotations and the rotation speed of the slewing mechanism. The second encoder is arranged on the sliding shoe, and is used to obtain the moving distance and moving speed of the sliding shoe. The third encoder is arranged on the winch, and is used to obtain the speed and distance of the winch to retract and release the traction cable. The pressure sensor is arranged on the power assembly of the working device, and is used to obtain the hydraulic parameters of the power assembly. The camera is used to collect working images of the remote-controlled gas well pressure operation equipment and each working device.

[0013] According to a preferred implementation manner, the data connection between the detection device and the remote control center adopts an Ethernet communication protocol, including two communication modes: wireless and wired, and the two communication modes serve as backup for each other.

[0014] Secondly, the present invention provides a remote control system for a remote-controlled gas well pressurized operation equipment. The remote control system includes: a hydraulic power source, a remote control center and a plurality of detection devices. The hydraulic power source is used to adjust the hydraulic parameters of a plurality of working devices configured on the working platform. A plurality of detection devices are used to collect pressurized operation data and working data of each working device. The remote control center generates a control instruction based on the data collected by the detection device, and transmits the control instruction to the hydraulic power source. The hydraulic power source adjusts the hydraulic parameters of the working device in response to the control instruction to complete the corresponding pressurized operation content.

[0015] According to a preferred embodiment, the working device includes: a wellhead device, a power catwalk, a lifting device, a ground manipulator and a table manipulator. The wellhead device is arranged on the top floor of the working platform and is used to perform related pressure-carrying operations. The power catwalk is arranged on the ground on one side of the working platform and is used to place and transport oil pipes on the ground. The lifting device is used to drive the oil pipes up or down. The ground manipulator is arranged between the working platform and the power catwalk and is used to support the oil pipes. The table manipulator is arranged on the edge of the top floor of the working platform and is used to support the oil pipes. The power components of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator are all connected to a hydraulic power source through hydraulic pipelines. The hydraulic power source adjusts the hydraulic parameters of the power components of the wellhead device, the power catwalk, the lifting device, the ground manipulator and the table manipulator in response to the control instructions of the remote control center to complete the corresponding pressure-carrying operations.

[0016] Finally, the present invention also provides a remote control method for a remote-controlled gas well pressure operation equipment. The remote control method is implemented using the remote control system of the remote-controlled gas well pressure operation equipment provided by the present invention.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The remote-controlled gas well pressure operation equipment provided by the present invention drives the relevant working devices of the well operation through hydraulic control. The present invention collects pressure operation data and working data of the working device by deploying a series of detection equipment. The remote control center can generate control instructions according to the data collected by the detection equipment, and transmit the control instructions to the hydraulic power source. The hydraulic power source adjusts the hydraulic parameters of the working device in response to the control instructions to complete the corresponding pressure operation content. The present invention allows workers to remotely control the relevant working devices to achieve operations such as transportation, lifting, lowering, and screwing of oil pipes; avoids workers from being exposed to the pressure operation environment, reduces the risk of personal injury, and in the process of performing pressure operations using the present invention, workers can finely adjust the various power components of the relevant working devices through the remote control center to ensure the accuracy of various pressure operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0020] Figure 2 A communication topology diagram of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0021] Figure 3A schematic diagram of the power catwalk structure of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the traveling carriage structure of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the structure of a ground manipulator of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of a tabletop manipulator of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of a guide assembly of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

[0026] Figure 8 The figure is a schematic diagram of the structure of an iron roughneck of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention.

[0027] Markings in the figure:

[0028] Working platform 100, guide steel cable 101, support rod 102, traction steel cable 103, fixed pulley 104,

[0029] Wellhead 200,

[0030] Guide assembly 210, mounting plate 211, bell mouth 212, fourth hydraulic telescopic rod 213, slider 214,

[0031] Iron roughneck 220, main tongs 221, slewing mechanism 222, backup tongs 223, first hydraulic cylinder 224, first hydraulic motor 225, second hydraulic cylinder 226, first housing 227, through hole 228, second housing 229, mounting ear 230, slide bar 231, coil spring 232, connecting rod 233,

[0032] Power catwalk 300, pipe rack 310, transport track 320, sliding shoe 330, catwalk base 340, hydraulic support leg 350,

[0033] Lifting device 400,

[0034] Traveling carriage 410, hanging card 411, first swing arm 412, cross beam 413, first hydraulic telescopic rod 414, lifting lug 415, guide rail 416, pulley 417,

[0035] Winch 420,

[0036] Ground manipulator 500, first base 510, second swing arm 520, second hydraulic telescopic rod 530, first guide wheel 540,

[0037] Table manipulator 600, second base 610, third swing arm 620, third telescopic rod 630, second guide wheel 640,

[0038] Hydraulic power source 700,

[0039] Remote Control Center 800,

[0040] Detection device 900 , encoder 910 , pressure sensor 920 , camera 930 . DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Example 1

[0048] This embodiment provides a remote-controlled gas well pressure operation equipment. Figure 1 and Figure 2 Preferably, the pressure operation equipment includes a work platform 100 built above the drilling well. Preferably, the work platform 100 is equipped with a plurality of working devices. The power control of the working device adopts hydraulic control; and the working device is connected to the hydraulic power source 700 through a hydraulic pipeline. The hydraulic power source 700 is data-connected with the remote control center 800. And the hydraulic power source 700 adjusts the hydraulic parameters of the working device in response to the control command of the remote control center 800 to complete the corresponding pressure operation content. Preferably, the remote control center 800 is equipped with a plurality of detection devices 900 for collecting pressure operation data and working data of the working device.

[0049] Preferably, the remote-controlled gas well pressure operation equipment provided in this embodiment drives the relevant working devices of the well operation through hydraulic control. A series of detection equipment 900 configured by the remote control center 800 can collect pressure operation data and working data of the working device. The remote control center 800 can generate control instructions based on the data collected by the detection equipment 900, and transmit the control instructions to the hydraulic power source 700. The hydraulic power source 700 adjusts the hydraulic parameters of the working device in response to the control instructions to complete the corresponding pressure operation content. The present invention allows workers to remotely control the relevant working devices to achieve operations such as transportation, lifting, lowering, and screwing of oil pipes; avoid workers from being exposed to the pressure operation environment, reduce the risk of personal injury, and in the process of performing pressure operations using the present invention, workers can finely adjust the various power components of the relevant working devices through the remote control center 800 to ensure the accuracy of various pressure operations.

[0050] Example 2

[0051] This embodiment is a further improvement of embodiment 1 and the repeated contents are not repeated here. Figure 1 and Figure 2 Preferably, the working device includes: a wellhead device 200, a power catwalk 300, a lifting device 400, a ground manipulator 500 and a table manipulator 600. The wellhead device 200 is arranged on the top floor of the working platform 100 and is used to perform related pressure operations. The power catwalk 300 is arranged on the ground on one side of the working platform 100 and is used to place and transport the oil pipe on the ground. The lifting device 400 is used to drive the oil pipe to rise or fall. The ground manipulator 500 is arranged between the working platform 100 and the power catwalk 300 and is used to support the oil pipe. The table manipulator 600 is arranged on the edge of the top floor of the working platform 100 and is used to support the oil pipe. The power control of the wellhead device 200, the power catwalk 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 adopts hydraulic control. And the power components of the wellhead device 200, the power catway 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 are all connected to the hydraulic power source 700 through hydraulic pipelines. The hydraulic power source 700 is connected to the remote control center 800 by signal, and the hydraulic power source 700 adjusts the hydraulic parameters of the power components of the wellhead device 200, the power catway 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 in response to the control command of the remote control center 800 to complete the corresponding pressure operation content. Preferably, the remote control center 800 is equipped with a number of detection devices 900 for collecting pressure operation data and working data of the wellhead device 200, the power catway 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600.

[0052] See also Figure 1 and Figure 3 Preferably, the power catwalk 300 includes: a pipe rack 310, a transport track 320, a sliding shoe 330, a catwalk base 340 and a hydraulic support leg 350.

[0053] Preferably, a pipe rack 310 is installed on at least one side of the catwalk base 340. For example, two parallel pipe racks 310 may be arranged on the left side of the catwalk base 340. The extending direction of the pipe racks 310 may be perpendicular or oblique to the extending direction of the catwalk base 340. Preferably, the oil pipes may be arranged on the two pipe racks 310. Of course, the pipe racks 310 may also be arranged on the right side of the catwalk base 340.

[0054] The pipe rack 310 is hinged to the catwalk base 340, and the pipe rack 310 can swing up and down around the hinge point with the catwalk base 340; specifically, the end of the pipe rack 310 close to the catwalk base 340 is the first end, and the end of the pipe rack 310 away from the catwalk base 340 is the second end. The first end is hinged to the catwalk base 340, and the second end is installed with a hydraulic leg 350, which is hinged to the second end. The hydraulic cylinder of the hydraulic leg 350 rises and drives the second end to rise, and the hydraulic cylinder of the hydraulic leg 350 retracts and drives the second end to fall. This arrangement allows a single pipe rack 310 to independently swing up and down with the connection between the first end and the catwalk base 340 as the hinge point, so that the pipe rack 310 can freely switch between a horizontal state, an inclined state toward the transport track 320 (the height of the second end is higher than the height of the first end), and an inclined state in the opposite direction of the transport track 320 (the height of the second end is lower than the height of the first end).

[0055] Preferably, the transport track 320 is arranged above the catwalk base 340 for placing the oil pipe. The sliding shoe 330 is arranged at one end of the transport track 320 away from the working platform 100, and the sliding shoe 330 can move along the transport track 320 to push the oil pipe placed in the transport track 320 toward the working platform 100. Preferably, the sliding shoe 320 can contact one end of the oil pipe and push the oil pipe along the transport track 320. Preferably, the sliding shoe 330 is connected to the second hydraulic motor through a transmission chain, and the second hydraulic motor drives the chain transmission, thereby driving the sliding shoe 330 to slide back and forth on the transport track 320 in a straight line.

[0056] Preferably, when the power catwalk 300 is in use, one end of the transport track 320 is close to the working platform 100 , and the other end is far away from the working platform 100 .

[0057] See also Figure 1 and Figure 4The lifting device 400 includes: a traveling carriage 410 and a winch 420. The winch 420 is disposed on the support rod 102 of the working platform 100. The winch 420 is connected to the traveling carriage 410 through a traction cable 103, and the winch 420 drives the traveling carriage 410 to rise or fall by retracting and releasing the traction cable 103. Figure 1 The winch 420 is disposed in the middle of the support rod 102 of the working platform 100 , a fixed pulley 104 is disposed at the top of the support rod 102 , and the traction cable 103 passes through the fixed pulley 104 and connects the traveling block 410 and the winch 420 .

[0058] See also Figure 4 The traveling carriage 410 includes an elevator 411 , a first swing arm 412 , a cross beam 413 , a first hydraulic telescopic rod 414 , a lifting lug 415 , a guide rail 416 , and a pulley 417 .

[0059] The elevator 411 is used to clamp the oil pipe. The swing arm 412 is used to drive the elevator 411 to swing. Preferably, the elevator 411 is hinged at one end of the swing arm 412. The lifting lug 415 is arranged on the crossbeam 413. The lifting lug 415 is connected to the winch 420 through the traction steel cable 103. The crossbeam 413 is hinged to the end of the swing arm 412 where the elevator 411 is not hinged. One end of the first hydraulic telescopic rod 414 is hinged to the crossbeam 413, and the other end is hinged to the middle part of the swing arm 412. The first hydraulic telescopic rod 414 is connected to the remote control center 800 in communication. The remote control center 800 controls the extension and retraction of the first hydraulic telescopic rod 414 to make the swing arm 412 swing around the crossbeam 413.

[0060] The traveling carriage 410 is provided with two guide rails 416, and the two guide rails 416 are respectively connected to the cross beam 413. The two guide rails 416 are arranged in parallel on both sides of the swing arm 412. The pulleys 417 are arranged at both ends of the guide rails 111. Figure 1 and Figure 4 The guide rail 416 is sleeved on the guide steel cable 101 through a pulley 417. One end of the guide steel cable 101 is connected to the ground, and the other end is connected to the top of the support rod 102.

[0061] See also Figure 1 and Figure 5 The ground manipulator 500 includes: a first base 510, a second swing arm 520, a second hydraulic telescopic rod 530 and a first guide wheel 540. The first guide wheel 540 is arranged at one end of the second swing arm 520, and the other end of the second swing arm 520 is connected to the first base 510. One end of the second hydraulic telescopic rod 530 is connected to the first base 510, and the other end is connected to the middle part of the second swing arm 520; the second hydraulic telescopic rod 530 drives the second swing arm 520 to swing around the first base 510 by telescoping.

[0062] See also Figure 1 and Figure 6The table robot 600 includes: a second base 610, a third swing arm 620, a third telescopic rod 630 and a second guide wheel 640.

[0063] The table manipulator 600 includes: a second base 610, a second swing arm 620, a third hydraulic telescopic rod 630 and a second guide roller 640. The second guide roller 640 is arranged at one end of the second swing arm 620, and the other end of the second swing arm 620 is connected to the second base 610. One end of the third hydraulic telescopic rod 630 is connected to the second base 610, and the other end is connected to the middle of the second swing arm 620. The remote control center 800 controls the extension and contraction of the third hydraulic telescopic rod 630 to make the second swing arm 620 swing around the second base 610 in the first direction. Figure 1 and Figure 6 , the second base 610 is configured as a cylindrical shape, and the first direction is the plane where the axial direction of the second base 610 is located, that is, Figure 1 Vertical orientation shown.

[0064] See also Figure 1 , Figure 7 and Figure 8 The wellhead device 200 includes a guide assembly 210 and an iron roughneck 220 .

[0065] See also Figure 7 The guide assembly 210 includes: a mounting plate 211, a bell mouth 212, a fourth hydraulic telescopic rod 213 and a sliding block 214.

[0066] Preferably, the mounting plate 211 is arranged at the wellhead. The bell mouth 212 is arranged in the middle of the mounting plate 211 and is used to guide the suspended oil pipe during the buckling process. The fourth hydraulic telescopic rod 213 is connected to the bell mouth 212 and is used to adjust the position of the bell mouth 212 on the mounting plate 211.

[0067] Preferably, the bell mouth 212 is arranged in the middle of the bell mouth 211, and is used to guide the suspended oil pipe during the buckling process. Preferably, the bell mouth 212 is made of a soft material such as rubber to prevent the oil pipe from being damaged by bumping the bell mouth 212. The bell mouth 212 is connected to the bell mouth 211 through a slider 214, and the bell mouth 212 slides along the edge of the bell mouth 211 through the slider 214. The slider 214 is connected to the fourth telescopic rod 213 arranged at both ends of the bell mouth 211; and the fourth telescopic rod 213 is connected to the remote control center 800 for communication. Preferably, the guide device 300 is arranged at the wellhead through the bell mouth 211, and the remote control center 800 adjusts the position of the bell mouth 212 on the bell mouth 211 by controlling the extension and contraction of the fourth telescopic rod 213. The inside of the bell mouth 212 is hollow and penetrates, and the bottom is screwed with the slider 214. Preferably, the bell mouth 211 is not provided with a fourth telescopic rod 213. The slider 214 moves along the slide rail. Preferably, the middle of the bell mouth 211 is hollowed out, the lifting device 400 suspends and lowers the oil pipe, and the oil pipe passes through the bell mouth 212 to dock with the oil pipe in the well. The size of the hollow area in the middle of the mounting plate 210 satisfies the condition that the bottom opening of the bell mouth 212 is not blocked when the slider 214 is at the limit stroke. Preferably, the bell mouth 212 can be configured with different sizes to adapt to oil pipes of different specifications, or it can be set to a fixed size that can adapt to oil pipes of different specifications.

[0068] See also Figure 8 The iron roughneck 220 includes a main tong 221 , a slewing mechanism 222 , a backup tong 223 , a first hydraulic cylinder 224 , a first hydraulic motor 225 , a second hydraulic cylinder 226 , a first housing 227 , a through hole 228 , a second housing 229 , a mounting ear 230 , a sliding rod 231 , a coil spring 232 and a connecting rod 233 .

[0069] Preferably, the wellhead device 200 further includes an iron roughneck 220. The iron roughneck 220 includes: a main tong 221, a slewing mechanism 222 and a backup tong 223. The main tong 221 is used to clamp the upper pipe. The power component of the main tong 221 is configured as a first hydraulic cylinder 224. The slewing mechanism 222 is used to drive the main tong 221 to rotate. The power component of the slewing mechanism 222 is configured as a first hydraulic motor 225. The backup tong 223 is used to clamp the lower pipe. The power component of the backup tong 223 is configured as a second hydraulic cylinder 226.

[0070] See also Figure 8Preferably, the main tongs 221 are arranged above the slewing mechanism 222, and the backup tongs 223 are arranged below the slewing mechanism 222. The backup tongs 223 are close to the wellbore, the main tongs 221 are far from the wellbore, and the slewing mechanism 222 is arranged between the main tongs 221 and the backup tongs 223. The power assembly of the iron roughneck 220 further includes: a first hydraulic cylinder 224 configured for the main tongs 221 and a second hydraulic cylinder 226 configured for the backup tongs 223. The first hydraulic cylinder 224, the first hydraulic motor 225 and the second hydraulic cylinder 226 are respectively connected to the hydraulic power source 700 through hydraulic pipelines.

[0071] The main pliers 221 are provided with a first housing 227 , which is elastically connected to the rotary mechanism 222 via four elastic components. The backup pliers 223 are provided with a second housing 229 , which is fixedly connected to the rotary mechanism 222 .

[0072] See also Figure 2 The first shell 227 may be a rectangular parallelepiped structure with six holes. Figure 2 A through hole 228 is provided in the vertical direction (up and down direction) for the oil pipe to pass through, and a guide assembly 210 is installed on the side of the through hole 228 away from the slewing mechanism 222. Preferably, the guide assembly 210 is installed on the side of the through hole 228 away from the slewing mechanism 222. Preferably, the guide assembly 210 is installed on the side of the through hole 228 away from the slewing mechanism 222 through a mounting plate 211, and the bell mouth 212 overlaps with the through hole 228 when guiding the oil pipe.

[0073] When the upper pipe enters the iron roughneck 220, the upper pipe first passes through the guide assembly 210, which guides the upper pipe into the correct axis to achieve pre-alignment and reduce the difficulty of subsequent clamping; since the upper pipe has been pre-aligned by the stabilizer, the main clamp 221 can clamp the pipe column faster and more accurately, thereby improving the clamping efficiency of the main clamp 221 and speeding up the entire make-up and break-out process.

[0074] The main clamp 221 is equipped with two main clamp teeth, which are respectively installed on the left and right sides of the first housing 227, and the two main clamp teeth are arranged opposite to each other. The two main clamp teeth are each equipped with a first hydraulic cylinder 224. The output end of the first hydraulic cylinder 224 is connected to the main clamp teeth. When the upper pipeline is located between the two main clamp teeth, the output end of the first hydraulic cylinder 224 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.

[0075] Preferably, the slewing mechanism 222 is a hydraulic slewing mechanism (also called a hydraulic slewing transmission device), which includes a first hydraulic motor 225, 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 first hydraulic motor 225. Preferably, the slewing mechanism 222 is a hydraulic slewing mechanism that can provide a stronger torque, so that the iron roughneck 220 can easily handle high-strength, large-size pipe string connections.

[0076] In the existing iron roughneck 220, the main tongs 221 and the slewing mechanism 222 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 column is tightened or loosened. The rigid connection between the main tongs 221 and the slewing mechanism 222 lacks an adjustment and compensation device, which can easily cause damage to the pipe column. In addition, if there is an angle deviation when the upper pipe and the lower oil pipe are aligned after the main tongs 221 clamp the upper pipe, it is also easy to cause damage to the joint of the pipe column.

[0077] Preferably, in order to solve the problem caused by the rigid connection between the main tongs 221 and the slewing mechanism 222, the main tongs 221 and the slewing mechanism 222 of the iron roughneck 220 in this embodiment are connected by an elastic component.

[0078] See also Figure 2 The first housing 227 is provided with mounting ears 230 at positions corresponding to the elastic components. Four mounting ears 230 are installed around the first housing 227 in a rectangular shape.

[0079] See also Figure 2 The elastic component includes a slide bar 231 and a coil spring 232 sleeved on the slide bar 231. The slide bars 231 located on the same side of the first housing 227 are connected to the same connecting rod 233. Figure 2 After the slide rod 231 passes through the mounting ear 230, the upper end of the slide rod 231 is fixedly connected to the connecting rod 233, and the lower end of the slide rod 231 is fixedly connected to the upper surface of the rotating mechanism 222; one end of the coil spring 232 abuts against the lower surface of the mounting ear 230, and the other end of the coil spring 232 abuts against the upper surface of the rotating mechanism 222.

[0080] Preferably, the slide bar 231 is inserted into the mounting ear 230, and the mounting ear 230 provides a precise linear guide, ensuring that the main clamp 221 can move along a predetermined vertical path during the distance adjustment process, avoiding lateral displacement and improving the movement accuracy; using a spiral spring 232 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 housing 227, and each elastic component works independently, ensuring that the main clamp 221 is evenly stressed, moves smoothly, and improves working stability.

[0081] The sliding rod 231 located on the same side of the first shell 227 is connected to the same connecting rod 233, 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 221 can maintain a good balance during the adjustment process and avoid tilting or twisting; the introduction of the connecting rod 233 can also form a rigid frame-like structure on both sides of the first shell 227, thereby enhancing the overall rigidity of the main clamp 221, and maintaining stability even under the action of lateral force, which helps to prevent accidental lateral displacement of the main clamp 221 during operation.

[0082] Preferably, the main tongs 221 are mounted on the first housing 227 and are elastically connected to the slewing mechanism 222 through four elastic components. The elastic components act as a stroke compensation device. During the process of making and breaking the main tongs 221, 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 220 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 tongs 221 clamp 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 220 cleverly solves various problems caused by the rigid connection between the main tongs 221 and the slewing mechanism 222 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.

[0083] 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 provided in the second housing 229. 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.

[0084] See also Figure 2The backup clamp 223 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 housing 229, and the two backup clamp teeth are arranged opposite to each other. The two backup clamp teeth are each provided with a second hydraulic cylinder 226. The output end of the second hydraulic cylinder 226 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 second hydraulic cylinder 226 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.

[0085] Furthermore, an observation window 140 and a door panel are provided on one side of the second housing 229. The door panel is hinged to the second housing 229, and the observation window 140 can be closed when the door panel is closed. A push rod is installed on the second housing 229, 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.

[0086] Preferably, the door panel and the observation window 140 together provide a direct access to the interior of the second housing 229. The staff can open the door panel and directly clean the accumulated mud, rock debris and other pollutants through the observation window 140 to keep the interior clean and extend the service life of the equipment. When the spare clamp 223 or the internal pipeline of the second housing 229 needs to be repaired, the technician can directly open the door panel on site to quickly replace the components and reduce downtime.

[0087] Preferably, the detection device 900 includes: an encoder 910, a pressure sensor 920 and a camera 930. The encoder 910 includes a first encoder, a second encoder and a third encoder. The first encoder is configured on the rotary mechanism 222, and is used to obtain the number of rotations and the rotation speed of the rotary mechanism 222. The second encoder is configured on the sliding shoe 330, and is used to obtain the moving distance and moving speed of the sliding shoe 330. The third encoder is configured on the winch 420, and is used to obtain the retracting speed and distance of the winch 420 on the traction cable 103.

[0088] Preferably, the first encoder is disposed on the first hydraulic motor 225 of the slewing mechanism 222 and is in communication connection with the remote control center 800. The first encoder is used to monitor the rotation speed and shaft position of the first hydraulic motor 225 in real time. The remote control center 800 can determine the number of rotations and the rotation speed of the slewing mechanism 222 according to the monitoring data of the first encoder. The hydraulic power source 700 can control the rotation speed and the rotation direction of the first hydraulic motor 225 by adjusting the hydraulic parameters of the first hydraulic motor 225, and then control the rotation speed and the rotation direction of the main tongs 221 driven by the slewing mechanism 222.

[0089] Preferably, the second encoder is disposed on the second hydraulic motor of the sliding shoe 330 and is in communication connection with the remote control center 800. The second encoder is used to monitor the speed and shaft position of the second hydraulic motor in real time. The remote control center 800 can determine the position, speed, movement direction and other information of the sliding shoe 330 according to the parameters monitored by the second encoder, and then regulate the sliding shoe 330.

[0090] Preferably, the winch 420 is equipped with a third hydraulic motor, and the third hydraulic motor is connected to one end of the traction cable 103. The third encoder is arranged on the third hydraulic motor, and the third encoder is connected to the remote control center 800 in communication. The third encoder is used to monitor the rotation speed and shaft position of the third hydraulic motor in real time. The remote control center 800 can determine the state of the third hydraulic motor according to the parameters monitored by the third encoder, and then regulate it. The remote control center 800 realizes the retraction and release of the traction cable 103 by controlling the rotation direction and rotation speed of the third hydraulic motor, thereby driving the traveling carriage 410 to rise or fall.

[0091] The pressure sensor 920 is disposed on the power assembly of the working device and is used to obtain the hydraulic parameters of the power assembly. Preferably, the hydraulic parameters include: hydraulic pressure, flow rate, flow direction, etc.

[0092] Preferably, the power assembly of the wellhead device 200 includes: a fourth hydraulic telescopic rod 213 of the guide assembly 210; a first hydraulic cylinder 224, a first hydraulic motor 225 and a second hydraulic cylinder 226 of the iron roughneck 220. Preferably, the remote control center 800 adjusts the position of the bell mouth 212 by controlling the hydraulic parameters of the fourth hydraulic telescopic rod 213. Preferably, the remote control center 800 controls the clamping or loosening of the main clamp 221 by controlling the hydraulic parameters of the first hydraulic cylinder 224. Preferably, the remote control center 800 controls the speed and rotation direction of the main clamp 221 driven by the slewing mechanism 222 by controlling the hydraulic parameters of the first hydraulic motor 225. Preferably, the remote control center 800 controls the clamping or loosening of the backup clamp 223 by controlling the hydraulic parameters of the second hydraulic cylinder 226.

[0093] Preferably, the power component of the power catwalk 300 is a second hydraulic motor. Preferably, the remote control center 800 controls the moving speed and direction of the sliding shoe 330 by controlling the hydraulic parameters of the second hydraulic motor.

[0094] Preferably, the power assembly of the lifting device 400 includes: a first hydraulic telescopic rod 414 of the traveling carriage 410, and a third hydraulic motor of the winch 420. Preferably, the remote control center 800 adjusts the swing angle of the first swing arm 412 of the traveling carriage 410 by controlling the hydraulic parameters of the first hydraulic telescopic rod 414. Preferably, the remote control center 800 controls the rotation direction and speed of the third hydraulic motor by controlling the hydraulic parameters of the third hydraulic motor to achieve the retraction and extension of the traction cable 103.

[0095] Preferably, the power assembly of the ground manipulator 500 is a second hydraulic telescopic rod 530. Preferably, the remote control center 800 adjusts the swing angle of the second swing arm 520 of the ground manipulator 500 by controlling the hydraulic parameters of the second hydraulic telescopic rod 530.

[0096] Preferably, the power assembly of the table manipulator 600 is the third hydraulic telescopic rod 630. Preferably, the remote control center 800 adjusts the swing angle of the third swing arm 620 of the table manipulator 600 by controlling the hydraulic parameters of the third hydraulic telescopic rod 630.

[0097] Preferably, the hydraulic power source 700 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 power source 700 can regulate the hydraulic parameters of each power component through the electronic valves. Preferably, the electronic valves and 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 remote control center 800 in communication, so that the remote control center 800 can obtain the hydraulic parameters of the power components.

[0098] Camera 930 is used to collect working images of the remote-controlled gas well pressure operation equipment and various working devices.

[0099] Preferably, the data connection between the detection device 900 and the remote control center 800 adopts the Ethernet communication protocol, including two communication modes, wireless and wired, and the two communication modes back up each other.

[0100] Preferably, the remote control center 800 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 detection device 900 and the remote control center 800. The data collected by the detection device 900 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 power source 700 to control the working state of the corresponding working device.

[0101] Preferably, the contents of the pressure operation include at least: a first operation content, transporting the oil pipe between the work platform 100 and the power catwalk 300; a second operation content, lowering the oil pipe to the wellhead or lifting the oil pipe from the wellhead; a third operation content, performing a buckle turning operation to complete the buckle making and breaking of the oil pipe.

[0102] In the case of executing the first operation content, the remote control center 800 controls the hydraulic parameters of the power components of the power catwalk 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 through the hydraulic power source 700. Preferably, in the case of transporting the oil pipe from the power catwalk 300 to the working platform 100, the control performed by the remote control center 800 includes: controlling the winch 420 to lower the traveling block 410 to the transportation track 320, so that the elevator 411 reaches the transportation track 320 to prepare to clamp the oil pipe; controlling the sliding shoe 330 to push the oil pipe, and push the oil pipe into the elevator 411 to complete the clamping; controlling the winch 420 to raise the traveling block 410; controlling the sliding shoe 330 to continue to push the oil pipe until the oil pipe is separated from the transportation track 320; and controlling the ground manipulator 500 and the table manipulator 600 to support the oil pipe.

[0103] When the second operation content is executed, the remote control center 800 controls the hydraulic parameters of the power components of the wellhead device 200 , the lifting device 400 , and the table robot 600 through the hydraulic power source 700 .

[0104] When the oil pipe is lowered to the wellhead, the control performed by the remote control center 800 includes: controlling the swing angle of the first swing arm 412 and the table manipulator 600 to make the oil pipe in a vertical state; controlling the lowering of the traveling carriage 410 to make the suspended end of the oil pipe close to the bell mouth 212; controlling the extension and retraction of the fourth hydraulic telescopic rod 213 to adjust the position of the bell mouth 212 so that the oil pipe enters the bell mouth 212, thereby guiding the oil pipe.

[0105] When the third operation content is executed, the remote control center 800 controls the hydraulic parameters of the power components of the wellhead device 200 through the hydraulic power source 700 .

[0106] When performing the make-up operation, the control performed by the remote control center 800 includes: controlling the main clamp 221 to clamp the upper pipe, controlling the backup clamp 223 to clamp the lower pipe; controlling the third hydraulic motor 222 to work in sequence with the first hydraulic parameter, the second hydraulic parameter, and the third hydraulic parameter. Preferably, the pressure when the third hydraulic motor 222 works with the first hydraulic parameter is less than the pressure when the third hydraulic motor 222 works with the second hydraulic parameter. Preferably, the third hydraulic motor 222 gradually increases the pressure to the third preset pressure when working with the third hydraulic parameter.

[0107] Example 3

[0108] The present embodiment provides a remote control system for a remote-controlled gas well pressurized operation equipment. Preferably, the remote control system for the remote-controlled gas well pressurized operation equipment provided in the present embodiment is applied to the remote-controlled gas well pressurized operation equipment involved in Embodiment 1 and Embodiment 2. Preferably, the remote control system includes: a hydraulic power source 700, a remote control center 800 and a plurality of detection devices 900. The hydraulic power source 700 is used to adjust the hydraulic parameters of a plurality of working devices configured on the working platform 100. A plurality of detection devices 900 are used to collect pressurized operation data and working data of each working device. The remote control center 800 generates a control instruction based on the data collected by the detection device 900, and transmits the control instruction to the hydraulic power source 700. The hydraulic power source 700 adjusts the hydraulic parameters of the working device in response to the control instruction to complete the corresponding pressurized operation content.

[0109] Preferably, the working device includes: a wellhead device 200, a power catwalk 300, a lifting device 400, a ground manipulator 500 and a table manipulator 600. The wellhead device 200 is arranged on the top floor of the working platform 100 and is used to perform related pressure operations. The power catwalk 300 is arranged on the ground on one side of the working platform 100 and is used to place and transport the oil pipe on the ground. The lifting device 400 is used to drive the oil pipe to rise or fall. The ground manipulator 500 is arranged between the working platform 100 and the power catwalk 300 and is used to support the oil pipe. The table manipulator 600 is arranged on the edge of the top floor of the working platform 100 and is used to support the oil pipe. The power components of the wellhead device 200, the power catwalk 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 are all connected to the hydraulic power source 700 through hydraulic pipelines. The hydraulic power source 700 adjusts the hydraulic parameters of the power components of the wellhead device 200, the power catwalk 300, the lifting device 400, the ground manipulator 500 and the table manipulator 600 in response to the control command of the remote control center 800 to complete the corresponding pressure operation content.

[0110] Example 4

[0111] This embodiment provides a remote control method for a remote-controlled gas well pressurized operation equipment. The remote control method provided by this embodiment is implemented by using the remote control system of the remote-controlled gas well pressurized operation equipment involved in Embodiment 3.

[0112] Preferably, when executing the first operation content, the steps of the remote control method include:

[0113] S11. Clamp the oil pipe. The remote control center 800 controls the rotation of the winch 420 to move the traveling block 410 closer to the power catwalk 300, so that the elevator 411 configured on the traveling block 410 can clamp the oil pipe placed on the transport track 320. The elevator 411 clamps one end of the oil pipe. Preferably, when the elevator 411 reaches the transport track 320, the remote control center 800 controls the sliding shoe 330 to push the oil pipe on the transport track 320, so that one end of the oil pipe enters the clamping range of the elevator 411.

[0114] S12, confirming that the oil pipe is clamped successfully. The remote control center 800 can confirm whether the elevator 411 has successfully clamped the oil pipe through the image captured by the camera 930 or the parameters of the second encoder. In the case of confirming that the elevator 411 has successfully clamped the oil pipe, step S13 is executed. The way to confirm that the elevator 411 has successfully clamped the oil pipe can be to confirm whether one end of the oil pipe enters the elevator 411 based on the image captured by the camera 930, or to confirm whether the movement distance of the sliding shoe 330 is sufficient to push one end of the oil pipe into the elevator 411 based on the parameters of the second encoder.

[0115] S13, pull the oil pipe upward. When confirming that the elevator 411 has successfully clamped the oil pipe, the remote control center 800 drives the traveling carriage 410 away from the power catwalk 300 by controlling the rotation of the winch 420, so that the oil pipe rises and begins to leave the transport track 320. Specifically, the remote control center 800 sends a command to the winch 420, so that the winch 420 rotates to recycle the traction steel cable, thereby pulling the traveling carriage 410 upward and driving the oil pipe upward. In the process of the traveling carriage 410 driving the oil pipe upward, the end of the oil pipe connected to the elevator 411 first leaves the transport track 320, and the end of the oil pipe not connected to the elevator 411 gradually approaches the working platform 100 under the push of the sliding shoe 330 until it leaves the transport track 320.

[0116] S14, first pipe support. When the traveling carriage 410 leaves the rotation range of the ground manipulator 500 and the end of the oil pipe not connected to the elevator 411 does not leave the transport track 320, the remote control center 800 controls the ground manipulator 500 to rotate so that the ground manipulator 500 supports the oil pipe.

[0117] The remote control center 800 can determine the separation of the oil pipe from the transport track 320 through the image of the camera 930 and the length of the traction cable recovered by the winch 420. When the traveling carriage 410 leaves the rotation range of the ground manipulator 500 and the end of the oil pipe that is not connected to the elevator 411 does not separate from the catwalk, the remote control center 800 controls the ground manipulator 500 to rotate so that the ground manipulator 500 can support the oil pipe. Specifically, the remote control center 800 adjusts the hydraulic parameters of the second hydraulic telescopic rod 530 through the hydraulic power source 700 so that the second hydraulic telescopic rod 530 drives the second swing arm 520 to swing around the first base 510 and away from the working platform 100, so that the first guide wheel 540 contacts the oil pipe, ensuring that the oil pipe moves along the first guide wheel 540 during the rising process, thereby preventing the oil pipe from shaking due to the change in force when it separates from the catwalk, and further preventing the oil pipe from colliding with the working platform 100 when it separates from the transport track 320.

[0118] S15, secondary pipe support. When the traveling carriage 410 leaves the rotation range of the table manipulator 600, the remote control center 800 controls the table manipulator 600 to rotate so that the table manipulator 600 supports the oil pipe.

[0119] The remote control center 800 determines the lifting condition of the oil pipe through the image captured by the camera 930 and the length of the traction cable recovered by the winch 420. When the traveling block 410 leaves the rotation range of the table manipulator 600 and the end of the oil pipe that is not connected to the elevator card is not separated from the guide roller, the remote control center 800 controls the table manipulator 600 to rotate so that the table manipulator 600 can support the oil pipe. Specifically, the remote control center 800 adjusts the hydraulic parameters of the third telescopic rod 630 through the hydraulic power source 700 so that the third telescopic rod 630 drives the third swing arm 620 to swing around the second base 610, so that the second guide wheel 640 contacts the oil pipe, ensuring that the oil pipe moves along the second guide wheel 640 during the rising process, thereby preventing the oil pipe from colliding with the work platform 100 after being separated from the first guide wheel 540 or the guide roller set on the work platform 100.

[0120] In the case where the oil pipe is short or the working platform 100 is high, the working platform 100 may be provided with several additional guide rollers. During the rising process of the oil pipe, the remote control center 800 controls the ground manipulator 500 to rotate and approach the working platform 100, so that after the oil pipe is separated from the first guide wheel 540, the guide rollers provided on the working platform 100 can continue to guide the oil pipe to avoid collision between the oil pipe and the working platform 100. Preferably, the guide rollers provided on the working platform 100 and the first guide wheel 540 of the ground manipulator 500 are in the same plane.

[0121] Preferably, when executing the second operation content, the remote control center 800 adjusts the swing angle of the first swing arm 412 by controlling the extension and contraction of the first hydraulic telescopic rod 414, and the remote control center 800 adjusts the swing angle of the third swing arm 620 by controlling the extension and contraction of the third hydraulic telescopic rod 630, so that the oil pipe is vertical and aligned with the wellhead. Preferably, when the first swing arm 412 swings to a specific angle and the third swing arm 620 rotates to a specific angle, the suspended oil pipe is in a vertical state or tends to be vertical under the action of gravity.

[0122] When performing the interlocking operation, the remote control center 800 adjusts the swing angle of the third swing arm 620 by controlling the extension and retraction of the third hydraulic telescopic rod 630, so that the second guide wheel 640 contacts the oil pipe to provide a force point for the oil pipe, thereby preventing the oil pipe from shaking. Preferably, when performing the interlocking operation, the third swing arm 620 rotates in a direction close to the support rod 102, so that the guide roller 240 contacts the rising oil pipe to provide a force point for the oil pipe, thereby preventing the oil pipe from shaking.

[0123] Preferably, the remote control center 800 adjusts the swing angle of the third swing arm 620 by controlling the extension and retraction of the third hydraulic telescopic rod 630, so that the second guide wheel 640 is always in contact with the oil pipe during the oil pipe lifting and fastening operation to provide a force point for the oil pipe and prevent the oil pipe from shaking.

[0124] Preferably, the remote control center 800 adjusts the length of the telescopic rod according to the pressure sensor data configured for the hydraulic telescopic rod, and further adjusts the swing angle of the first swing arm 412 , the swing angle of the third swing arm 620 and the position of the bell mouth 320 .

[0125] The remote control center 800 confirms whether the oil pipe is close to the bell mouth 212 through the image captured by the camera 930; when the oil pipe is close to the bell mouth 212, the remote control center 800 controls the fourth hydraulic telescopic rod 213 to align the bell mouth 212 with the descending oil pipe.

[0126] Preferably, when executing the third operation content, the steps of the remote control method include:

[0127] S21, judging whether the buckling is successful. Judging whether the upper pipe and the lower pipe are buckled; if the buckling is completed, executing step S12. The remote control center 800 first determines whether the upper pipe and the lower pipe are buckled through the image captured by the camera 930.

[0128] S22, clamping the pipeline. The remote control center 800 controls the main tongs 221 and the backup tongs 223 to clamp the oil pipe through the hydraulic power source 700. The main tongs 221 clamp the upper pipeline, and the backup tongs 223 clamp the lower pipeline.

[0129] S23, low-pressure buckle. The slewing mechanism 222 drives the main clamp 221 to rotate in the first direction and determines whether the buckle is successful; if the buckle is unsuccessful, the main clamp 221 releases the upper pipeline, lifts the upper pipeline, and re-buckles; if the buckle is successful, step S24 is executed. The remote control center 800 controls the first hydraulic motor 225 to work for a first preset time with a first hydraulic parameter through the hydraulic power source 700, so that the slewing mechanism 222 drives the main clamp 221 to rotate in the first direction; and the remote control center 800 determines whether the upper and lower pipelines are buckled successfully through the data collected by the camera 930 and the first encoder. 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 rotary mechanism 222 drives the main clamp 221 to rotate along the first direction through the image captured by the camera 930; if the upper and lower pipes are tightened when the rotary mechanism 222 drives the main clamp 221 to rotate along the first direction, the threading is successful; if the upper and lower pipes are not tightened when the rotary mechanism 222 drives the main clamp 221 to rotate along the first direction, the threading fails. Preferably, the method for judging whether the upper and lower pipes are successfully threaded can be to confirm whether the rotary mechanism 222 drives the main clamp 221 to rotate along the first direction through the data collected by the first encoder. If the number of turns meets the standard, the threading is successful; if the number of turns does not meet the standard, the threading fails. In the case of failure to draw the upper and lower pipes, the remote control center 800 stops the rotation of the slewing mechanism 222 through the hydraulic power source 700, and causes the main clamp 221 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 be fine after inspection, it will be buckled and drawn again; if the upper pipe is confirmed to be faulty after inspection, the upper pipe will be replaced, and the buckle will be drawn again.

[0130] S24, quick make-up. The slewing mechanism 222 drives the main pliers 221 to rotate a preset number of times or a second preset time in the first direction; and the rotation speed of the slewing mechanism 222 in step S14 is higher than the rotation speed of the slewing mechanism 222 in step S13. The remote control center 800 controls the first hydraulic motor 225 to work at the second hydraulic parameter for the second preset time through the hydraulic power source 700, or the remote control center 800 can also control the first hydraulic motor 225 to work at the second hydraulic parameter through the hydraulic power source 700 so that the slewing mechanism 222 rotates a preset number of times.

[0131] S25, low speed tightening. The slewing mechanism 222 drives the main pliers 221 to continue rotating in the first direction until the pressure of the first hydraulic motor 225 reaches the third preset pressure. The remote control center 800 controls the first hydraulic motor 225 to work at the third hydraulic parameter through the hydraulic power source 700 until the tightening is completed.

[0132] S26, loosening the pipeline. The remote control center 800 controls the main tongs 221 to loosen the upper pipeline and the backup tongs 223 to loosen the lower pipeline through the hydraulic power source 700.

[0133] Preferably, when different specifications of oil pipes are being operated under pressure, the control parameters of each working device are different. When different specifications of oil pipes are being fastened together, the remote control center 800 needs to adjust the hydraulic parameters of each power component.

[0134] Preferably, the hydraulic parameters required by each power component when the oil pipes of different specifications are operated under pressure are tested in advance, and an adjustment data table is generated.

[0135] The contents of the adjustment data table include: specifications and models of the oil pipe, hydraulic parameters of the sliding shoe 330 when performing the first operation on the oil pipe, hydraulic parameters of the winch 420 when performing the first operation on the oil pipe, hydraulic parameters of the table manipulator 600 when performing the second operation on the oil pipe, hydraulic parameters of the iron roughneck 220 when performing the third operation on the oil pipe, etc.

[0136] Preferably, the difference between the oil pipes of different specifications and models includes at least one of length and diameter. The oil pipes of different specifications and models may be different in length, different in diameter, or different in both length and diameter.

[0137] Preferably, after obtaining the adjustment data table, when performing pressurized operations, the remote control center 800 can query the contents of the adjustment data table according to the specifications and models of the oil pipes and the contents of the pressurized operations, determine the hydraulic parameters of each power component, and then regulate the corresponding working device to complete the corresponding pressurized operation contents.

[0138] 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-controlled gas well pressure operation equipment, characterized in that: include: A working platform (100) is built above the drilling well; and the working platform (100) is equipped with a plurality of working devices; The power control of the working device is hydraulically controlled; and the working device is connected to a hydraulic power source (700) via a hydraulic pipeline; The hydraulic power source (700) is connected to a remote control center (800) by signal, and the hydraulic power source (700) adjusts the hydraulic parameters of the working device in response to a control instruction of the remote control center (800) to complete corresponding pressure-carrying operation content; The remote control center (800) is equipped with a plurality of detection devices (900) for collecting pressure operation data and working data of the working device.

2. A remote-controlled gas well pressure operation equipment according to claim 1, characterized in that: The working device comprises: A wellhead device (200), arranged on the top floor of the working platform (100), for performing related pressure-bearing operations; A powered catwalk (300) is arranged on the ground at one side of the working platform (100) and is used for placing and transporting oil pipes on the ground; A lifting device (400) is used to drive the oil pipe to rise or fall; A ground manipulator (500) is disposed between the working platform (100) and the power catwalk (300) and is used to support the oil pipe; A tabletop manipulator (600) is arranged on the edge of the top layer of the working platform (100) and is used to support the oil pipe; The power control of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) is hydraulically controlled; and the power components of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) are all connected to a hydraulic power source (700) through hydraulic pipelines; The hydraulic power source (700) is connected to the remote control center (800) by signal, and the hydraulic power source (700) adjusts the hydraulic parameters of the power components of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) in response to the control command of the remote control center (800), so as to complete the corresponding pressure operation content; The remote control center (800) is equipped with a plurality of detection devices (900) for collecting pressure operation data and working data of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600).

3. A remote-controlled gas well pressure operation equipment according to claim 2, characterized in that: The pressure operation content at least includes: a first operation content, transporting an oil pipe between the working platform (100) and the power catwalk (300); When executing the first operation content, the remote control center (800) controls the hydraulic parameters of the power components of the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) through the hydraulic power source (700); Wherein, the power catwalk (300) comprises: a transport track (320) and a sliding shoe (330); The transport track (320) is used to place the oil pipe; The sliding shoe (330) is arranged at one end of the transport track (320) away from the working platform (100), and the sliding shoe (330) can move along the transport track (320) to push the oil pipe placed in the transport track (320) toward the working platform (100); The lifting device (400) comprises: a traveling carriage (410) and a winch (420); the traveling carriage (410) and the winch (420) are connected via a traction steel cable (103); the winch (420) drives the traveling carriage (410) to move by retracting and releasing the traction steel cable (103); The traveling block (410) is provided with an elevator (411) and a first swing arm (412); the elevator (411) is hinged to one end of the first swing arm (412) and is used to clamp one end of the oil pipe; Wherein, when the oil pipe is transported from the power catwalk (300) to the working platform (100), the control performed by the remote control center (800) includes: Controlling the winch (420) to lower the traveling block (410) to the transport track (320), so that the elevator (411) reaches the transport track (320) and is ready to clamp the oil pipe; Controlling the sliding shoe (330) to push the oil pipe, and pushing the oil pipe into the elevator (411) to complete clamping; Controlling the winch (420) to raise the traveling block (410); Controlling the sliding shoe (330) to continue pushing the oil pipe until the oil pipe is separated from the transport track (320); The ground manipulator (500) and the table manipulator (600) are controlled to support the oil pipe.

4. A remote-controlled gas well pressure operation equipment according to claim 3, characterized in that: The pressure operation content also includes: a second operation content, lowering the oil pipe to the wellhead or lifting the oil pipe from the wellhead; When executing the second operation content, the remote control center (800) controls the hydraulic parameters of the power components of the wellhead device (200), the lifting device (400) and the table manipulator (600) through the hydraulic power source (700); Wherein, the wellhead device (200) at least comprises a guide assembly (210); The guide assembly (210) comprises at least: a mounting plate (211), a bell mouth (212) and a fourth hydraulic telescopic rod (213); The mounting plate (211) is arranged at the wellhead; The bell mouth (212) is arranged in the middle of the mounting plate (211) and is used to guide the suspended oil pipe during the buckling process; The fourth hydraulic telescopic rod (213) is connected to the bell mouth (212) and is used to adjust the position of the bell mouth (212) on the mounting plate (211); When the oil pipe is lowered to the wellhead, the control performed by the remote control center (800) includes: Controlling the swing angles of the first swing arm (412) and the table manipulator (600) so that the oil pipe is in a vertical state; Controlling the traveling block (410) to be lowered so that the suspended end of the oil pipe approaches the bell mouth (212); The extension and retraction of the fourth hydraulic telescopic rod (213) is controlled to adjust the position of the bell mouth (212) so that the oil pipe enters the bell mouth (212), thereby guiding the oil pipe.

5. The remote-controlled gas well pressure operation equipment according to claim 3, characterized in that: The pressure operation also includes: a third operation content, performing a buckle-spinning operation to complete the buckle-making and buckle-breaking of the oil pipe; The remote control center (800) controls the hydraulic parameters of the power assembly of the wellhead device (200) through the hydraulic power source (700); Wherein, the wellhead device (200) further comprises an iron roughneck (220); The iron roughneck (220) comprises: A main clamp (221) is used to clamp the upper pipeline; the power component of the main clamp (221) is configured as a first hydraulic cylinder (224); A slewing mechanism (222) is used to drive the main tongs (221) to rotate; the power component of the slewing mechanism (222) is configured as a first hydraulic motor (225); A backup clamp (223) is used to clamp the lower pipe; the power component of the backup clamp (223) is configured as a second hydraulic cylinder (226); When performing a make-up operation, the control performed by the remote control center (800) includes: Controlling the main clamp (221) to clamp the upper pipeline, and controlling the backup clamp (223) to clamp the lower pipeline; controlling the third hydraulic motor (222) to operate in sequence with the first hydraulic parameter, the second hydraulic parameter, and the third hydraulic parameter; wherein the pressure when the third hydraulic motor (222) operates at the first hydraulic parameter is lower than the pressure when the third hydraulic motor (222) operates at the second hydraulic parameter; The third hydraulic motor (222) gradually increases the pressure to a third preset pressure when operating with a third hydraulic parameter.

6. A remote-controlled gas well pressure operation equipment according to claim 5, characterized in that: The detection device (900) comprises: an encoder (910), a pressure sensor (920) and a camera (930); The encoder (910) includes a first encoder, a second encoder and a third encoder; The first encoder is arranged on the rotary mechanism (222) and is used to obtain the number of rotations and the rotation speed of the rotary mechanism (222); The second encoder is configured on the sliding shoe (330) and is used to obtain the moving distance and moving speed of the sliding shoe (330); The third encoder is configured on the winch (420) and is used to obtain the speed and distance of the winch (420) in retracting and releasing the traction cable (103); The pressure sensor (920) is arranged on the power assembly of the working device and is used to obtain the hydraulic parameters of the power assembly; The camera (930) is used to collect working images of the remote-controlled gas well pressure operation equipment and various working devices.

7. A remote-controlled gas well pressure operation equipment according to claim 6, characterized in that: The data connection between the detection device (900) and the remote control center (800) adopts the Ethernet communication protocol, including two communication modes: wireless and wired, and the two communication modes serve as backup for each other.

8. A remote control system for a remote-controlled gas well pressure operation equipment, characterized in that: include: A hydraulic power source (700) for adjusting hydraulic parameters of a plurality of working devices configured on the working platform (100); A plurality of detection devices (900) for collecting pressure operation data and working data of each working device; The remote control center (800) generates a control instruction according to the data collected by the detection device (900), and transmits the control instruction to the hydraulic power source (700); The hydraulic power source (700) adjusts the hydraulic parameters of the working device in response to the control command to complete the corresponding pressure-bearing operation content.

9. A remote control system for a remote-controlled gas well pressure operation equipment according to claim 6, characterized in that: The working device comprises: A wellhead device (200), arranged on the top floor of the working platform (100), is used to perform related pressure-bearing operations; A powered catwalk (300) is arranged on the ground at one side of the working platform (100) and is used for placing and transporting oil pipes on the ground; A lifting device (400) is used to drive the oil pipe to rise or fall; A ground manipulator (500) is disposed between the working platform (100) and the power catwalk (300) and is used to support the oil pipe; A tabletop manipulator (600) is arranged on the edge of the top layer of the working platform (100) and is used to support the oil pipe; The power components of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) are all connected to a hydraulic power source (700) through hydraulic pipelines; The hydraulic power source (700) adjusts the hydraulic parameters of the power components of the wellhead device (200), the power catwalk (300), the lifting device (400), the ground manipulator (500) and the table manipulator (600) in response to the control command of the remote control center (800) to complete the corresponding pressure-carrying operation content.

10. A remote control method for a remote-controlled gas well pressure operation equipment, characterized in that: This is achieved by using the remote control system of the pressure working equipment as described in claim 8 or 9.

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