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

Abstract

The present invention relates to the technical field of pressurized operation equipment, and in particular to a remote-controlled gas well pressurized operation equipment and its control system and method. The remote-controlled gas well pressurized operation equipment includes: a working platform, which is equipped with a number of working devices; the working devices are connected to a hydraulic power source through hydraulic pipelines; the hydraulic power source is signal-connected to a remote control center, and the remote control center is equipped with a series of detection equipment for collecting pressurized operation data and working data of the working devices. The remote control center controls the hydraulic power source according to the data collected by the detection equipment, so that the hydraulic power source adjusts the hydraulic parameters of the working device to complete the pressurized operation. The present invention enables workers to make fine adjustments to the various power components of the relevant working devices through the remote control center to achieve operations such as conveying, lifting, lowering, and screwing of the oil pipe; it avoids workers from being exposed to the pressurized operation environment, reduces the risk of personal injury, and ensures the accuracy of various pressurized operations.

Description

Technical Field

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

[0002] Oil and gas extraction operations involve a series of pipe fitting operations, such as pipe conveying, lifting, lowering, and docking. Traditional pipe fitting operations often require workers to operate from a work platform, exposing them to significant safety risks. This is especially true when working under pressure or in harsh natural environments. Operating from a work platform increases safety risks for workers and can easily lead to personal injury 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. 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 existing technology has begun to introduce remote control systems for operations, the existing remote control systems have relatively simple functions and cannot effectively complete a series of pipe operations. Summary of the Invention

[0006] The purpose of the present invention is to overcome the problem of single function of the 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 pressurized operation equipment, comprising: a work platform built above the drilling well. The work platform is equipped with a plurality of working devices. The power control of the working devices is hydraulically controlled; and the working devices are connected to a hydraulic power source via hydraulic pipelines. The hydraulic power source is data-connected to a remote control center. The hydraulic power source adjusts the hydraulic parameters of the working devices in response to control instructions from the remote control center to complete the corresponding pressurized operation content. Preferably, the remote control center is equipped with a plurality of detection devices for collecting pressurized operation data and the working data of the working devices.

[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 transmission, and in response to control commands from the remote control center, the hydraulic power source adjusts the hydraulic parameters of the power components of the wellhead assembly, the power catwalk, the lifting device, the ground manipulator, and the table manipulator to complete the corresponding pressurized operation. Preferably, the remote control center is equipped with a number of detection devices for collecting pressurized operation data and operating data of the wellhead assembly, the power catwalk, the lifting device, the ground manipulator, and the table manipulator.

[0009] According to a preferred embodiment, the pressurized operation includes at least a first operation, transporting an oil pipe between the work platform and the power catwalk. When executing the first operation, 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 via a 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 disposed at an end of the transport track away from the work platform and is movable along the transport track to push the oil pipe placed in the transport track toward the work platform. The lifting device includes a traveling carriage and a winch; the traveling carriage and the winch are connected by a traction cable; the winch drives the traveling carriage by retracting and extending the traction cable. The traveling carriage is equipped with an elevator and a first swing arm; the elevator is hinged to one end of the first swing arm to clamp one end of the oil pipe. Preferably, when the oil pipe is transported from the power catwalk to the work platform, the control performed by the remote control center includes: controlling the winch to lower the traveling block to the transport track, so that the elevator reaches the transport track and prepares to clamp the oil pipe; controlling the sliding shoe to push the oil pipe, and pushes the oil pipe into the elevator to complete the clamping; controlling the winch to raise the traveling block; controlling the sliding shoe to continue pushing the oil pipe until the oil pipe is out of the transport track; and controlling the ground manipulator and the table manipulator to support the oil pipe.

[0010] According to a preferred embodiment, the pressurized operation also includes a second operation, lowering the oil pipe to the wellhead or lifting it from the wellhead. When executing the second operation, the remote control center controls the hydraulic parameters of the power components of the wellhead assembly, the lifting device, and the tabletop manipulator via a hydraulic power source. Preferably, the wellhead assembly includes at least a guide assembly. The guide assembly comprises at least a mounting plate, a bellmouth, and a fourth hydraulic telescopic rod. The mounting plate is mounted at the wellhead. The bellmouth, located in the middle of the mounting plate, guides the suspended oil pipe during the fastening process. The fourth hydraulic telescopic rod is connected to the bellmouth and is used to adjust its position on the mounting plate. When lowering the oil pipe to the wellhead, the remote control center performs the following controls: controlling the swing angles of the first swing arm and the tabletop manipulator to maintain a vertical position for the oil pipe; controlling the lowering of the traveling block so that the suspended end of the oil pipe approaches the bellmouth; and controlling the extension and retraction of the fourth hydraulic telescopic rod to adjust the position of the bellmouth so that the oil pipe enters the bellmouth, thereby guiding the oil pipe.

[0011] According to a preferred embodiment, the slickline operation also includes a third operation, performing a spin operation to complete the make-up and break-out of the tubing. The remote control center controls the hydraulic parameters of the power assembly of the wellhead assembly via a hydraulic power source. Preferably, the wellhead assembly also includes an iron roughneck. The iron roughneck comprises a main tong, a slewing mechanism, and a backup tong. The main tong is used to clamp the upper tubing. The power assembly of the main tong is configured as a first hydraulic cylinder. The slewing mechanism is used to rotate the main tong. The power assembly of the slewing mechanism is configured as a first hydraulic motor. The backup tong is used to clamp the lower tubing. The power assembly of the backup tong is configured as a second hydraulic cylinder. During the make-up operation, the remote control center performs the following controls: controlling the main tong to clamp the upper tubing and the backup tong to clamp the lower tubing; and controlling the first hydraulic motor to operate sequentially at first, second, and third hydraulic parameters. Preferably, the pressure when the first hydraulic motor operates at the first hydraulic parameter is lower than the pressure when the first hydraulic motor operates at the second hydraulic parameter. Preferably, the first hydraulic motor gradually increases the pressure to a third preset pressure when operating at 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 configured on the slewing mechanism to obtain the number of rotations and the rotation speed of the slewing mechanism. The second encoder is configured on the sliding shoe to obtain the moving distance and moving speed of the sliding shoe. The third encoder is configured on the winch to obtain the speed and distance of the winch for retracting and releasing the traction cable. The pressure sensor is configured on the power assembly of the working device to obtain the hydraulic parameters of the power assembly. The camera is used to capture the working images of the remote-controlled gas well pressure operation equipment and each working device.

[0013] According to a preferred embodiment, the data connection between the detection device and the remote control center adopts 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 remotely 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 work platform. The plurality of detection devices are used to collect pressurized operation data and the operating data of each working device. The remote control center generates control instructions based on the data collected by the detection devices and transmits the control instructions to the hydraulic power source. The hydraulic power source adjusts the hydraulic parameters of the working devices in response to the control instructions 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 pressurized 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 pressurized operations.

[0016] Finally, the present invention also provides a remote control method for a remote-controlled gas well pressurized operation device. The remote control method is implemented using the remote control system of the remote-controlled gas well pressurized operation device 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 for well operations through hydraulic control. The present invention collects pressure operation data and working data of the working devices by deploying a series of detection equipment. The remote control center can generate control instructions based on 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 conveying, 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 fine-tune 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 This is a schematic diagram of a remote-controlled gas well pressure operation equipment according to a preferred embodiment of the present invention;

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

[0021] Figure 3This is a 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 This is 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 This is 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 structural diagram 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 This is a schematic structural diagram 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 ears 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 block 410, elevator 411, first swing arm 412, crossbeam 413, first hydraulic telescopic rod 414, lifting eye 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 will be further described in detail below with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments, as all technologies implemented based on the present invention fall within 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 positional relationship, such as "upper", "lower", "left", "right", "center", "inside", and "outside", are based on the expressions of the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationship are merely for the purpose of facilitating the description of the scheme of the present invention or simplifying the description of the specific embodiments to facilitate the rapid understanding of the scheme by technicians, 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 positional relationship, and therefore should not be understood as limiting 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 relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simply understood that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", and "parallel", 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 solution of the present invention.

[0044] In addition, the expressions “first”, “second”, “third”, etc. 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 two. It can also be any number such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0046] Furthermore, in the description of the technical solution of the present invention, unless otherwise expressly specified, defined, or limited, the terms "disposed," "installed," "connected," "connected," "provided with," "laid," and "arranged" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be welded, riveted, bolted, threaded, or other commonly used connection methods in the art. Such connections may be mechanical, electrical, or communicative; they may be direct, indirect via an intermediate medium, or internally connected between two components.

[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 rig. Preferably, the work platform 100 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 the hydraulic power source 700 through a hydraulic pipeline. The hydraulic power source 700 is data-connected to the remote control center 800. And the hydraulic power source 700 adjusts the hydraulic parameters of the working device in response to the control instructions 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 equipment 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 for well operations through hydraulic control. A series of detection equipment 900 configured in 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; 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 fine-tune 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 will not be repeated. 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 oil pipes on the ground. The lifting device 400 is used to drive the oil pipes up or down. The ground manipulator 500 is arranged between the working platform 100 and the power catwalk 300 and is used to support the oil pipes. 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 pipes. 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. The power components of the wellhead assembly 200, power catwalk 300, lifting device 400, ground manipulator 500, and table manipulator 600 are all connected to the hydraulic power source 700 via hydraulic pipelines. The hydraulic power source 700 is signal-connected to the remote control center 800, and the hydraulic power source 700 adjusts the hydraulic parameters of the power components of the wellhead assembly 200, power catwalk 300, lifting device 400, ground manipulator 500, and table manipulator 600 in response to control commands from the remote control center 800 to complete the corresponding pressurized operation content. Preferably, the remote control center 800 is equipped with several detection devices 900 for collecting pressurized operation data and working data of the wellhead assembly 200, power catwalk 300, lifting device 400, ground manipulator 500, and 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 mounted on at least one side of the catwalk base 340. For example, two parallel pipe racks 310 may be installed on the left side of the catwalk base 340. The pipe racks 310 may extend perpendicularly or obliquely to the direction of extension of the catwalk base 340. Preferably, the oil pipes may be arranged on the two pipe racks 310. Of course, the pipe rack 310 may also be installed on the right side of the catwalk base 340.

[0054] The pipe rack 310 is hinged to the catwalk base 340, and can swing up and down about the hinge point with the catwalk base 340. Specifically, the end of the pipe rack 310 closest to the catwalk base 340 is a first end, and the end of the pipe rack 310 away from the catwalk base 340 is a second end. The first end is hinged to the catwalk base 340, and the second end is mounted with a hydraulic support leg 350. The hydraulic support leg 350 is hinged to the second end. When the hydraulic cylinder of the hydraulic support leg 350 is raised, the second end is raised, and when the hydraulic cylinder of the hydraulic support leg 350 is retracted, the second end is lowered. 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, thereby allowing the pipe rack 310 to freely switch between a horizontal state, a tilted state toward the transport track 320 (the second end is higher than the first end), and a tilted state away from the transport track 320 (the second end is lower than the first end).

[0055] Preferably, a transport track 320 is disposed above the catwalk base 340 for positioning the oil pipe. A sliding shoe 330 is disposed at the end of the transport track 320 away from the work platform 100 and is movable along the transport track 320 to push the oil pipe placed in the transport track 320 toward the work platform 100. Preferably, the sliding shoe 330 contacts one end of the oil pipe and pushes it along the transport track 320. Preferably, the sliding shoe 330 is connected to a second hydraulic motor via a transmission chain. The second hydraulic motor drives the chain, thereby driving the sliding shoe 330 to slide back and forth linearly on the transport track 320.

[0056] Preferably, when the powered catwalk 300 is in use, one end of the transport track 320 is close to the working platform 100 , and the other end is 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 installed on the support rod 102 of the working platform 100. The winch 420 is connected to the traveling carriage 410 through the 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 set in the middle of the support rod 102 of the working platform 100. A fixed pulley 104 is set at the top of the support rod 102. 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 crossbeam 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 to one end of the swing arm 412. The lifting lug 415 is provided on the crossbeam 413. The lifting lug 415 is connected to the winch 420 via the traction cable 103. The crossbeam 413 is hinged to the end of the swing arm 412 that is not hinged to the elevator 411. One end of the first hydraulic telescopic rod 414 is hinged to the crossbeam 413, and the other end is hinged to the middle of the swing arm 412. The first hydraulic telescopic rod 414 is in communication with the remote control center 800. The remote control center 800 controls the extension and contraction of the first hydraulic telescopic rod 414 to cause the swing arm 412 to 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 crossbeam 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 the 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 located 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. The second hydraulic telescopic rod 530 is connected to the first base 510 at one end and to the middle of the second swing arm 520 at the other end. 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 manipulator 600 includes: a second base 610, a third swing arm 620, a third telescopic rod 630 and a second guide wheel 640.

[0063] The tabletop 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 located 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. The third hydraulic telescopic rod 630 is connected to the second base 610 at one end and to the middle of the second swing arm 620 at the other end. The remote control center 800 controls the extension and contraction of the third hydraulic telescopic rod 630 to cause the second swing arm 620 to swing around the second base 610 in a 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 second base 610 is axially located, that is, Figure 1 Vertical direction shown.

[0064] See also Figure 1 、 Figure 7 and Figure 8 The wellhead assembly 200 includes a steering 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 slider 214 .

[0066] Preferably, mounting plate 211 is positioned at the wellhead. A bellmouth 212, positioned in the middle of mounting plate 211, is used to guide the suspended tubing during the fastening process. A fourth hydraulic telescopic rod 213 is connected to bellmouth 212 and is used to adjust the position of bellmouth 212 on mounting plate 211.

[0067] Preferably, a bell mouth 212 is positioned in the middle of the mounting plate 211 to guide the suspended oil pipe during the fastening process. Preferably, the bell mouth 212 is made of a soft material such as rubber to prevent damage to the oil pipe caused by impact with the bell mouth 212. The bell mouth 212 is connected to the mounting plate 211 via a slider 214, which allows the bell mouth 212 to slide along the edge of the mounting plate 211. The slider 214 is connected to a fourth telescopic rod 213 located at each end of the mounting plate 211; the fourth telescopic rod 213 is in communication with the remote control center 800. Preferably, the guide assembly 210 is positioned at the wellhead through the bell mouth 211. The remote control center 800 adjusts the position of the bell mouth 212 on the mounting plate 211 by controlling the extension and retraction of the fourth telescopic rod 213. The bell mouth 212 is hollow and has a bottom that is threadedly connected to the slider 214. Preferably, slide rails are provided on both sides of the mounting plate 211 where the fourth telescopic rod 213 is not located. The slider 214 translates along the rails. Preferably, the central portion of mounting plate 211 is hollowed out, allowing the lifting device 400 to suspend and lower the oil pipe, which then passes through bellmouth 212 to connect with the oil pipe in the well. The size of the hollowed-out area in the central portion of mounting plate 211 satisfies the requirement that the bottom opening of bellmouth 212 is unobstructed when slider 214 is at its travel limit. Bellmouth 212 can be configured with various sizes to accommodate oil pipes of varying specifications, or it can be set to a fixed size that can accommodate various 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 slide rod 231, a coil spring 232 and a connecting rod 233.

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

[0070] See also Figure 8Preferably, the main tongs 221 are positioned above the slewing mechanism 222, and the backup tongs 223 are positioned below the slewing mechanism 222. The backup tongs 223 are positioned closer to the wellbore, while the main tongs 221 are positioned further away from the wellbore. The slewing mechanism 222 is positioned between the main tongs 221 and the backup tongs 223. The power assembly of the iron roughneck 220 also includes a first hydraulic cylinder 224 for the main tongs 221 and a second hydraulic cylinder 226 for the backup tongs 223. The first hydraulic cylinder 224, first hydraulic motor 225, and second hydraulic cylinder 226 are each connected to the hydraulic power source 700 via 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 can be a rectangular parallelepiped structure with six openings. Figure 2 A through hole 228 is provided in the vertical direction (up and down) for the oil pipe to pass through. A guide assembly 210 is mounted on the side of through hole 228 away from the slewing mechanism 222. Preferably, guide assembly 210 is mounted on the side of through hole 228 away from the slewing mechanism 222 via a mounting plate 211, and the bellmouth 212 overlaps with through hole 228 when guiding the oil pipe.

[0073] When the upper pipe enters the iron roughneck 220, it first passes through the guide assembly 210, which guides the upper pipe into the correct axis, achieving pre-alignment and reducing the difficulty of subsequent clamping. Since the upper pipe has been pre-aligned by the centralizer, the main tongs 221 can clamp the pipe string faster and more accurately, thereby improving the clamping efficiency of the main tongs 221 and speeding up the entire make-up and breakout process.

[0074] The main clamp 221 is equipped with two main clamp teeth, mounted on the left and right sides of the first housing 227, facing each other. Each main clamp tooth is 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 pipe is positioned between the two main clamp teeth, the output end of the first hydraulic cylinder 224 pushes the main clamp teeth, bringing the two opposing main clamp teeth closer together and clamping the pipe string. The main clamp teeth are generally curved in shape, allowing them to conform to the pipe string when clamping the upper pipe, maintaining its stability.

[0075] Preferably, the slewing mechanism 222 is a hydraulic slewing mechanism (also known as a hydraulic slewing transmission device), which includes a first hydraulic motor 225, a brake, a reducer, a valve block, a gear end structure, and the like. The torque and speed of the hydraulic slewing mechanism can be adjusted by adjusting the hydraulic parameters (such as pressure, flow rate, and flow direction) of the first hydraulic motor 225. Preferably, the slewing mechanism 222 is a hydraulic slewing mechanism, which can provide stronger torque, enabling the iron roughneck 220 to easily handle high-strength, large-sized pipe string connections.

[0076] In conventional iron roughnecks 220, the main tongs 221 and the slewing mechanism 222 are usually rigidly connected. During the make-up and break-out process, the distance between the upper pipe and the lower oil pipe changes as the thread of the pipe string 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 string. In addition, if there is an angular deviation when the upper pipe and the lower oil pipe are aligned after the main tongs 221 clamp the upper pipe, it can also easily cause damage to the pipe string joint.

[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 parallelepiped shape.

[0079] See also Figure 2 The elastic component includes a slide rod 231 and a coil spring 232 mounted on the slide rod 231. The slide rods 231 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, a slide bar 231 is inserted into the mounting lug 230, which provides a precise linear guide, ensuring that the main tongs 221 can move along a predetermined vertical path during distance adjustment, avoiding lateral displacement and improving motion accuracy. A coil spring 232 is used as the elastic element, and its elastic coefficient can be selected according to different tubing specifications and working conditions. By replacing springs of different stiffnesses, the compensation force can be flexibly adjusted to adapt to various operating conditions. Four elastic components are used, evenly distributed around the first housing 227, each operating independently, ensuring uniform force on the main tongs 221, smooth movement, and improved operational 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, maintaining 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 elastically connected to the slewing mechanism 222 via four elastic components. These components act as travel compensation devices. During the make-up and break-out process, the elastic components compensate for distance changes caused by tightening or loosening the tubing string threads. The elastic components also provide the necessary buffering, allowing the iron roughneck 220 to flexibly adapt to changes in the distance between the upper and lower tubing. Furthermore, the use of four elastic components not only provides vertical adjustment but also accommodates angular deviations in the horizontal plane. After the main tongs 221 clamp the upper tubing, if the upper and lower tubing strings are not coaxial or exhibit angular deviation, these elastic components can provide subtle angular adjustments to help better align the tubing string. By incorporating elastic components, the iron roughneck 220 cleverly resolves various issues caused by the rigid connection between the main tongs 221 and the slewing mechanism 222. This not only improves the adaptability and operational efficiency of the equipment, but also significantly reduces the risk of tubing string damage, thereby enhancing the safety and reliability of hot workover operations.

[0083] See also Figure 2 Because mud, rock debris, oil, and other pollutants are common in oil and gas field environments, an overflow cavity is provided within the second housing 229. The overflow cavity provides a drainage channel for these pollutants. For example, when extracting an oil pipe, it prevents wastewater from the pipe from spraying onto the work surface, keeping the iron roughneck clean and contributing to oilfield environmental protection.

[0084] See also Figure 2The backup clamp 223 is equipped with two backup clamp teeth, mounted on the left and right sides of the second housing 229, facing each other. Each backup clamp tooth is equipped 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 positioned between the two backup clamp teeth, the output end of the second hydraulic cylinder 226 pushes the backup clamp teeth, bringing the two opposing backup clamp teeth closer together and clamping the pipe string. The backup clamp teeth are generally curved, allowing them to fit snugly against the pipe string when clamping the upper pipe, maintaining its stability.

[0085] Furthermore, one side of the second housing 229 is provided with an observation window 140 and a door panel. The door panel is hingedly connected to the second housing 229 and, when closed, blocks the observation window 140. A push rod is mounted on the second housing 229 to drive the door panel open or close. Specifically, the push rod can be a hydraulic cylinder, an oil cylinder, or a pneumatic cylinder.

[0086] Preferably, the door panel and observation window 140 together provide direct access to the interior of the second housing 229. Workers can open the door panel and directly clean accumulated contaminants such as mud and rock debris through the observation window 140, maintaining internal cleanliness and extending the service life of the equipment. If the backup clamp 223 or the internal piping of the second housing 229 requires maintenance, technicians can open the door panel directly on-site to quickly replace components, reducing 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 slewing mechanism 222 and is used to obtain the number of revolutions and rotation speed of the slewing mechanism 222. The second encoder is configured on the sliding shoe 330 and is used to obtain the movement distance and movement 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 extending the traction cable 103.

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

[0089] Preferably, a second encoder is located on the second hydraulic motor of the sliding shoe 330 and is in communication with the remote control center 800. The second encoder is used to monitor information such as the speed and shaft position of the second hydraulic motor in real time. The remote control center 800 can determine information such as the position, speed, and direction of movement of the sliding shoe 330 based on the parameters monitored by the second encoder, thereby controlling the sliding shoe 330.

[0090] Preferably, the winch 420 is equipped with a third hydraulic motor, which is connected to one end of the traction cable 103. A third encoder is configured on the third hydraulic motor and is in communication with the remote control center 800. The third encoder is used to monitor the speed and shaft position of the third hydraulic motor in real time. The remote control center 800 can determine the status of the third hydraulic motor based on the parameters monitored by the third encoder and subsequently regulate it. By controlling the rotation direction and speed of the third hydraulic motor, the remote control center 800 retracts and extends the traction cable 103, thereby driving the traveling carriage 410 up or down.

[0091] The pressure sensor 920 is configured 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 assembly 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 bellmouth 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 tong 221 by controlling the hydraulic parameters of the first hydraulic cylinder 224. Preferably, the remote control center 800 controls the speed and direction of rotation of the main tong 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 tong 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 retraction and extension of the traction cable 103.

[0095] Preferably, the power component of the ground manipulator 500 is the 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 component 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 that can adjust parameters such as the delivery pressure, flow rate, and flow direction of the hydraulic oil. 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. These sensors are communicatively connected to the remote control center 800, allowing the remote control center 800 to 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 both wireless and wired communication modes, and the two communication modes serve as backup for each other.

[0100] Preferably, the remote control center 800 is equipped with a display screen, a data processor, and an input module. The data processor is in communication with the display screen, the input module, the detection device 900, and the remote control center 800. 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 control instructions based on the data sent by the input module and transmits the control instructions to the hydraulic power source 700 to control the operating status of the corresponding working device.

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

[0102] When executing the first operation, 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 via the hydraulic power source 700. Preferably, when transporting the oil pipe from the power catwalk 300 to the work platform 100, the remote control center 800 performs the following operations: controlling the winch 420 to lower the traveling block 410 to the transport track 320, allowing the elevator 411 to reach the transport track 320 and prepare to clamp the oil pipe; controlling the sliding shoe 330 to 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 pushing the oil pipe until the oil pipe is free of the transport track 320; and controlling the ground manipulator 500 and the table manipulator 600 to support the oil pipe.

[0103] 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 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 so that the oil pipe is in a vertical state; controlling the lowering of the traveling block 410 so that the suspended end of the oil pipe approaches the bell mouth 212; controlling the extension and retraction of the fourth hydraulic telescopic rod 213 and adjusting the position of the bell mouth 212 so that the oil pipe enters the bell mouth 212, thereby guiding the oil pipe.

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

[0106] During the make-up operation, the remote control center 800 performs the following controls: controlling the main tongs 221 to clamp the upper pipe and the backup tongs 223 to clamp the lower pipe; and controlling the first hydraulic motor 225 to operate sequentially at first, second, and third hydraulic parameters. Preferably, the pressure when the first hydraulic motor 225 operates at the first hydraulic parameter is lower than the pressure when the first hydraulic motor 225 operates at the second hydraulic parameter. Preferably, when the first hydraulic motor 225 operates at the third hydraulic parameter, the pressure is gradually increased to a third preset pressure.

[0107] Example 3

[0108] This 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 this embodiment is applied to the remote-controlled gas well pressurized operation equipment involved in Example 1 and Example 2. Preferably, the remote control system includes: a hydraulic power source 700, a remote control center 800 and a number of detection devices 900. The hydraulic power source 700 is used to adjust the hydraulic parameters of a number of working devices configured on the working platform 100. The number of detection devices 900 is used to collect pressurized operation data and working data of each working device. The remote control center 800 generates control instructions based on the data collected by the detection equipment 900, and transmits 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 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 oil pipes on the ground. The lifting device 400 is used to drive the oil pipes up or down. The ground manipulator 500 is arranged between the working platform 100 and the power catwalk 300 and is used to support the oil pipes. 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 pipes. 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, power catwalk 300, lifting device 400, ground manipulator 500 and table manipulator 600 in response to the control instructions of the remote control center 800 to complete the corresponding pressurized operation content.

[0110] Example 4

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

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

[0113] S11. Gripping 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, enabling the elevator 411 on the traveling block 410 to grip the oil pipe placed on the transport track 320. The elevator 411 grips 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, causing one end of the oil pipe to enter the gripping range of the elevator 411.

[0114] S12: Confirm successful tubing gripping. The remote control center 800 can confirm whether the elevator 411 has successfully gripped the tubing using the image captured by the camera 930 or the parameters of the second encoder. If the elevator 411 has successfully gripped the tubing, step S13 is executed. Confirming successful tubing gripping by the elevator 411 can be accomplished by confirming whether one end of the tubing has entered the elevator 411 based on the image captured by the camera 930, or by confirming whether the sliding shoe 330 has moved sufficiently to push the tubing end into the elevator 411 based on the parameters of the second encoder.

[0115] S13. Pull the oil pipe upward. After confirming that the elevator 411 has successfully gripped the oil pipe, the remote control center 800 controls the rotation of the winch 420 to drive the traveling carriage 410 away from the powered catwalk 300, causing the oil pipe to rise and begin to detach from the transport track 320. Specifically, the remote control center 800 sends a command to the winch 420, causing it to rotate and retract the traction cable, thereby pulling the traveling carriage 410 upward and, in turn, the oil pipe upward. As the traveling carriage 410 raises the oil pipe, the end of the oil pipe connected to the elevator 411 first detaches from the transport track 320. The end of the oil pipe not connected to the elevator 411, propelled by the sliding shoe 330, gradually approaches the work platform 100 until it detaches from the transport track 320.

[0116] S14: First pipe lifting: When the traveling block 410 leaves the rotation range of the ground manipulator 500 and the end of the oil pipe not connected to the elevator 411 has not left the transport track 320, the remote control center 800 controls the ground manipulator 500 to rotate so that the ground manipulator 500 lifts the oil pipe.

[0117] The remote control center 800 can determine whether the oil pipe has detached from the transport track 320 based on the image from the camera 930 and the length of the traction cable recovered by the winch 420. If 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 has not detached from the catwalk, the remote control center 800 controls the ground manipulator 500 to rotate, causing the ground manipulator 500 to lift the oil pipe. Specifically, the remote control center 800 uses the hydraulic power source 700 to adjust the hydraulic parameters of the second hydraulic telescopic rod 530, causing it to drive the second swing arm 520 to swing around the first base 510, away from the work platform 100, and bring the first guide wheel 540 into contact with the oil pipe. This ensures that the oil pipe moves along the first guide wheel 540 during the ascent, thereby preventing the oil pipe from shaking due to the change in force when it detaches from the catwalk, and further preventing the oil pipe from colliding with the work platform 100 when it detaches 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 rotation of the table manipulator 600 so that the table manipulator 600 supports the oil pipe.

[0119] The remote control center 800 determines the lifting status of the oil pipe using images captured by the camera 930 and the length of the traction cable recovered by the winch 420. If the traveling block 410 leaves the rotation range of the tabletop manipulator 600 and the end of the oil pipe not connected to the elevator has not disengaged from the guide roller, the remote control center 800 controls the rotation of the tabletop manipulator 600, causing the tabletop manipulator 600 to lift 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, causing the third telescopic rod 630 to swing the third swing arm 620 around the second base 610, bringing the second guide wheel 640 into contact with the oil pipe, ensuring that the oil pipe moves along the second guide wheel 640 during the ascent, thereby preventing the oil pipe from colliding with the work platform 100 after disengaging from the first guide wheel 540 or the guide rollers provided on the work platform 100.

[0120] If the oil pipe is short or the work platform 100 is high, the work platform 100 can be equipped with several additional guide rollers. During the ascent of the oil pipe, the remote control center 800 controls the ground manipulator 500 to rotate and approach the work platform 100. After the oil pipe is freed from the first guide wheel 540, the guide rollers on the work platform 100 can continue to guide the oil pipe, preventing it from colliding with the work platform 100. Preferably, the guide rollers on the work platform 100 and the first guide wheel 540 of the ground manipulator 500 are coplanar.

[0121] Preferably, when executing the second operation, the remote control center 800 adjusts the swing angle of the first swing arm 412 by controlling the extension and retraction of the first hydraulic telescopic rod 414, and 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 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 vertically positioned or tends to be vertical under the action of gravity.

[0122] During 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, providing a force point for the oil pipe and preventing it from shaking. Preferably, during the interlocking operation, the third swing arm 620 rotates toward the support rod 102, so that the guide roller 240 contacts the rising oil pipe, providing a force point for the oil pipe and preventing it 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 always contacts 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 212 .

[0125] The remote control center 800 uses the image captured by the camera 930 to confirm whether the oil pipe is close to the bell mouth 212; 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. Determine whether the connection is successful. Determine whether the upper and lower pipes are connected. If so, proceed to step S12. The remote control center 800 first determines whether the upper and lower pipes are connected using images captured by the camera 930.

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

[0129] S23: Low-pressure caulking. The slewing mechanism 222 drives the main tongs 221 to rotate in the first direction and determines whether caulking was successful. If caulking was unsuccessful, the main tongs 221 release the upper pipe, lift it, and re-caulk it. If caulking was successful, step S24 is executed. The remote control center 800 controls the first hydraulic motor 225 via the hydraulic power source 700 to operate at first hydraulic parameters for a first preset time, causing the slewing mechanism 222 to drive the main tongs 221 to rotate in the first direction. The remote control center 800 then determines whether caulking of the upper and lower pipes was successful using data collected by the camera 930 and the first encoder. The method for determining whether the upper and lower pipes have been successfully threaded can be to observe, using images captured by the camera 930, whether the upper and lower pipes are tightened when the slewing mechanism 222 drives the main tongs 221 to rotate in the first direction. If the upper and lower pipes are tightened when the slewing mechanism 222 drives the main tongs 221 to rotate in the first direction, threading is successful; if the upper and lower pipes are not tightened when the slewing mechanism 222 drives the main tongs 221 to rotate in the first direction, threading has failed. Preferably, the method for determining whether the upper and lower pipes have been successfully threaded can be to confirm, using data captured by the first encoder, whether the slewing mechanism 222 drives the main tongs 221 to rotate in the first direction for the required number of revolutions required for threading. If the number of revolutions meets the requirement, threading is successful; if the number of revolutions does not meet the requirement, threading has failed. If the upper and lower pipes fail to be threaded, the remote control center 800 uses the hydraulic power source 700 to stop the rotation of the slewing mechanism 222 and release the upper pipe from the main clamp 221, facilitating subsequent lifting and inspection. If the upper pipe is inspected and found to be faulty, the threading and threading are repeated. If the upper pipe is found to be faulty, the upper pipe is replaced and the threading and threading are repeated.

[0130] S24: Quick make-up. The slewing mechanism 222 drives the main tongs 221 to rotate in the first direction a preset number of revolutions or for a second preset duration. The rotational speed of the slewing mechanism 222 in step S14 is higher than the rotational speed of the slewing mechanism 222 in step S13. The remote control center 800 controls the first hydraulic motor 225 via the hydraulic power source 700 to operate at the second hydraulic parameters for the second preset duration. Alternatively, the remote control center 800 can control the first hydraulic motor 225 via the hydraulic power source 700 to operate at the second hydraulic parameters to rotate the slewing mechanism 222 a preset number of revolutions.

[0131] S25: Low-speed make-up. The slewing mechanism 222 drives the main tongs 221 to continue rotating in the first direction until the pressure of the first hydraulic motor 225 reaches a third preset pressure. The remote control center 800, through the hydraulic power source 700, controls the first hydraulic motor 225 to operate at the third hydraulic pressure parameter until make-up is complete.

[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 performing pressure operations on oil pipes of different specifications, the control parameters of each working device are different. When performing the fastening operation on oil pipes of different specifications, 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 oil pipes of different specifications are subjected to pressure operation are pre-tested to generate an adjustment data table.

[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 based on 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 scope of protection 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; the working platform (100) is equipped with a plurality of working devices; the power control of the working devices is hydraulically controlled; and the working devices are connected to a hydraulic power source (700) via 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 working device in response to the control instructions of the remote control center (800) 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 working device; The working device comprises: A wellhead device (200), arranged on the top floor of the working platform (100), for performing related pressurized operations; A powered catwalk (300) is provided 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 provided between the working platform (100) and the power catwalk (300) and is used for supporting the oil pipe; A tabletop manipulator (600) is provided on the edge of the top layer of the working platform (100) and is used to support the oil pipe; The lifting device (400) includes: 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 extending the traction steel cable (103); The traveling block (410) is equipped 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 work 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, pushing 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 pushing the oil pipe until the oil pipe is separated from the transport track (320); controlling the ground manipulator (500) and the table manipulator (600) to support the oil pipe; The ground manipulator (500) comprises: 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); 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; The table manipulator (600) comprises: a second base (610), a third 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 third swing arm (620), and the other end of the third 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 part of the third swing arm (620); the remote control center (800) controls the extension and contraction of the third hydraulic telescopic rod (630) to make the third swing arm (620) swing around the second base (610) along a first direction; the first direction is the plane where the axial direction of the second base (610) is located.

2. A remote-controlled gas well pressure operation equipment according to claim 1, characterized in that: 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 a 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 instructions of the remote control center (800) to complete the corresponding pressure operation content; The remote control center (800) is equipped with several 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); The power catwalk (300) comprises: a transport track (320) and a sliding shoe (330); The transport track (320) is used 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) is movable along the transport track (320) to push the oil pipe placed in the transport track (320) toward the working platform (100).

4. The 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 includes 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 fastening 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 expansion and contraction 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 screw-in operation to complete the screw-in and screw-out 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 apparatus (200) further comprises an iron roughneck (220); The iron roughneck (220) comprises: A main clamp (221) is used to clamp the upper pipe; the power component of the main clamp (221) is configured as a first hydraulic cylinder (224); A rotary mechanism (222) is used to drive the main tongs (221) to rotate; the power component of the rotary 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); In the case of performing a make-up operation, the control performed by the remote control center (800) includes: Controlling the main clamp (221) to clamp the upper pipe, and controlling the backup clamp (223) to clamp the lower pipe; controlling the first hydraulic motor (225) to operate in sequence with a first hydraulic parameter, a second hydraulic parameter, and a third hydraulic parameter; wherein the pressure when the first hydraulic motor (225) operates at the first hydraulic parameter is lower than the pressure when the first hydraulic motor (225) operates at the second hydraulic parameter; The first hydraulic motor (225) gradually increases the pressure to a third preset pressure when operating at a third hydraulic parameter.

6. The remote-controlled gas well pressure operation equipment according to claim 5, characterized in that: 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 retraction speed and distance of the traction cable (103) by the winch (420); 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 each working device.

7. The 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); Several detection devices (900) for collecting pressure 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 a control instruction to complete corresponding pressure-bearing operation content.

9. A remote control system for a remote-controlled gas well pressure operation equipment according to claim 8, 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 pressurized operations; A powered catwalk (300) is provided 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 provided between the working platform (100) and the power catwalk (300) and is used for supporting the oil pipe; A tabletop manipulator (600) is provided 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 instructions of the remote control center (800) to complete the corresponding pressure 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 for the pressure working equipment as described in claim 8 or 9.

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