Loop short section automatic connecting device and control method

Abstract

The present application belongs to the technical field of drilling equipment and tools, and discloses a circulating nipple automatic connecting device and a control method. The circulating nipple automatic connecting device comprises a circulating nipple, a connector and a mechanical arm. The circulating nipple comprises a nipple body and a piston body. The nipple body is provided with a positioning cavity. The side wall of the positioning cavity is provided with a first bypass hole. The piston body is slidingly connected to the positioning cavity. The side wall of the piston body is provided with a second bypass hole. The piston body and the nipple body are provided with a starting cavity. The connector is arranged at the end of the mechanical arm. The tail end of the connector is connected to a drilling fluid pipeline. The mechanical arm is configured to drive the connector to move towards the circulating nipple and tightly hold the connecting part of the circulating nipple. The piston body slides in the positioning cavity to enable the circulating nipple to switch between a straight-through state and a bypass state. The present application realizes automatic connection of the drilling fluid pipeline and the circulating nipple, has the characteristics of simple operation, safety and reliability, strong applicability and the like, and significantly improves the operation safety and automation level.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drilling equipment and tools, in particular to a circulating nipple automatic connection device and control method. BACKGROUND

[0002] In a conventional drilling process, when a stand or a string is connected, the pump must be stopped to terminate the drilling fluid circulation, and then the stand or string connection operation is performed. After the stand or string is connected, the pump is started again to restart the circulation. Therefore, pressure fluctuation and cuttings settlement inevitably occur at the bottom of the well during the connection of the stand or string. In complex formations such as narrow density window, high temperature and high pressure, and in special technology wells such as large displacement / horizontal wells and underbalanced wells, well kick, well leakage, gas invasion, well wall collapse and sticking accidents are easily caused, which seriously affects the safety of drilling.

[0003] Continuous circulation is an effective means and method to solve the above problems, that is, when a stand or a string is connected, the drilling fluid is cut off and diverted to maintain continuous circulation of the drilling fluid. Therefore, stable equivalent circulating density and uninterrupted cuttings discharge can be achieved during the entire drilling period, which significantly improves the safety of drilling. One of the methods to achieve continuous circulation when connecting a stand or a string is to preinstall a circulating nipple that can achieve drilling fluid diversion and switching control on the upper end of each stand or string. The basic principle is that a valve is installed on the internal central through hole and the lateral bypass hole of the nipple, and the diversion control of the drilling fluid is achieved by the alternating opening and closing of the two valves. The drilling fluid can flow into the drill string from the central passage and from the bypass passage, and then the stand or string connection operation is completed in the state of maintaining continuous circulation of the drilling fluid.

[0004] Connecting the drilling fluid pipeline with the bypass hole is an important step in the operation process of the circulating nipple. Since it is a pressure operation, there is a great risk. The operation processes of the circulating nipples disclosed in the prior art are all manual or semi-automatic. Manual operation still requires workers to enter the dangerous area, which has a great safety hazard and is difficult to meet the needs of full automation development. SUMMARY

[0005] The purpose of the present application is to provide a circulating nipple automatic connection device and control method to solve the safety hazard problem existing in the operation process of the circulating nipple by using manual or semi-automatic methods.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The circulating nipple automatic connection device comprises:

[0008] A circulating short section, the circulating short section comprising a short section body and a piston body, the short section body having a positioning cavity, two ends of the positioning cavity being communicated with an upper port and a lower port of the short section body respectively, a side wall of the positioning cavity being provided with a first bypass hole; the upper port being connected with a top drive assembly, the top drive assembly being used for providing a first drilling fluid; the positioning cavity having an upper limit position and a lower limit position; the piston body being slidingly connected with the positioning cavity, a side wall of the piston body being provided with a second bypass hole, the second bypass hole being provided with a bypass valve, an upper portion of the second bypass hole being provided with a main through valve; a start cavity being provided between the piston body and the short section body, the start cavity being communicated with an outside of the short section body;

[0009] A connector, a front end of the connector being capable of embracing a connection position of the circulating short section to seal the start cavity and the first bypass hole, a tail end of the connector being connected with a drilling fluid pipeline to provide a second drilling fluid; when the piston body is at the lower limit position under an action of a pressure of the first drilling fluid, the circulating short section is in a straight-through state; when the piston body is at the upper limit position under an action of a pressure of the second drilling fluid, the circulating short section is in a bypass state;

[0010] A mechanical arm, the connector being arranged at a terminal end of the mechanical arm, the mechanical arm being configured to drive the connector to move towards the circulating short section.

[0011] Optionally, the circulating short section further comprises a spring, an outer wall of a top end of the piston body and an inner wall of the short section body being provided with a spring cavity, the spring being arranged in the spring cavity, the short section body being provided with a through hole to communicate the spring cavity with an outside, the piston body being capable of compressing the spring when sliding upwards.

[0012] Optionally, the circulating short section further comprises an anti-rotation mechanism, the anti-rotation mechanism comprising:

[0013] A steel ball, an outer wall of a bottom end of the piston body being provided with an axial sliding groove, the steel ball being abutted against and limited in the sliding groove;

[0014] A screw plug, the short section body being provided with a threaded hole, the screw plug being threadedly connected with the short section body and abutted against the steel ball.

[0015] Optionally, the connector comprises:

[0016] A connector body, a rear end of the connector body being connected with the drilling fluid pipeline;

[0017] An embracing arm, the embracing arm being arranged at a front end of the connector body, the embracing arm being capable of being turned to open or close to release or embrace the circulating short section;

[0018] A locking arm is located at the front end of the connector body. The locking arm can be rotated to open or close to unlock or lock the retaining arm.

[0019] Optionally, the inner wall of the clamping arm is provided with an annular groove, and when the clamping arm clamps the circulating short section, an annular sealing cavity is formed between the annular groove and the connection part of the circulating short section.

[0020] Optionally, the locking arm is provided with a slot, the inner wall of the slot is a wedge-shaped surface, and all normals on the wedge-shaped surface are located on the same side of the center of rotation of the locking arm, so that the positive pressure generated by the clamping arm on the slot can drive the locking arm to rotate in the direction of clamping the clamping arm, thus forming a self-locking mechanism.

[0021] Optionally, the robotic arm includes:

[0022] A column, which is fixed by a base, is equipped with a lifting platform that can move up and down along the column;

[0023] A telescopic arm, one end of which is hinged to the lifting platform, and the other end of which is provided with a terminal support;

[0024] A telescopic cylinder, the cylinder body of which is hinged to the lifting platform, the piston rod of which is hinged to the telescopic arm, the telescopic cylinder being able to drive the telescopic arm to extend or retract to achieve horizontal movement of the terminal support, the connector being connected to the terminal support.

[0025] Optionally, the automatic coupling device for the circulating short sections further includes a control system and a component connected to the control system:

[0026] A lifting displacement sensor is installed on the lifting platform to detect the position of the lifting platform.

[0027] A telescopic position sensor is installed on the telescopic arm or the lifting platform to detect the telescopic state of the telescopic arm.

[0028] A positioning probe is provided on the connector for detecting the distance between the connector and the recirculating sub-section;

[0029] An arm position sensor is installed on the arm to detect the opening and closing state of the arm;

[0030] A lock arm position sensor is installed on the lock arm to detect the open / closed state of the lock arm.

[0031] The present invention also provides an automatic connection control method for cyclic sub sections. According to the automatic connection device for cyclic sub sections provided by the present invention, the automatic connection control method for cyclic sub sections is as follows:

[0032] In the initial state, the circulation nipple is in a straight-through state, and the first drilling fluid flows from the upper port to the lower port;

[0033] When the circulation nipple is switched from the straight-through state to a bypass state, a connector is installed at the end of a mechanical arm, the mechanical arm drives the connector to move to the circulation nipple, the connector clamps the circulation nipple and seals a starting cavity and a first bypass hole on the circulation nipple, a drilling fluid line is opened to inject a second drilling fluid into the connector and the circulation nipple, as the pressure of the second drilling fluid in the starting cavity increases, the second drilling fluid pushes the piston body to move upward until the upper limit position, the first bypass hole and the second bypass hole are communicated, the bypass valve is opened, and the second drilling fluid flows to the lower port, the top drive assembly is closed, the main through valve is closed, and the circulation nipple is switched to the bypass state;

[0034] When the circulation nipple is switched from the bypass state to the straight-through state, the top drive assembly is first opened to provide the first drilling fluid, and the main through valve is opened, then the drilling fluid line is closed and depressurized, the bypass valve is closed, the piston body moves downward under the action of the first drilling fluid to the lower limit position, the first bypass hole and the second bypass hole are misaligned and not communicated, and the circulation nipple is switched to the straight-through state.

[0035] Optionally, the process of moving the connector to the circulation nipple and clamping the circulation nipple 1 by the mechanical arm is controlled by a control system, specifically:

[0036] The connector is installed on the terminal support of the mechanical arm;

[0037] The positioning probe is arranged on the lower end surface of the machine, after the positioning probe determines that there is no obstacle between the connector and the drill pipe connected to the lower port of the circulation nipple, the mechanical arm lifts the lifting platform to lift the connector to a specified height position, during the lifting of the connector, the positioning probe continuously detects the distance between the connector and the drill pipe, when the positioning probe detects that the distance between the connector and the drill pipe decreases by more than a set value and tends to be stable, the mechanical arm stops lifting the lifting platform, the lifting displacement sensor is used to measure the corresponding height values L1 and L2 when the distance starts to decrease and just reaches the stable value respectively, the deviation value is obtained by comparing the height difference L2-L1 with the joint transition part size L3 of the drill pipe, if the deviation value is less than a threshold value, it is considered that the height measurement is accurate, otherwise, the measurement is re-measured;

[0038] After the height measurement is determined, the height value L2, the joint length size L4 of the drill pipe, and the distance size L5 between the joint of the drill pipe and the connection part of the circulation nipple are added to obtain the distance L0 between the connection part of the circulation nipple and the drilling platform surface;

[0039] The mechanical arm lifts the connector to the height matching the connection part, and then continues to extend the telescopic arm so that the connector contacts the connection part of the circulation nipple;

[0040] The holding arm cylinder is used to drive the holding arm to rotate, the connector body is tightly held, the locking arm cylinder is used to drive the locking arm to clamp the holding arm, and the automatic connection is completed.

[0041] The beneficial effects of the present application are as follows:

[0042] The circulation nipple automatic connection device provided by the present application adopts a circulation nipple with a piston structure, a drilling fluid pipeline is arranged on the connector, when the circulation nipple needs to be switched from a straight-through state to a bypass state, the connector is driven to the circulation nipple by the mechanical arm, the connector can tightly hold the connection part of the circulation nipple, and the automatic connection of the drilling fluid pipeline and the circulation nipple is realized; the connector can seal the starting cavity and the first bypass hole while tightly holding the connection part of the circulation nipple, the second drilling fluid can be remotely provided through the drilling fluid pipeline, the second drilling fluid can push the piston body upward to the upper limit through the starting cavity, so that the circulation nipple is in the bypass state, and the first drilling fluid provided by the top drive assembly at the top end of the circulation nipple is remotely closed, the remote on-off control of the circulation nipple and the remote switching control of the circulation channel in the circulation nipple are realized, the deficiency that workers still need to manually operate in a dangerous area in the prior art is overcome, the present application has the characteristics of simple operation, safety and reliability, and strong applicability, the operation safety and the automation level are significantly improved, the full-automatic operation of the circulation nipple is realized, the safety hidden trouble existing in the previous manual operation is eliminated, workers do not need to enter the dangerous area in the whole process, and the operation safety and the automation level are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is the overall structure schematic diagram of the circulation nipple automatic connection device provided by the embodiment of the present application (the telescopic arm is extended);

[0044] Figure 2 is the straight-through state schematic diagram of the circulation nipple in the embodiment of the present application;

[0045] Figure 3 is the bypass state schematic diagram of the circulation nipple in the embodiment of the present application;

[0046] Figure 4 is the front view of the connector tightly holding the circulation nipple in the embodiment of the present application;

[0047] Figure 5 This is a side view of the connector clamping the loop short section in an embodiment of the present invention;

[0048] Figure 6 yes Figure 5 Enlarged structural diagram of region A in the middle;

[0049] Figure 7 This is a schematic diagram of the connector in the open state in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the overall structure of the automatic connecting device for circulating short sections provided in an embodiment of the present invention (telescopic arm retracted state).

[0051] In the picture:

[0052] 1. Circulating sub; 2. Connection part; 3. Connector; 4. Positioning probe; 5. Robotic arm; 6. Drilling fluid line; 7. Water tap; 8. Water hose; 9. Drill pipe; 10. Sub body; 11. Piston body; 12. Main valve; 13. Bypass valve; 14. Spring; 15. Anti-rotation mechanism; 16. Starting chamber; 17. Spring chamber; 18. Second bypass hole; 19. First bypass hole; 20. Lower port; 21. Upper port; 22. Plug; 23. Steel ball; 24. Slide groove; 25. Connector body; 26. Body sealing ring; 27. Arm; 28. Arm 29. Sealing ring; 30. Annular sealing cavity; 31. Arm clamp cylinder; 32. Locking arm; 33. Locking arm cylinder; 34. Slot; 35. Arm clamp position sensor; 36. Locking arm position sensor; 37. Wedge surface; 38. Normal line; 39. Locking arm pivot; 40. Positive pressure; 41. Base; 42. Column; 43. Lifting platform; 44. Lifting cylinder; 45. Telescopic arm; 46. Telescopic cylinder; 47. Terminal support; 48. Forearm; 49. Rear arm; 50. Connecting plate; 51. Gear pair; 52. Lifting displacement sensor; 53. Telescopic position sensor; 54. Laser or infrared light. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0054] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0057] This invention provides an automatic connection device for cyclic short sections, such as... Figures 1-8As shown, the device includes a circulation sub 1, a connector 3, and a robotic arm 5. The circulation sub 1 adopts a piston-type structure, specifically including a sub body 10 and a piston body 11. The sub body 10 has a positioning cavity, and the two ends of the positioning cavity are respectively connected to the upper port 21 and the lower port 20 of the sub body 10. The side wall of the positioning cavity is provided with a first bypass hole 19. The upper port 21 is connected to the top drive assembly, which is used to provide the first drilling fluid. When the circulation sub 1 is in a straight-through state, the top drive assembly provides the first drilling fluid for operation. The positioning cavity has an upper stepped surface and a lower stepped surface, which serve as the upper limit and lower limit, respectively. The piston body 11 is slidably connected to the positioning cavity. A second bypass hole 18 is provided on the side wall of the piston body 11, and a bypass valve 13 is provided on the second bypass hole 18. A main valve 12 is provided above the second bypass hole 18. An starting cavity 16 is provided between the piston body 11 and the short section body 10. The starting cavity 16 communicates with the outside of the short section body 10. The starting cavity 16, the second bypass hole 18, and the first bypass hole 19 are all axially positioned within the connection portion 2 of the circulating short section 1. The front end of the connector 3 can grip the connection portion 2 of the circulating short section 1. The sealing start chamber 16 and the first bypass hole 19 are connected. The tail end of the connector 3 is connected to the drilling fluid line 6 to provide the second drilling fluid. When the piston body 11 is at the lower limit under the pressure of the first drilling fluid, the circulation sub 1 is in a straight-through state, the bypass valve 13 is in a closed state, and the first drilling fluid flows through the upper port 21 to the lower port 20 and enters the drill pipe 9. When the piston body 11 is at the upper limit under the pressure of the second drilling fluid, the circulation sub 1 is in a bypass state, and the second drilling fluid flows through the first bypass hole 19, the second bypass hole 18, and the bypass valve 13 to the lower port 20 and enters the drill pipe 9, and the main valve 12 is in a closed state. The connector 3 is located at the end of the robotic arm 5, which is configured to drive the connector 3 to move toward the circulation sub 1.

[0058] The automatic connection device for the circulating sub of the present invention adopts a piston-type circulating sub 1, with a drilling fluid line 6 installed on the connector 3. When the circulating sub 1 needs to be switched from a straight-through state to a bypass state, the robotic arm 5 drives the connector 3 to the circulating sub 1. The connector 3 can clamp the connection part 2 of the circulating sub 1, realizing the automatic connection between the drilling fluid line 6 and the circulating sub 1. While clamping the connection part 2 of the circulating sub 1, the connector 3 can also seal the starting chamber 16 and the first bypass hole 19. A second drilling fluid can be remotely supplied through the drilling fluid line 6. The second drilling fluid can push the piston body 11 upward to the upper limit through the starting chamber 16. The first bypass hole 19 and the second bypass hole 18 are connected, and the circulation sub 1 is in a bypass state. At the same time, the first drilling fluid supplied by the top drive assembly at the top of the circulation sub 1 is remotely shut off, realizing remote on / off control of the circulation sub 1 and remote switching control of the internal circulation channel of the circulation sub 1. This overcomes the shortcomings of existing technologies that still require workers to enter dangerous areas for manual operation. It has the characteristics of simple operation, safety and reliability, and strong applicability, which significantly improves the safety and automation level of operation, realizes the fully automatic operation of the circulation sub 1, eliminates the safety hazards of previous manual operation, and does not require workers to enter dangerous areas throughout the process, thus significantly improving the safety and automation level of operation.

[0059] The top drive assembly includes a faucet 7 (or water pump) and a water hose 8. The faucet 7 is connected to the upper port 21. One end of the water hose 8 is connected to the faucet 7, and the other end is connected to a remote fluid supply terminal. The first drilling fluid entering the water hose 8 is controlled remotely, eliminating the need for manual operation by workers at the work site. Therefore, while automatically connecting, operational safety is improved. Similarly, one end of the drilling fluid pipeline 6 is connected to the connector 3 to connect to the circulation sub 1, and the other end of the drilling fluid pipeline 6 is connected to the remote fluid supply terminal. The second drilling fluid entering the drilling fluid pipeline 6 is controlled remotely, further improving operational safety. In this embodiment, both the main valve 12 and the bypass valve 13 are one-way valves, which can open and close under the hydraulic pressure of the first and second drilling fluids, enabling automatic control and a simple structure. Of course, in some embodiments, the main valve 12 and the bypass valve 13 can also be electric valves for remote control.

[0060] Optionally, the recirculating section 1 also includes a spring 14, which is located between the top of the piston body 11 and the inner wall of the section body 10. When the piston body 11 slides upward, it can compress the spring 14.

[0061] like Figure 2 and Figure 3As shown, the two ends of the spring 14 abut against the inner wall of the short section 10 and the outer wall of the top of the piston body 11, respectively, with the spring 14 sleeved on the piston body 11. In the direct-flow state, the combined action of the spring force of the spring 14 and the pressure of the first drilling fluid causes the piston body 11 to stop at the lower limit. In the bypass state, the second drilling fluid needs to overcome the spring force of the spring 14 to push the piston body 11 upward. When the first drilling fluid stops, the pressure above the main valve 12 is released, the spring 14 rebounds, and the piston body 11 stops at the upper limit.

[0062] Optionally, a spring cavity 17 is provided between the outer wall of the top end of the piston body 11 and the inner wall of the short section body 10, and the spring 14 is provided in the spring cavity 17. The short section body 10 is provided with a through hole to connect the spring cavity 17 and the outside.

[0063] When loop subsection 1 is in a straight-through state, such as Figure 2 When the pressure on the outside of the piston body 11 from the starting chamber 16 is less than the sum of the pressure in the spring chamber 17 and the elastic force of the spring 14, the spring 14 presses against the piston body 11, keeping it in its original position (lower limit). The second bypass hole 18 and the first bypass hole 19 are misaligned and not connected to each other. The bypass valve 13 is closed, and the main valve 12 is open. The first drilling fluid flows from the upper port 21 of the circulation sub 1 to the lower port 20. In the bypass state, the pressure on the outside of the piston body 11 from the starting chamber 16 is greater than the sum of the pressure in the spring chamber 17 and the elastic force of the spring 14. The piston body 11 compresses the spring 14 upward and slides. The second bypass hole 18 and the first bypass hole 19 are aligned. The bypass valve 13 is open, and the main valve 12 is closed. The second drilling fluid flows from the second bypass hole 18 and the first bypass hole 19 to the lower port 20. When the pressure at the upper port 21 of the circulation section 1 is greater than the pressure at the lower port 20, the main valve 12 opens, and the other way around it closes. When the second bypass port 18 and the first bypass port 19 are aligned and the liquid pressure in the bypass pipeline is greater than the pressure at the lower port 20, the bypass valve 13 opens, and the other way around it closes.

[0064] Optionally, the circulating sub-section 1 further includes an anti-rotation mechanism 15, which includes a steel ball 23 and a screw plug 22. The outer wall of the bottom end of the piston body 11 is provided with an axial groove 24, and the steel ball 23 is stopped and confined within the groove 24. The sub-section body 10 is provided with a threaded hole, and the screw plug 22 is threadedly connected to the sub-section body 10 and stops against the steel ball 23, pushing the steel ball 23 into the groove 24, so that the piston body 11 can only slide axially. The anti-rotation mechanism 15 prevents the piston body 11 from rotating relative to the sub-section body 10 when sliding up and down, ensuring that the second bypass hole 18 and the first bypass hole 19 can be aligned.

[0065] Optionally, the connector 3 includes a connector body 25, a clamping arm 27, and a locking arm 31. The rear end of the connector body 25 is connected to the drilling fluid pipeline 6. The clamping arm 27 is located at the front end of the connector body 25 and can be rotated to open or close to release or clamp the recirculating sub 1. The locking arm 31 is located at the front end of the connector body 25 and can be rotated to open or close to unlock or lock the clamping arm 27.

[0066] Combination Figures 4-7 One end of the clamping arm 27 is rotatably connected to the connector body 25, and the other end is provided with a positioning rod. The clamping arm 27 has a shape that matches the shape of the connection part 2, such as a circle. When the clamping arm 27 clamps the connection part 2, a closed ring is formed between the front arc surface of the connector body 25 and the clamping arm 27 to clamp the connection part 2. A clamping arm cylinder 30 is hinged to the connector body 25. The output end of the clamping arm cylinder 30 is hinged to the clamping arm 27, causing it to rotate open and close to provide clamping force. Similarly, a locking arm cylinder 32 is hinged to the connector body 25. The output end of the locking arm cylinder 32 is hinged to the locking arm 31, causing the locking arm to rotate open and close to provide locking force for the locking arm 31. The locking arm 31 is locked by tightening the positioning rod at the end of the clamping arm 27. In this embodiment, the end of the connector body 25 is connected to the drilling fluid pipeline 6 via a union joint.

[0067] Optionally, the inner wall of the clamping arm 27 is provided with an annular groove. When the clamping arm 27 clamps the circulating short section 1, an annular sealing cavity 29 is formed between the annular groove and the connection part 2 of the circulating short section 1.

[0068] like Figure 3 and Figure 4 An annular groove is provided between the arc surface of the front end of the arm 7 and the connector body 25. Along the axial direction, the height of the annular sealing cavity 29 formed between the annular groove and the outer wall of the connection part 2 needs to be able to seal the starting cavity 16 and the first bypass hole 19. The side wall of the short section 10 is provided with a through hole communicating with the starting cavity 16 so that the second drilling fluid can enter the starting cavity 16 through the through hole to push the piston body 11 to slide upward. In order to improve the sealing performance of the annular sealing cavity 29, the front end of the connector body 25 is provided with at least two body sealing rings 26, and the inner wall of the arm 7 is provided with at least two arm sealing rings 28. The at least two body sealing rings 26 and the at least two arm sealing rings 28 are all semi-circular and are respectively provided on the upper and lower sides of the annular sealing cavity 29 for sealing. When the arm 27 is in the clamped state, the semi-circular body sealing rings 26 and arm sealing rings 28 at the corresponding upper and lower positions are connected as one to form an annular sealing ring to seal the upper and lower sides of the annular sealing cavity 29.

[0069] Optionally, the locking arm 31 is provided with a slot 33, the inner wall of the slot 33 is a wedge-shaped surface 36, and all the normals 37 on the wedge-shaped surface 36 are located on the same side of the center of the locking arm pivot 38, so that the positive pressure 39 generated by the holding arm 27 on the slot 33 can drive the locking arm 31 to rotate in the direction of clamping the holding arm 27, thus forming a self-locking mechanism.

[0070] like Figure 6 As shown, with both the retaining arm 27 and the locking arm 31 closed, the slot 33 on the locking arm 31 can be fitted onto the positioning rod on the retaining arm 27. The inner wall of the slot 33 is designed as a wedge-shaped surface 36, which facilitates the slot 33 to further tighten the circulating short section 1 and prevent loosening. The locking arm pivot 38 refers to the connecting hinge shaft between the locking arm 31 and the connector body 25.

[0071] Optionally, in this embodiment of the invention, the robotic arm 5 includes a column 41, a telescopic arm 44, and a telescopic cylinder 45. The column 41 is fixed by a base 40, and a lifting platform 42 is provided on the column 41. The lifting platform 42 can move up and down along the column 41. One end of the telescopic arm 44 is hinged to the lifting platform 42, and the other end is provided with a terminal support 46. The cylinder body of the telescopic cylinder 45 is hinged to the lifting platform 42, and the piston rod of the telescopic cylinder 45 is hinged to the telescopic arm 44. The telescopic cylinder 45 can drive the telescopic arm 44 to extend or retract to achieve the horizontal movement of the terminal support 46. A connector 3 is connected to the terminal support 46.

[0072] like Figure 1 and Figure 8 As shown, the function of the robotic arm 5 is to deliver the connector 3 to the circulation sub 1 so that it can automatically connect, so that the circulation sub 1 can switch between the straight-through state and the bypass state under the pressure of the first drilling fluid and the second drilling fluid. The first drilling fluid and the second drilling fluid are remotely controlled. The connector 3 is automatically connected by the robotic arm 5, avoiding manual on-site operation at the circulation sub 1, improving the safety of the work site, and achieving a high degree of automation and high work efficiency.

[0073] like Figure 8 As shown, a drive mechanism is provided on the column 41, preferably a lifting cylinder 43. A support bearing is installed between the lifting platform 42 and the column 41. The function of the lifting cylinder 43 is to drive the lifting platform 42 to move up and down along the column 41. The telescopic arm 44 includes a front arm 47 and a rear arm 48, both of which adopt a parallelogram linkage structure. The end of the front arm 47 and the front end of the rear arm 48 are hinged to the same connecting plate 49 and achieve synchronous rotation through a pair of external meshing gear pairs 50 with a transmission ratio of 1:1. The end of the rear arm 48 is hinged to the lifting platform 42. A terminal support 46 is installed at the front end of the front arm 47, and a connector 3 is fixedly connected to the terminal support 46. When the telescopic cylinder 45 drives the rear arm 48 to rotate and extend, the front arm 47 is driven to rotate and extend synchronously by the gear pair 50, realizing the back-and-forth movement of the terminal support 46 in the horizontal direction.

[0074] Optionally, the automatic connection device for the circulating short section 1 also includes a control system and a lifting displacement sensor 51, a telescopic position sensor 52, a positioning probe 4, a grab arm position sensor 34, and a locking arm position sensor 35 connected to the control system. The lifting displacement sensor 51 is mounted on the lifting platform 42 (or mounted on the column 41) to detect the height position of the lifting platform 42, facilitating the adjustment of the connector 3's height position. The telescopic position sensor 52 is mounted on the telescopic arm 44 or the lifting platform 42 (or the rear arm 48) to detect the extension / retraction state of the telescopic arm 44, thus obtaining the relative position of the rear arm 48 and the lifting platform 42. The lifting displacement sensor 51 and the telescopic position sensor 52 can be proximity switches or displacement sensors, etc. A positioning probe 4 is mounted on connector 3 to detect the distance between connector 3 and the loop section 1 and to detect obstacles in front of connector 3 to ensure smooth movement of connector 3. An arm position sensor 34 is mounted on arm 27 (or connector body 25) to detect the opening / closing state of arm 27. A locking arm position sensor 35 is mounted on locking arm 31 (or connector body 25) to detect the opening / closing state of locking arm 31. The opening / closing state is determined by detecting the relative rotational positions of arm 27 and locking arm 31 with respect to connector body 25. In this embodiment, the positioning probe 4 consists of a camera and a rangefinder. The camera is used to determine the type of object in front of connector 3, and the rangefinder is used to measure the distance between connector 3 and the object in front. Arm position sensors 34 and locking arm position sensors 35 can be proximity switches or displacement sensors, etc.

[0075] The control system receives detection signals from various sensors (including lifting displacement sensor 51, telescopic position sensor 52, positioning probe 4, arm position sensor 34, and locking arm position sensor 35) to determine the current state of connector 3, and controls the automatic connection and switching between connector 34 and cyclic short section 1 by controlling the movement of the drive mechanism (including arm cylinder 30, locking arm cylinder 32, lifting cylinder 43, and telescopic cylinder 45).

[0076] The present invention also provides an automatic connection control method for cyclic sub sections. According to the automatic connection device for cyclic sub sections provided by the present invention, the automatic connection control method for cyclic sub sections is as follows:

[0077] In the initial state, the circulation sub 1 is in a straight-through state, and the first drilling fluid flows through the upper port 21 to the lower port 20;

[0078] When the circulation sub 1 switches from the through state to the bypass state, the connector 3 is installed at the end of the robotic arm 5, and the robotic arm 5 drives the connector 3 to move to the circulation sub 1; the connector 3 grips the circulation sub 1 and seals the starting chamber 16 and the first bypass hole 19 on the circulation sub 1; the drilling fluid line 6 is opened, and the second drilling fluid is injected into the connector 3 and the circulation sub 1. As the pressure of the second drilling fluid in the starting chamber 16 increases, the second drilling fluid pushes the piston body 11 upward until the upper limit position, the first bypass hole 19 and the second bypass hole 18 are connected, the bypass valve 13 is opened, and the second drilling fluid flows to the lower port 20; the top drive assembly is closed, the main valve 12 is closed, and the circulation sub 1 switches to the bypass state;

[0079] When the circulation sub 1 switches from the bypass state to the straight-through state, the top drive assembly is first opened to provide the first drilling fluid, causing the main valve 12 to open; then the drilling fluid line 6 is closed and depressurized, the bypass valve 13 is closed, and the piston body 11 moves downward to the lower limit under the action of the first drilling fluid. The first bypass hole 19 and the second bypass hole 18 are misaligned and not connected, and the circulation sub 1 switches to the straight-through state.

[0080] In the aforementioned automatic connection control method, the process of the robotic arm 5 driving the connector 3 to move to the circulating short section 1 and clamping the circulating short section 1 is controlled by the control system, combined with... Figure 8 Specifically, it includes:

[0081] Connector 3 is mounted on terminal support 46. Positioning probe 4 is set on the lower end face of connector 3. After the camera determines that there are no obstacles between connector 3 and drill rod 9, robotic arm 5 lifts platform 42 at a speed of ≥5mm / s to lift connector 3 to the specified height. During the rise of connector 3, positioning probe 4 continuously detects the distance between connector 3 and drill rod 9. When positioning probe 4 detects that the decrease in distance to drill rod 9 is greater than the set value (e.g., more than 10mm) and tends to stabilize through laser or infrared light 53 sent by rangefinder, robotic arm 5 stops rising. Using lifting displacement sensor 51, the corresponding heights L1 and L2 when the distance begins to decrease and just reaches the stable value are measured respectively. The height difference L2-L1 is compared with the known transition part size L3 of drill rod 9 connector. If the deviation is less than the threshold (e.g., deviation value ≤5mm), the height measurement can be considered accurate; otherwise, the previous steps are repeated for measurement. After confirming the accuracy of the height measurement, add L2 to the known joint length L4 of drill pipe 9 and the distance L5 between the circulating short section 1 to obtain the distance L0 between the connection part 2 of the circulating short section 1 and the drill platform surface. Use the robotic arm 5 to lift the connector 3 to a height that matches the connection part 2 of the circulating short section 1, such as making the lower end face height of the connector body 25 greater than L0 by about 5-10mm. Then, continue to extend the telescopic arm 44 so that the connector 3 rests against the connection part 2. Use the arm-clamping cylinder 30 to push the arm-clamping 27 to rotate, so that it clamps the circulating short section 1 together with the connector body 25. Use the locking arm cylinder 32 to push the locking arm 31 to lock the arm-clamping 27.

[0082] After the control system acquires signals from the arm position sensor 34 and the locking arm position sensor 35 and confirms that the arm is engaged, it opens the second drilling fluid circulation channel of the drilling fluid pipeline 6, allowing the second drilling fluid to flow into the annular sealing cavity 29 between the connector 3 and the circulation sub 1. The second drilling fluid pressure is gradually increased to 1-2 MPa, pushing the piston body 11 to compress the spring 14 until the bypass valve 13 on the piston body 11 aligns with the first bypass hole 19 on the sub 10. The pressure of the second drilling fluid in the annular sealing cavity 29 continues to increase, and the pressure in the starting cavity 16 connected through the through hole increases accordingly. When the fluid pressure is greater than the first drilling fluid pressure at the lower port 20 of the circulation sub 1, the bypass valve 13 opens. Then, the water hose 8 is closed to stop supplying the first drilling fluid circulation channel and release pressure, causing the first drilling fluid pressure at the upper port 21 of the circulation sub 1 to be lower than the second drilling fluid pressure at the lower port 20. The main valve 12 closes, and the circulation sub 1 switches from a through state to a bypass state.

[0083] Conversely, first open the first drilling fluid circulation channel of the water hose 8 to open the main valve 12, then close the second drilling fluid circulation channel of the drilling fluid pipeline 6 and depressurize it, causing the bypass valve 13 to close. The piston body 11 returns to its original position under the action of the spring 14. The bypass valve 13 and the second bypass hole 18 on the piston body 11 are misaligned and not connected with the first bypass hole 19 on the short section body 10, and the circulation short section 1 switches from the bypass state to the direct state. After confirming that the pressure in the annular sealing cavity 29 has dropped to zero, the locking arm 31 and the clamping arm 27 are opened in sequence, and the mechanical arm 5 retracts to disengage the connector 3 from the circulation short section 1. One automatic switching of the circulation short section 1 is completed.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic connecting device for circulating short sections, characterized in that, include: A circulation sub (1) includes a sub body (10) and a piston body (11). The sub body (10) has a positioning cavity, the two ends of which are respectively connected to the upper port (21) and the lower port (20) of the sub body (10). The side wall of the positioning cavity is provided with a first bypass hole (19). The upper port (21) is connected to a top drive assembly, which is used to provide a first drilling fluid. The positioning cavity has an upper limit and a lower limit. The piston body (11) is slidably connected to the positioning cavity. The side wall of the piston body (11) is provided with a second bypass hole (18). A bypass valve (13) is provided on the second bypass hole (18). A main valve (12) is provided above the second bypass hole (18). A starting cavity (16) is provided between the piston body (11) and the sub body (10). The starting cavity (16) is connected to the outside of the sub body (10). Connector (3), the front end of which can grip the connection part (2) of the circulation sub (1) to seal the starting chamber (16) and the first bypass hole (19), and the tail end of which is connected to the drilling fluid line (6) to provide a second drilling fluid; When the piston body (11) is at the lower limit position under the pressure of the first drilling fluid, the circulation sub (1) is in a straight-through state; when the piston body (11) is at the upper limit position under the pressure of the second drilling fluid, the circulation sub (1) is in a bypass state. A robotic arm (5), wherein the connector (3) is located at the end of the robotic arm (5), and the robotic arm (5) is configured to drive the connector (3) to move toward the recirculating segment (1); The connector (3) includes: Connector body (25), the rear end of which is connected to the drilling fluid pipeline (6); A clamping arm (27) is provided at the front end of the connector body (25). The clamping arm (27) can be rotated to open or close to release or clamp the recirculating section (1). Locking arm (31), the locking arm (31) is located at the front end of the connector body (25), the locking arm (31) can be rotated to open or close to unlock or lock the retaining arm (27); The locking arm (31) is provided with a slot (33), the inner wall of the slot (33) is a wedge-shaped surface (36), and all the normals (37) on the wedge-shaped surface (36) are located on the same side of the center of the locking arm pivot (38) of the locking arm (31), so that the positive pressure (39) generated by the clamping arm (27) on the slot (33) can drive the locking arm (31) to rotate in the direction of clamping the clamping arm (27), thus forming a self-locking mechanism.

2. The automatic connecting device for circulating short sections according to claim 1, characterized in that, The circulating short section (1) also includes a spring (14). A spring cavity (17) is provided between the outer wall of the top end of the piston body (11) and the inner wall of the short section body (10). The spring (14) is located in the spring cavity (17). The short section body (10) is provided with a through hole connecting the spring cavity (17) and the outside. When the piston body (11) slides upward, it can compress the spring (14).

3. The automatic connecting device for circulating short sections according to claim 2, characterized in that, The circulating short section (1) further includes an anti-rotation mechanism (15), which includes: The steel ball (23) is provided with an axial groove (24) on the outer wall of the bottom end of the piston body (11), and the steel ball (23) is stopped and confined in the groove (24); The plug (22) is threaded to the short section body (10) and abuts against the steel ball (23).

4. The automatic connecting device for circulating short sections according to claim 1, characterized in that, The inner wall of the arm (27) is provided with an annular groove. When the arm (27) hugs the circulating short section (1), an annular sealing cavity (29) is formed between the annular groove and the connection part (2) of the circulating short section (1).

5. The automatic connecting device for circulating short sections according to claim 1, characterized in that, The robotic arm (5) includes: A column (41) is fixed by a base (40), and a lifting platform (42) is provided on the column (41). The lifting platform (42) can move up and down along the column (41). Telescopic arm (44), one end of which is hinged to the lifting platform (42), and the other end is provided with a terminal support (46); Telescopic cylinder (45), the cylinder body of the telescopic cylinder (45) is hinged to the lifting platform (42), the piston rod of the telescopic cylinder (45) is hinged to the telescopic arm (44), the telescopic cylinder (45) can drive the telescopic arm (44) to extend or retract to realize the horizontal movement of the terminal support (46), and the connector (3) is connected to the terminal support (46).

6. The automatic connecting device for circulating short sections according to claim 5, characterized in that, It also includes a control system and components connected to the control system: A lifting displacement sensor (51) is installed on the lifting platform (42) to detect the position of the lifting platform (42); A telescopic position sensor (52) is provided on the telescopic arm (44) or the lifting platform (42) to detect the telescopic state of the telescopic arm (44); A positioning probe (4) is mounted on the connector (3) for detecting the distance between the connector (3) and the recirculating sub (1); A grip arm position sensor (34) is provided on the grip arm (27) to detect the opening and closing state of the grip arm (27); A lock arm position sensor (35) is provided on the lock arm (31) to detect the opening and closing state of the lock arm (31).

7. An automatic connection control method for cyclic short sections, characterized in that, The automatic connection device for cyclic sub sections according to any one of claims 1-6, wherein the automatic connection control method for cyclic sub sections comprises the following steps: In the initial state, the circulation sub (1) is in a straight-through state, and the first drilling fluid flows through the upper port (21) to the lower port (20); When the circulation sub (1) changes from the through state to the bypass state, the connector (3) is installed at the end of the robotic arm (5), and the robotic arm (5) drives the connector (3) to move to the circulation sub (1); the connector (3) hugs the circulation sub (1) and seals the starting chamber (16) and the first bypass hole (19) on the circulation sub (1); the drilling fluid line (6) is opened, and the second drilling fluid is injected into the connector (3) and the circulation sub (1). As the pressure of the second drilling fluid in the starting chamber (16) increases, the second drilling fluid pushes the piston body (11) upward until the upper limit position. The first bypass hole (19) and the second bypass hole (18) are connected, the bypass valve (13) is opened, and the second drilling fluid flows to the lower port (20); the top drive assembly is closed, the main valve (12) is closed, and the circulation sub (1) changes to the bypass state; When the circulation sub (1) changes from the bypass state to the straight-through state, the top drive assembly is first opened to provide the first drilling fluid, causing the main valve (12) to open; then the drilling fluid line (6) is closed and depressurized, the bypass valve (13) is closed, the piston body (11) moves downward to the lower limit under the action of the first drilling fluid, the first bypass hole (19) and the second bypass hole (18) are misaligned and not connected, and the circulation sub (1) changes to the straight-through state.

8. The automatic connection control method for cyclic short sections according to claim 7, characterized in that, The process by which the robotic arm (5) moves the connector (3) to the recirculating segment (1) and grips the recirculating segment (1) is controlled by a control system, specifically as follows: The connector (3) is installed on the terminal support (46) of the robotic arm (5); The positioning probe (4) is set on the lower end face of the connector (3). After the positioning probe (4) determines that there is no obstacle between the connector (3) and the drill rod (9) connected to the lower port (20) of the circulating short section (1), the robotic arm (5) lifts the lifting platform (42) to lift the connector (3) to the specified height position. During the rise of the connector (3), the positioning probe (4) continuously detects the distance between the connector (3) and the drill rod (9). When the positioning probe (4) detects that the distance between the connector (3) and the drill rod (9) decreases by more than the set value and tends to stabilize, the robotic arm (5) stops lifting the lifting platform (42). The lifting displacement sensor (51) measures the corresponding height values ​​L1 and L2 when the distance begins to decrease and just reaches the stable value. The deviation value is obtained by comparing the height difference L2-L1 with the joint transition part size L3 of the drill rod (9). If the deviation value is less than the threshold, the height measurement is considered accurate; otherwise, the measurement is repeated. After confirming that the height measurement is accurate, add the height value L2, the joint length dimension L4 of the drill rod (9), and the distance dimension L5 between the joint of the drill rod (9) and the connection part (2) of the circulating short section (1) to obtain the distance L0 between the connection part (2) of the circulating short section (1) and the drill platform surface. The robotic arm (5) lifts the connector (3) to a height that matches the connection part (2), and then extends the telescopic arm (44) so ​​that the connector (3) contacts the connection part (2) of the recirculating sub (1); The clamping arm cylinder (30) is used to drive the clamping arm (27) to rotate, and together with the connector body (25), clamps the circulating short section (1). The locking arm cylinder (32) is used to drive the locking arm (31) to lock the clamping arm (27), thus completing the automatic connection.

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