Stack-based multi-pipe automatic tripping-in device and control method

Abstract

The invention relates to a stack-based multi-pipe automatic tripping-in device and a control method, and belongs to the technical field of oil production engineering well repair, the stack-based multi-pipe automatic tripping-in device comprises an automatic host, a lifting manipulator, a variable amplitude arm, a length measuring device, an automatic screwing-on and screwing-off device and a control system, the lifting manipulator, the variable-amplitude arm and the length measuring device are all connected with the control system, the variable-amplitude arm and the lifting manipulator achieve tubular column connection through the mechanical clamping mechanism, the variable-amplitude arm grabs the tubular column at the horizontal position, the tubular column is horizontally placed on the variable-amplitude arm, and the length measuring device measures the length of the tubular column on line in real time. And the length data of the tubular column is transmitted to a control system through a CAN bus. And then the tubular column is transferred to the lifting manipulator by the variable-amplitude arm and transferred to a wellhead, and after screwing-on operation is completed by the automatic screwing-on and screwing-off device, the tubular column is automatically tripped into the well by the automatic host according to calculated data. According to the method, multiple pipes can wait to enter the well online at the same time, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated well repairing in oil production engineering of the petroleum industry, and in particular relates to a stack-type multi-tube automatic running device and a control method. Background Art

[0002] During the oil and gas well repair operation, after the pipe string is taken out of the well, it needs to be repaired and replaced and then lowered back into the well. At present, whether it is a minor repair operation or a pressure operation, most of the operations in the industry use a single pipe string lowering method with an operating machine, and most of the operations are done manually: a single pipe string is transferred from the pipe rack to the wellhead through a lifting tool, manually aligned and lowered into the well after the make-up operation is completed, and after it is completely lowered, a lifting card is used to sit on the wellhead, and then the second pipe string is transferred to the wellhead and repeated. There are two problems with this method. One is that the efficiency of single pipe operation is low, and the other is that each process is manually operated, which is labor-intensive and has safety hazards. Summary of the invention

[0003] In order to solve the above-mentioned problems, the present invention proposes: an automatic stacking multi-tube lowering device, including an automated main engine, a lifting manipulator, a luffing arm, a length measuring device, a control system and an automatic make-up and breakout device. The automated main engine is set up around the wellhead, and the lifting manipulator, the luffing arm, the length measuring device and the automatic make-up and breakout device are all connected to the control system.

[0004] Furthermore, the lifting manipulator includes a second manipulator, a lifting mechanism, and a horizontal rotation drive mechanism. The second manipulator is arranged on the lifting mechanism, the bottom end of the lifting mechanism is arranged on the base platform, and the top end of the lifting mechanism is arranged with a horizontal rotation drive mechanism.

[0005] Furthermore, the luffing arm includes a clamping manipulator and a displacement device, and one end of the clamping manipulator is arranged on the base platform through the displacement device.

[0006] Furthermore, when the luffing arm is in a horizontal position, the pipe string is placed horizontally on the luffing arm, and the length measuring device measures the length of the pipe string online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system through a CAN bus.

[0007] Furthermore, the control system is a PLC program control system, including a data temporary storage library, an automatic running program, automatically reading data in the data temporary storage library, and automatically eliminating expired data after the data is used.

[0008] A control method based on a stacked multi-pipe automatic running device, wherein an automated main engine is supported around a wellhead, a lifting manipulator is relatively fixedly connected to the automated main engine, and a luffing arm and the lifting manipulator realize pipe string handover through a mechanical clamping mechanism, that is, after the luffing arm transforms the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator clamps the pipe string, and the clamping mechanism of the luffing arm releases the pipe string, thereby completing the pipe string handover.

[0009] Furthermore, when the luffing arm is in a horizontal position, the pipe string is placed horizontally on the luffing arm, and the length measuring device measures the length of the pipe string online in real time through pressure and position sensors, and transmits the pipe string length data to the control system through the CAN bus. A data temporary storage library is set in the control system. After the data temporary storage library receives the length data of the first pipe string, the data is stored in the first position. The data in the first position is the current valid data for lowering the pipe. The data is transmitted to the automatic pipe lowering operation program through the CAN bus, and the automatic pipe lowering operation of the first pipe string is completed through electro-hydraulic control. After the automatic pipe lowering operation of the first pipe string is completed, the control system sends a The data clearing command of the first tubular string clears the length data of the first tubular string; during the lowering of the first tubular string, the length measuring device measures the length data of the second tubular string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first tubular string is cleared, the data in the second position will be pushed to the first position. Similarly, the data in the third position will be pushed to the second position. After the data in the second position is pushed to the first position, the length data of the second tubular string has been transmitted to the automatic tubular string lowering program. Under the control of the automatic tubular string lowering program, the second tubular string and the third tubular string waiting for the lowered tubular string can carry out the continuous tubular string lowering operation.

[0010] Furthermore, the length of the first pipe string is measured by the online length measuring device, and the data is stored in the data temporary storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus, and the automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data; the first pipe string is grabbed by the luffing arm and then handed over to the lifting manipulator for transportation to the wellhead. After the automatic make-up and break-out device completes the make-up operation, the automatic host automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string being lowered by the automatic host, the online length measuring device synchronously measures the length data of the second pipe string, and also stores the data in the data temporary storage library. At this time, the length data of two pipe strings are already stored in the database, and the data is temporarily stored in the database before the first pipe string is lowered; at this time, the luffing arm will After the second pipe string is handed over to the lifting manipulator, it returns again to measure the data of the third pipe string, and the data of the third pipe string is also stored in the database. After the data storage is completed, the luffing arm transports the third pipe string to the waiting position, waiting for the handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string after the second manipulator is in the waiting position, and then the pipe string is handed over to the host; when the lowering of the first pipe string is completed, the data temporary storage library clears the data of the first pipe string, and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, and repeats the lowering action of the first pipe string to realize continuous and automatic lowering of the pipe string.

[0011] The beneficial effects of the present invention are as follows: the present invention provides a method for controlling automatic pipe lowering based on stacked multiple pipes, a method for controlling pipe lowering based on an automated pressure-carrying operation device, and provides an auxiliary lifting device and control method for an automated pressure-carrying operation oil pipe. This method is the first of its kind in the industry. Compared with the traditional manual pipe lowering technical method, this method can realize multiple pipes waiting to be lowered into the well online at the same time, thus reducing the waiting time for pipe transportation and improving the overall operation efficiency. At the same time, a fully automated operation method is adopted to reduce manual labor intensity and reduce the safety risks of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the stacked multi-tube automatic tube lowering equipment;

[0013] Figure 2 It is the control principle block diagram of the control system;

[0014] Figure 3 It is a schematic diagram of the structure of the lifting manipulator;

[0015] Figure 4 It is a schematic diagram of the luffing arm structure;

[0016] Figure 5 It is a schematic diagram of the automation host structure.

[0017] In the figure, 1. Automation host, 2. Lifting manipulator, 3. Luffing arm, 4. Length measuring device, 5. Control system, 6. Automatic buckling device, 4-1. Second manipulator, 4-2. Lifting mechanism, 4-3. Horizontal rotation drive mechanism, 3-1. Clamping manipulator, 3-2. Positioning device, 01. Derrick; 011. Upper beam; 012. Lower beam; 02. BOP; 03. Well pressure monitoring device; 04. Fixed slips; 05. Moving slips; 06. Lifting system; 061. Lifting cylinder; 062. Moving beam. DETAILED DESCRIPTION

[0018] In order to make the technical means adopted by the present invention and the purpose achieved easy to understand, the present invention is further explained in combination with a specific implementation method below. A stack-type multi-tube automatic lowering device includes an automated host 1, a lifting manipulator 2, a luffing arm 3, a length measuring device 4 and a control system 5. The automated host 1 is set up around the wellhead, and the lifting manipulator 2, the luffing arm 3, and the length measuring device 4 are all connected to the control system 5.

[0019] Among them, Figure 3 As shown, the lifting manipulator 2 includes a second manipulator 4-1, a lifting mechanism 4-2, and a horizontal rotation drive mechanism 4-3. The second manipulator 4-1 is arranged on the lifting mechanism 4-2, the bottom end of the lifting mechanism 4-2 is arranged on the base platform, and the horizontal rotation drive mechanism 4-3 is arranged at the top end of the lifting mechanism 4-2.

[0020] Among them, Figure 4 As shown, the variable amplitude arm 3 includes a clamping manipulator 3-1 and a displacement device 3-2, and one end of the clamping manipulator 3-1 is arranged on the base platform through the displacement device 3-2.

[0021] When the luffing arm 3 is in a horizontal position, the pipe string is placed horizontally on the luffing arm 3, and the length measuring device 4 measures the length of the pipe string online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system 5 through the CAN bus.

[0022] The control system 5 is a PLC program control system, including a data temporary storage library, an automatic running program, automatically reading data in the data temporary storage library, and automatically eliminating expired data after the data is used.

[0023] Among them, Figure 5As shown, the automation host 1 includes a derrick 01, a blowout preventer 02, a well pressure monitoring device 03, a fixed slip 04, a floating slip 05, a lifting system 06 and a control system. The blowout preventer 02 is installed on the wellhead. The blowout preventer 02 at the wellhead is provided with a well pressure monitoring device 03 for real-time monitoring of the wellhead casing pressure change. The derrick 01 is erected around the wellhead. The derrick 01 is provided with an upper crossbeam 011 and a lower crossbeam 012. The lower crossbeam 012 is provided with a fixed slip 04 for clamping the tubing. The upper crossbeam 011 is provided with a lifting system 06. The lifting system 06 is provided with a floating slip 05 for clamping the tubing. The well pressure monitoring device 03 is connected to the control system, and the lifting system 06 is connected to the control system.

[0024] The derrick 01 is a bearing component. The derrick 01 is a bearing component of other parts, and the structure is not limited, as long as it can meet the installation of well pressure monitoring devices, working blowout preventers, pipe clamp detection devices, fixed slips, floating slips, and lifting systems.

[0025] The blowout preventer 02 is an annular blowout preventer or a single-gate blowout preventer, and a well pressure monitoring device 03 for monitoring the working state of the blowout preventer is provided on the blowout preventer 02, and the pressure sensor 3 on the well pressure monitoring device is fed back to the control system.

[0026] The working blowout preventer includes an annular blowout preventer and a single gate working blowout preventer, and the number is configured according to the actual process requirements. According to the needs, a sensor is set on the working blowout preventer to monitor the working status of the blowout preventer and timely feedback to the control system.

[0027] The well pressure monitoring device is installed on the wellhead blowout preventer assembly or the wellhead spool, and can monitor the wellhead casing pressure changes in real time.

[0028] The fixed slips 04 and the movable slips 05 are mechanical structures for clamping the pipe string, and opening and clamping sensors are arranged thereon for monitoring the working status and providing timely feedback to the control system.

[0029] Among them, the lifting system 06 is composed of a number of lifting cylinders 061 and a traveling beam 062. The lifting cylinder 061 is installed on the upper beam 011 of the derrick 01, and the traveling beam 062 is installed on the lifting cylinder 061. A traveling cava 05 is arranged on the traveling beam 062. A displacement sensor is arranged on the traveling beam 062 for feeding back the position information of the traveling beam 062 to the control system in real time.

[0030] Among them, the control system is a PLC program control system, which controls the proportional hydraulic valve group through sensors, program language, and CAN bus communication to realize the movement of terminal components, thereby realizing real-time monitoring of pipe string data and real-time control of lifting height.

[0031] The method for the automated host 1 to control the lifting and lowering amplitude of the tubing based on the change in wellhead pressure is as follows: the derrick is supported around the wellhead, the blowout preventer is fixedly connected to the wellhead, the well pressure monitoring device is installed on the wellhead spool or the balance spool, the well pressure monitoring device monitors the change in the wellhead casing pressure in real time, and when the well pressure monitoring device detects the well pressure data, it transmits the data to the control system in real time, the control system automatically calculates the amplitude value based on the amplitude calculation module, and compares the calculated value with the data in the amplitude database, selects the best amplitude from the database and inputs it into the lifting cylinder lifting program, the control system automatically controls the lifting amplitude of the lifting cylinder in the lifting system according to the lifting program setting, and feeds back the amplitude information to the control system in real time through the lifting displacement sensor, and completes the lifting and lowering operation of the tubing with the alternating cooperation of the fixed slips and the floating slips.

[0032] This method is applied to automated pipe lowering operations, and is based on automated pressure-carrying operation devices. This method is applied to automated pressure-carrying operations; real-time monitoring of wellhead pressure, automatic calculation of required lifting and lowering amplitude and speed through remote PLC program, and automatic change of lifting and lowering amplitude and speed during pipe lowering operations through electric proportional hydraulic valve groups, displacement sensors, etc.

[0033] A control method based on a stacked multi-pipe automatic lowering device, wherein an automated main engine 1 is supported around a wellhead, a lifting manipulator 2 is relatively fixedly connected to the automated main engine 1, and a luffing arm 3 and the lifting manipulator 2 realize pipe string handover through a mechanical clamping mechanism, that is, after the luffing arm 3 transforms the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator 2 clamps the pipe string, and the clamping mechanism of the luffing arm 3 releases the pipe string, thereby completing the pipe string handover.

[0034] Among them, Figure 2As shown, when the luffing arm 3 is in a horizontal position, the pipe string is placed horizontally on the luffing arm 3, and the length measuring device 4 measures the length of the pipe string online in real time through the pressure and position sensors, and transmits the pipe string length data through the CAN bus to the control system 5. A data temporary storage library is set in the control system 5. After the data temporary storage library receives the length data of the first pipe string, the data is stored in the first position. The data in the first position is the current valid data for pipe lowering. The data is transmitted to the automatic pipe lowering operation program through the CAN bus. The automatic pipe lowering operation of the first pipe string is completed through electro-hydraulic control. After the automatic pipe lowering operation of the first pipe string is completed, the control system sends A command to clear the data of the first pipe string is issued to clear the length data of the first pipe string; during the process of lowering the first pipe string, the length measuring device 4 measures the length data of the second pipe string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position. Similarly, the data in the third position will be pushed to the second position. After the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe lowering operation program. Under the control of the automatic pipe lowering operation program, the second pipe string and the third pipe string are waiting for the lowered pipe string to be lowered to perform continuous pipe lowering operations.

[0035] Among them, the length of the first pipe string is measured by the online length measuring device, and the data is stored in the data temporary storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data; the first pipe string is grabbed by the luffing arm and then handed over to the lifting manipulator for transportation to the wellhead. After the automatic make-up and breakout device completes the make-up operation, the automatic host automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string being lowered by the automatic host, the online length measuring device synchronously measures the length data of the second pipe string, and also stores the data in the data temporary storage library. At this time, the length data of two pipe strings are already stored in the database, and the data is temporarily stored in the database before the first pipe string is lowered; at this time, the luffing arm After the two pipe strings are handed over to the lifting manipulator, it returns again to measure the data of the third pipe string, and the data of the third pipe string is also stored in the database. After the data storage is completed, the luffing arm transports the third pipe string to the waiting position, waiting for the handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string after the second manipulator is in the waiting position, and then the pipe string is handed over to the host; when the lowering of the first pipe string is completed, the data temporary storage library clears the data of the first pipe string, and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, and repeats the lowering action of the first pipe string to realize continuous and automatic lowering of the pipe string.

[0036] The present invention provides a stack-type multi-tube automatic pipe lowering control method, which is applied to automatic pipe lowering operations and is based on an automatic pressure-bearing operation device.

[0037] This method is applied to the automatic pipe lowering operation of the automated pressure operation device: the length of the first pipe string is measured by the online length measuring device, and the data is stored in the data temporary storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data. The first pipe string is transported to the wellhead by the automatic pipe transporter. After the automatic buckling operation is completed by the automatic buckling device, the automatic host automatically lowers the pipe string into the well according to the calculated data. During the process of the first pipe string being lowered by the automated host, the online length measuring device synchronously measures the length data of the second pipe string and also stores the data in the data temporary storage library. At this time, the length data of two pipe strings are already stored in the database. Before the first pipe string is lowered, the data is temporarily stored in the database. At this time, the luffing arm on the automatic pipe transporter hands over the second pipe string to the lifting manipulator, and then returns to measure the data of the third pipe string, and stores the data of the third pipe string in the database. After the data storage is completed, the luffing arm on the automatic pipe transporter transports the third pipe string to the waiting position, waiting for the handover with the manipulator. At this time, the manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string at the waiting position, and then the pipe string is handed over to the host. After the first pipe string is lowered, the data temporary storage library clears the data of the first pipe string, and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, repeats the lowering action of the first pipe string, and realizes the continuous automatic lowering of the pipe string.

[0038] The automated pressure-operating device comprises an automated main engine, a lifting manipulator, a luffing arm, an online length measuring device and a control system.

[0039] The automated host can automatically complete the pipe string lowering operation according to the program settings;

[0040] The lifting manipulator 2 can automatically complete the lifting and transportation of the pipe string according to the program setting;

[0041] The luffing arm 3 can automatically complete the luffing and transportation of the pipe string according to the program setting;

[0042] The online length measuring device 4 can measure the length of the pipe string in real time and transmit the data to the control system;

[0043] The control system 5 is a PLC program control system, including a data temporary storage library and an automatic operation program, which can automatically read the data in the data temporary storage library and automatically delete expired data after the data is used.

[0044] Reference Figure 1 As shown, the present invention provides a method for controlling automatic pipe lowering based on stacked multiple pipes, and the method is based on an automated pressure-bearing operation device.

[0045] The automated pressure-operating device comprises an automated main engine 1 , a lifting manipulator 2 , a luffing arm 3 , a length measuring device 4 , a control system 5 and an automatic buckling and unbuckling device 6 .

[0046] When used on site, the specific operation method is as follows: the automation host 1 is supported around the wellhead, the lifting manipulator 2 is relatively fixedly connected to the automation host 1, and the luffing arm 3 and the lifting manipulator 2 realize the pipe string handover through the mechanical holding mechanism, that is, after the luffing arm 3 changes the pipe string from the horizontal state to the vertical state, the clamping mechanism of the lifting manipulator 2 clamps the pipe string, and the clamping mechanism of the luffing arm 3 releases the pipe string to complete the pipe string handover. When the luffing arm 3 is in a horizontal position, the pipe string is horizontally placed on the luffing arm 3, and the length measuring device 4 measures the length of the pipe string online in real time through the pressure and position sensors. And the pipe string length data is transmitted to the control system 5 through the CAN bus. In the control system 5. A data temporary storage library is set. After the data temporary storage library receives the first pipe length data, the data is stored in the first position. The data in the first position is the current valid data for lowering the pipe. The data is transmitted to the automatic operation program for lowering the pipe through the CAN bus. Through electro-hydraulic control, the automatic lowering operation of the first pipe string is completed. After the automatic lowering operation of the first pipe string is completed, the control system issues a first pipe string data clearing command to clear the first pipe string length data. During the process of lowering the first pipe string, the length measuring device 4 measures the length data of the second pipe string and transmits it to the data temporary storage library at night, and ranks it in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position. Similarly, the data in the third position will be pushed to the second position. After the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe lowering program. Under the control of the automatic pipe lowering program, the second pipe string and the third pipe string are waiting to be lowered into the pipe string to carry out the continuous pipe string lowering operation. During the pipe lowering operation, the length measuring mechanism 4 cooperates with the variable arm 3 and the lifting manipulator 2 to realize the continuous operation of multiple pipes. The whole operation process does not interfere with each other, which saves the waiting time for pipe string transportation and improves the operation efficiency.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A stack-type multi-tube automatic lowering device, characterized in that: The invention comprises an automated host machine (1), a lifting manipulator (2), a luffing arm (3), a length measuring device (4), a control system (5) and an automatic hook-up and unhooking device (6). The automated host machine (1) is erected around a wellhead, and the lifting manipulator (2), the luffing arm (3), the length measuring device (4) and the automatic hook-up and unhooking device (6) are all connected to the control system (5).

2. The stack-type multi-tube automatic lowering device according to claim 1, characterized in that: The lifting manipulator (2) comprises a second manipulator (4-1), a lifting mechanism (4-2), and a horizontal rotation drive mechanism (4-3); the second manipulator (4-1) is arranged on the lifting mechanism (4-2); the bottom end of the lifting mechanism (4-2) is arranged on a base platform; and the top end of the lifting mechanism (4-2) is arranged on the horizontal rotation drive mechanism (4-3).

3. The stack-based multi-tube automatic lowering device according to claim 1, characterized in that: The luffing arm (3) comprises a clamping manipulator (3-1) and a displacement device (3-2); one end of the clamping manipulator (3-1) is arranged on a base platform via the displacement device (3-2).

4. The stack-based multi-tube automatic lowering device according to claim 3, characterized in that: When the luffing arm (3) is in a horizontal position, the pipe string is placed horizontally on the luffing arm (3), and the length measuring device (4) measures the length of the pipe string online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system (5) through a CAN bus.

5. The stack-based multi-tube automatic lowering device according to claim 4, characterized in that: The control system (5) is a PLC program control system, comprising a data temporary storage library, an automatic running program, automatically reading data in the data temporary storage library, and automatically eliminating expired data after the data is used.

6. A control method based on a stacked multi-tube automatic lowering device, characterized in that: The automation host (1) is supported around the wellhead, the lifting manipulator (2) is relatively fixedly connected to the automation host (1), and the luffing arm (3) and the lifting manipulator (2) realize pipe string handover through a mechanical clamping mechanism, that is, after the luffing arm (3) changes the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator (2) clamps the pipe string, and the clamping mechanism of the luffing arm (3) releases the pipe string, thereby completing the pipe string handover.

7. The control method based on the stacked multi-tube automatic lowering device according to claim 6, characterized in that: When the luffing arm (3) is in a horizontal position, the pipe string is placed horizontally on the luffing arm (3), and the length measuring device (4) measures the length of the pipe string online in real time through pressure and position sensors, and transmits the pipe string length data to the control system (5) through a CAN bus. A data temporary storage library is set in the control system (5). After the data temporary storage library receives the first pipe length data, the data is stored in a first position. The data in the first position is the current valid pipe lowering data. The data is transmitted to the automatic pipe lowering operation program through the CAN bus. The automatic pipe lowering operation of the first pipe string is completed through electro-hydraulic control. After the automatic pipe lowering operation of the first pipe string is completed, the control system The system issues a command to clear the data of the first pipe string, thereby clearing the length data of the first pipe string; during the process of lowering the first pipe string, the length measuring device (4) measures the length data of the second pipe string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position, and similarly, the data in the third position will be pushed to the second position; after the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe lowering operation program. Under the control of the automatic pipe lowering operation program, the second pipe string and the third pipe string are waiting to be lowered into the pipe string, so that the continuous pipe lowering operation can be carried out.

8. The control method based on the stacked multi-tube automatic lowering device according to claim 7, characterized in that: The first pipe string is measured by an online length measuring device (4), and the data is stored in a temporary data storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus, and the automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data; the first pipe string is grabbed by the luffing arm (3), and then transferred to the lifting manipulator (2) for transportation to the wellhead. After the automatic make-up and break-out device (6) completes the make-up operation, the automatic host (1) automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string automatic host (1) lowering the pipe, the online length measuring device (4) synchronously measures the length data of the second pipe string, and also stores the data in the temporary data storage library. At this time, the database has already stored the length data of the two pipe strings. Before the first pipe string is lowered, the data is temporarily stored in the database; at this time, the luffing arm (3) is moved to the wellhead, and the automatic make-up and break-out device (6) completes the make-up operation. After that, the automatic host (1) automatically lowers the pipe string into the well according to the calculated data. (3) After handing over the second pipe string to the lifting manipulator (2), it returns again to measure the data of the third pipe string and stores the data of the third pipe string in the database. After the data storage is completed, the variable arm (3) transports the third pipe string to the waiting position to wait for handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string at the waiting position. Then, the pipe string is handed over to the automated host (1); when the lowering of the first pipe string is completed, the data temporary storage clears the data of the first pipe string and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is transmitted to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, and repeats the lowering action of the first pipe string to realize the continuous automatic lowering of the pipe string.

Images