Telescopic automatic hydraulic clamp control system and control method thereof

Abstract

The invention discloses a telescopic automatic hydraulic clamp control system and a control method thereof.The telescopic automatic hydraulic clamp control system comprises an automatic hydraulic clamp body control part and a driller room integrated control part which are in communication connection with each other, and multi-mode operation of telescopic automatic hydraulic clamps is achieved; the number of personnel operating the hydraulic clamp at a well mouth can be reduced, safety of personnel operation and equipment operation can be guaranteed, position data are obtained in cooperation with a sensor, and high-cost-performance unmanned and efficient screwing-on and screwing-off operation of a workover operation drill floor is achieved. According to the technical scheme, different modes of operation control are conducted in the drilling-out process and the drilling-down process respectively, the action of the hydraulic clamp is accurately controlled and monitored through several target positions arranged at fixed points, the accuracy of the drilling-out operation and the drilling-down operation can be guaranteed, the system operation efficiency can be improved, and the cost can be reduced by more than 1 / 3.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic hydraulic tongs control system for well repair, and more specifically, to a telescopic automatic hydraulic tongs control system and a control method thereof. Background Art

[0002] Drill pipe / tubing make-up and break-out tools are special tools used to release the drill pipe connection. They are widely used in fields such as drilling and geological exploration. With the advancement of technology and changes in demand, drill pipe make-up and break-out tools have undergone great development and improvement. Traditional drill pipe connection make-up and break-out tools are mainly manually operated, requiring operators to use manual tools (such as pipe clamps, etc.) to make and break the drill pipe. This method is relatively inefficient, has human operating errors, and cannot guarantee safety.

[0003] In order to improve the operation efficiency and reduce the complexity of manual operation, the traditional hydraulic tongs came into being. Although this type of tongs solves the problem of the high intensity of physical labor of the operators, the tongs must be suspended by wire ropes, and the height must be adjusted by a small hydraulic winch. The operator must be at the side of the tongs, and the safety problem is still not solved. In addition, small mouse holes are often used for overhaul to connect single pipes. The pipe strings in the small mouse holes are tilted to the wellhead at a certain angle, and the traditional hydraulic tongs or iron drillers cannot achieve tilting, so they cannot meet the requirements of small mouse hole operations. For hydraulic tongs or iron drillers, they must correspond to the wellhead pipe clamp when making and breaking the buckle, but in fact, the parking position of the driller at the wellhead pipe string cannot be well determined within the appropriate range. Either operate the traveling block to adjust to adapt to the fixed position of the hydraulic tongs or iron drillers; or manually adjust the height of the hydraulic tongs or iron drillers to adapt to the pipe clamp at the wellhead. These two methods are undoubtedly quite inefficient, and the cost of iron drillers is relatively high. Therefore, it is still urgent to develop cost-effective automatic tools for making and breaking buckles. Summary of the invention

[0004] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0005] Another object of the present invention is to provide a telescopic automatic hydraulic pliers control system and a control method thereof, so as to solve the technical problem that the automation level of the automatic make-up and break-out operations using hydraulic pliers in the prior art is not high.

[0006] In order to achieve these purposes and other advantages according to the present invention, on the one hand, the present invention provides a telescopic automatic hydraulic tongs control system, the telescopic automatic hydraulic tongs comprising a tongs frame, the tongs frame being sequentially connected with a telescopic mechanism, a rotating mechanism, a lifting mechanism, and a deflecting mechanism for driving the tongs frame to move, the tongs frame being provided with a large tongs backup tong, a large tongs main tong, and a centering splash-proof device for operating a wellhead tubular column, the tongs frame being further provided with a hydraulic electric control box, a valve box, and a shifting mechanism, the control system comprising an automatic hydraulic tongs body control unit and a driller's room integrated control unit; The control part of the automatic hydraulic clamp body includes a main controller, a first touch screen, a remote controller, an amplifier, a safety barrier, a first isolation barrier, a second isolation barrier, a multi-valve group, a proximity switch, a pressure sensor, a displacement sensor, and an encoder. The displacement sensors are respectively installed on the telescopic mechanism and the lifting mechanism, and the encoder is installed on the rotating mechanism. The integrated control unit of the driller's room includes an integrated control system, a second touch screen, and operating components; The first touch screen and the remote controller are connected to the main controller respectively, the second touch screen and the operating components are connected to the integrated control system respectively, the main controller is connected to the integrated control system in communication, the first touch screen is used to set and operate the main controller, the second touch screen is used to set and operate the integrated control system, the remote controller is used to remotely operate the main controller, the operating components are used to independently operate the mechanism of the telescopic automatic hydraulic clamp, the main controller is connected to the multi-valve group through an amplifier to control the action of each valve, the main controller is connected to each proximity switch through a safety barrier to collect the high / low gear detection of the shift lever and the number of hydraulic clamp turns The main controller is connected to the pressure sensor through the first isolation fence to collect the pressure detection signals of the total pressure of the hydraulic system, the main clamp oil inlet / return pressure, and the back clamp oil inlet / return pressure. The main controller is connected to the displacement sensor of the telescopic mechanism through the second isolation fence to control the movement and positioning of the telescopic mechanism. The main controller is connected to the encoder to control the movement and positioning of the rotating mechanism. The main controller is connected to the displacement sensor of the lifting mechanism to assist the lifting mechanism in actively adapting to the height of the wellhead pipe clamp. The main controller is connected to the deflection mechanism to adapt to the manual operation of the mouse hole inclined pipe string make-up and breakout operations.

[0007] Preferably, each valve of the automatic hydraulic pliers is provided with a hydraulic valve stem and can be manually operated by the hydraulic valve stem, the remote control is also used to switch manual operation or remotely operate the main controller, and the second touch screen is also used to switch manual operation of the hydraulic valve stem for the integrated control system.

[0008] On the other hand, the present invention provides a control method for a telescopic automatic hydraulic tongs, including a control method for the telescopic automatic hydraulic tongs to cooperate with drilling and a control method for cooperating with drilling, wherein the control method for the telescopic automatic hydraulic tongs to cooperate with drilling comprises the following steps: S1. Initialize the telescopic automatic hydraulic clamp, put the clamp frame in the standby position, open the centering splash-proof device, and the main clamp is missing; S2, drive the clamp frame to extend to the wellhead position, and the clamp frame lifting mechanism automatically finds the hoop; S3, automatic shackle; S4, automatic shackle missing; S5. The hydraulic clamp retreats to the centering and splash-proof position; S6, the centering splash guard is closed; S7, after the liquid has completely overflowed, the centering splash-proof device is opened; S8, the clamp frame retracts to the standby position and waits for the next command; The control method of the telescopic automatic hydraulic tongs in cooperation with drilling comprises the following steps: A1. Initialize the telescopic automatic hydraulic tongs, put the tongs frame in the standby position, open the centering splash-proof device, and make the main tongs aligned; A2. Drive the clamp frame to extend to the centering anti-splash position, and the clamp frame lifting mechanism automatically finds the hoop; A3. The centering splash guard is closed; A4. Open the centering splash guard; A5. The clamp frame is retracted to the wellhead position; A6, automatic buckle up; A7, automatic buckle up and missing; A8. The clamp frame retracts to the standby position and waits for the next command.

[0009] Preferably, in the control method for the telescopic automatic hydraulic pliers to cooperate with the drilling, firstly, a step of judging whether there is liquid overflow from the wellhead is set on the first touch screen or the second touch screen. If so, the steps S1-S8 are carried out normally in sequence; if not, the step starts from step S5; in the control method for the telescopic automatic hydraulic pliers to cooperate with the drilling, firstly, a step of judging whether the wellhead needs to be centered is set on the first touch screen or the second touch screen. If so, the steps A1-A8 are carried out normally in sequence; if not, the step starts from step S12.

[0010] Preferably, according to the specific positions to be reached by the extension and retraction of the clamp frame, three target position scales are set on the telescopic stroke, corresponding to the clamp frame being in the standby position, the centering anti-splash position, and the wellhead position, respectively. The telescopic mechanism is controlled by a hydraulic electromagnetic proportional valve. In step S2, the main controller controls the movement of the telescopic mechanism as follows: S201, giving a clamp frame target position, a standby position, a centering anti-splash position, or a wellhead position; S202, comparing the real-time displacement value fed back by the displacement sensor installed on the telescopic mechanism with the target position scale value; S203, performing PID algorithm adjustment on the comparison value; S204, the control value after PID adjustment is calculated by the amplifier PWMI and output to the hydraulic solenoid proportional valve; S205, the proportional valve controls the telescopic mechanism to move until it reaches the target position and stops.

[0011] Preferably, in step S3, firstly, a preset value of the number of high-speed shackle turns is set on the first touch screen or the second touch screen, and the control method of the main controller controlling the hydraulic tongs to automatically shackle the pipe string is as follows: S301, automatic shackle enabling; S302, judging whether the corresponding proximity switch is in low gear, if not, controlling the low gear to be switched, if yes, proceeding to the next step; S303, clamp the backup tongs of the tongs, clamp the main tongs of the tongs, and start to buckle one circle at a low speed; S304, when the detection value of the number of hydraulic clamp turns is equal to value 2, the switch is switched to high speed, and the rotation speed of the main clamp of the large clamp is reduced during the switching; S305, when the number of high-speed shackle turns reaches a preset value, stop shackle.

[0012] Preferably, the automatic control method of automatically making up and missing is realized by the main controller as follows: S401, automatic make-up for missing enable; S402, judging whether it is in low gear through the corresponding proximity switch, if not, controlling the switch to low gear, if yes, proceeding to the next step; S403, the backup tongs of the large tongs are loosened, and the main tongs of the large tongs are loosened and rotated in the opposite direction to perform automatic gap alignment; S404, determining whether the detection sheet is facing the lap detection sensor, if so, setting the stop lap detection to value 2, otherwise, setting the stop lap detection to value 1; S405. According to the judgment result of S404, when the calculated actual number of revolutions is equal to the corresponding value, the main tongs of the large tongs stop rotating to complete the make-up and alignment.

[0013] Preferably, the make-up torque of the selected pipe string is set on the first touch screen or the second touch screen, and in step A6, the automatic control method of the make-up action is realized by the main controller as follows: A601, automatic make-up enable; A602, determine whether it is in high gear through the corresponding proximity switch, if not, control the switch to high gear, if yes, proceed to the next step; A603, clamp the backup tongs of the large tongs, clamp the main tongs of the large tongs, and start to make up. If the selected string torque is less than the maximum torque of the high gear, jump directly to A605; A604, according to the conversion of the oil pressure of the A and B ports of the main tongs, detect the real-time torque of the main tongs of the large tongs. If the real-time torque of the main tongs of the large tongs is greater than the maximum torque of the high gear, switch to the low gear; A605. The real-time torque of the main tongs is greater than the make-up torque of the selected pipe string, and the make-up is stopped.

[0014] Preferably, in step A7, the automatic control method of automatically making up and correcting the gap by the main controller is as follows: A701, automatic make-up to enable the lack of; A702, determine whether it is in low gear through the corresponding proximity switch, if not, control the switch to low gear, if yes, proceed to the next step; A703, loosen the back-up tongs of the tongs, loosen the main tongs of the tongs and rotate them in the opposite direction to automatically correct the gaps; A704, determine whether the detection sheet is facing the circle detection sensor, if so, set the stop circle detection to value 2, otherwise set it to value 1; A705. According to the judgment result of A704, when the actual number of calculated turns is equal to the corresponding value, the main tongs of the large tongs stop rotating and the buckling is completed.

[0015] The present invention includes at least the following beneficial effects: the telescopic automatic hydraulic clamp control system of the present invention includes an automatic hydraulic clamp body control unit and a driller's room integrated control unit, the automatic hydraulic clamp body control unit includes a main controller, a first touch screen, a remote control, an amplifier, a safety barrier, a first isolation barrier, a second isolation barrier, a multi-valve group, a proximity switch, a pressure sensor, a displacement sensor, and an encoder, the driller's room integrated control unit includes an integrated control system, a second touch screen, and operating components, the main controller is communicatively connected with the driller's room integrated control system to realize multiple modes of operation of the telescopic automatic hydraulic clamp, which can reduce the number of personnel operating the hydraulic clamp at the wellhead, which is beneficial to ensuring the safety of personnel operation and equipment operation, and cooperates with sensors to obtain position data to realize cost-effective unmanned drilling platform and efficient make-up and breakout operations for well repair operations; the telescopic automatic hydraulic clamp control system is used to perform different modes of operation control on the drilling and drilling processes, and the action of the hydraulic clamp is accurately controlled and monitored through several target positions set at fixed points, which can not only ensure the accuracy of the drilling and drilling operations, but also improve the system operation efficiency, and the cost can be reduced by more than 1 / 3.

[0016] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of the telescopic automatic hydraulic pliers provided by the present invention; Figure 2 A schematic diagram of a telescopic automatic hydraulic pliers control system provided by the present invention; Figure 3 The flowchart of the operation of the telescopic automatic hydraulic clamp control system provided by the present invention to control the automatic make-up during the drilling process; Figure 4 The operation flow chart of the telescopic automatic hydraulic clamp control system provided by the present invention controlling the automatic shackle during the drilling process; Figure 5 A schematic diagram of a flow chart of a telescopic automatic hydraulic pliers control system provided by the present invention controlling a pliers frame telescopic mechanism; Figure 6 A schematic diagram of the flow of the telescopic automatic hydraulic pliers control system provided by the present invention controlling the pliers frame rotation mechanism; Figure 7 A control flow chart of the automatic shackle of the large tongs by the telescopic automatic hydraulic tongs control system provided by the present invention; Figure 8 A control flow chart of the automatic buckling of the large tongs by the telescopic automatic hydraulic tongs control system provided by the present invention; Fig. 9 A control flow chart of the automatic buckling and unbuckling of the large tongs by the telescopic automatic hydraulic tongs control system provided by the present invention; Description Figure Numbers: 1. Electric control box for hydraulic clamps; 2. Valve box; 3. Telescopic mechanism; 4. Rotating mechanism; 5. Lifting mechanism; 6. Back-up clamp for large clamps; 7. Suspension mechanism; 8. Shifting mechanism; 9. Main clamp for large clamps; 10. Centering and splash-proof device; 11. Deflection mechanism; A. Automatic hydraulic clamps; B. Driller's room; A-1. Main controller; A-2. First touch screen; A-3. Remote controller; A-4. Amplifier; A-5. Multi-valve group; A-6. Safety barrier; A-7. Proximity switch; A-8. First isolation barrier; A-9. Pressure sensor; A-10. Second isolation barrier; A-11. Displacement sensor; A-12. Encoder; A-13. Automatic hoop-finding system; B-1. Driller's integrated control system; B-2. Second touch screen; B-3. Operating components. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0019] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] like Figure 1-9 As shown, the present invention provides a telescopic automatic hydraulic tongs control system, the telescopic automatic hydraulic tongs A comprises a tong frame, the tong frame is sequentially connected with a telescopic mechanism 3, a rotating mechanism 4, a lifting mechanism 5, and a deflection mechanism 11 for driving the tong frame to move, the tong frame is provided with a large tongs backup tong 6, a large tongs main tong 9, and a centering splash-proof device 10 for operating a wellhead pipe column, the tong frame is also provided with a hydraulic electric control box 1, a valve box 2, and a shifting mechanism 8, and the control system comprises an automatic hydraulic tongs body control unit and a driller's room B integrated control unit; The control part of the automatic hydraulic clamp body includes a main controller A-1, a first touch screen A-2, a remote controller A-3, an amplifier A-4, a safety barrier A-6, a first isolation barrier A-8, a second isolation barrier A-10, a multi-valve group A-5, a proximity switch A-7, a pressure sensor A-9, a displacement sensor A-11, and an encoder A-12. Displacement sensors are installed on the telescopic mechanism and the lifting mechanism respectively, and the encoder is installed on the shaft end of the rotating mechanism to realize the detection of the rotation angle; The integrated control unit of the driller's room includes an integrated control system B-1, a second touch screen B-2, and operating components B-3; The first touch screen and the remote controller are connected to the main controller respectively, the second touch screen and the operating components are connected to the integrated control system respectively, the main controller is connected to the integrated control system in communication, the first touch screen is used to set and operate the main controller, the second touch screen is used to set and operate the integrated control system, the remote controller is used to remotely operate the main controller, the operating components are used to independently operate the mechanism of the telescopic automatic hydraulic clamp, the main controller is connected to the multi-valve group through an amplifier to control the action of each valve, the main controller is connected to each proximity switch through a safety barrier to collect the high / low gear detection of the shift lever and the number of hydraulic clamp turns The main controller is connected to the pressure sensor through the first isolation fence to collect the pressure detection signals of the total pressure of the hydraulic system, the main clamp oil inlet / return pressure, and the back clamp oil inlet / return pressure. The main controller is connected to the displacement sensor of the telescopic mechanism through the second isolation fence to control the movement and positioning of the telescopic mechanism. The main controller is connected to the encoder to control the movement and positioning of the rotating mechanism. The main controller is connected to the displacement sensor of the lifting mechanism to assist the lifting mechanism in actively adapting to the height of the wellhead pipe clamp. The main controller is connected to the deflection mechanism to adapt to the manual operation of the mouse hole inclined pipe string make-up and breakout operations.

[0021] The high / low gear detection sensor is installed through the bracket, corresponding to the high and low gear positions of the shift lever respectively; the number of turns detection sensor is installed on the main caliper rotation circle through the bracket, and the detection piece is installed on the non-rotating part of the main caliper outer frame; the centering device open / close detection 1~4 is installed on the two end brackets of the open and closed positions respectively. The system pressure sensor is installed on the oil inlet pipeline tee, the main caliper inlet / return oil pressure sensor is installed on the main caliper A and B ports respectively; the backup caliper inlet / return oil pressure sensor is installed on the backup caliper A and B ports respectively.

[0022] The centering splash-proof device includes a spray-proof barrel, a centering shoe, a cylinder, and an opening and closing detection sensor. The splash-proof and centering functions are combined into one, respectively realizing the splash-proof function in the drilling condition and the pipe string centering function in the drilling condition. The mechanism that drives the clamp frame to move uses the hydraulic system as a power source. The telescopic mechanism, the rotating mechanism, the lifting mechanism, and the deflection mechanism are driven by corresponding hydraulic cylinders respectively. The displacement sensor is a magnetostrictive displacement sensor built into the cylinder to realize the stroke detection of the cylinder extension. The telescopic automatic hydraulic clamp control system also includes a suspension mechanism 7 and attached sensors, cylinders, motors, etc. The main controller is connected to the automatic hoop-finding system set up. Combined with the clamp frame lifting displacement signal and the automatic hoop-finding system data, it can actively adapt to the wellhead pipe hoop height. The automatic hoop-finding system A-13 can be set up separately as needed. It only needs to be connected and compared with the displacement sensor data of this embodiment, and then automatically controls the movement of the telescopic mechanism through the main controller. The specific hoop-finding system does not belong to the improved content of this embodiment and will not be repeated here.

[0023] The telescopic automatic hydraulic tongs control system of the present invention uses the telescopic automatic hydraulic tongs to replace traditional pipe tongs and hydraulic tongs during well repair operations, thereby freeing operators from heavy physical labor. In well repair operations that focus on high cost performance, the telescopic automatic hydraulic tongs are used to replace iron drillers, which can not only save a lot of costs, but also provide multiple operating structures such as a first touch screen, a second touch screen, a remote control, and operating components in the driller's room. The main controller is communicatively connected with the integrated control system in the driller's room to achieve multiple modes of operation of the telescopic automatic hydraulic tongs, which can reduce the number of personnel operating the hydraulic tongs at the wellhead, and is beneficial to ensuring the safety of personnel operation and equipment operation. By providing a tongs frame deflection mechanism to allow the tongs frame to deflect, it can adapt to the inclination of a single pipe string in a small mouse hole, thereby realizing unmanned single connection in the small mouse hole, and by using the provided displacement sensor in conjunction with the automatic hoop finding system, the tongs frame can automatically realize the hoop positioning during the extension process, thereby realizing unmanned and efficient make-up and breakout operations on the drilling table of a well repair operation with high cost performance.

[0024] In another technical solution, Figure 1-2 As shown, each valve of the automatic hydraulic pliers is provided with a hydraulic valve stem and can be manually operated by the hydraulic valve stem, the remote controller is also used to switch manual operation or remotely operate the main controller, and the second touch screen is also used to switch manual operation of the hydraulic valve stem for the integrated control system.

[0025] The valve stem operation is purely hydraulic without any logic protection; the remote control has two operation modes: manual and automatic, with complete logic protection; the driller room operation has three operation modes: manual, automatic, and sequential control.

[0026] In another technical solution, Figure 1-4 As shown, the control method of the telescopic automatic hydraulic tongs cooperating with the drilling and the control method of the telescopic automatic hydraulic tongs cooperating with the drilling comprises the following steps: S1. Initialize the telescopic automatic hydraulic tongs to ensure that the hydraulic tongs are in the best condition when operating, put the tongs frame in the standby position, open the centering splash-proof device, and align the main tongs; S2, controlling the movement of the telescopic mechanism, the rotating mechanism, and the lifting mechanism through the main controller, driving the clamp frame to extend to the wellhead position, obtaining the corresponding displacement sensor data on the lifting mechanism on the first touch screen, starting the lifting mechanism to automatically find the hoop, the large tongs and the back tongs clamp the coupling, and the large tongs and the main tongs clamp the pipe string; S3, control the rotation direction of the hydraulic motor and automatically shackle; S4, controlling the speed and rotation time of the hydraulic pliers to control the hydraulic pliers to reach the designated position, using the detection piece to detect whether it is facing the notch, and automatically shackle the notch; S5. The hydraulic clamp retreats to the centering and splash-proof position; S6, the centering splash guard is closed; S7, after the liquid has completely overflowed, the centering splash-proof device is opened; S8, the clamp frame retracts to the standby position and waits for the next command; The control method of the telescopic automatic hydraulic tongs in cooperation with drilling comprises the following steps: A1. Initialize the telescopic automatic hydraulic tongs, put the tongs frame in the standby position, open the centering splash-proof device, and make the main tongs aligned; A2. Drive the clamp frame to extend to the centering anti-splash position, and the clamp frame lifting mechanism automatically finds the hoop; A3. The centering splash guard is closed; A4. Open the centering splash guard; A5. The clamp frame is retracted to the wellhead position; A6, automatic buckle up; A7, automatic buckle up and missing; A8. The clamp frame retracts to the standby position and waits for the next command.

[0027] The telescopic automatic hydraulic clamp control system is used to perform different modes of operation control on the drilling and drilling processes to improve the operating efficiency of the hydraulic clamp. First, the state is initialized to ensure that the hydraulic clamp is in the best working state, and then the clamp frame is controlled to move to the set standby target position to start the corresponding operation process. After that, the clamp frame is controlled to move to the second target position, the centering splashproof position / wellhead position, and the corresponding operation process of the next stage is carried out. It continues to move to the next target position, the wellhead position / centering splashproof position, and returns to the standby position after completing the last operation. The action of the hydraulic clamp is accurately controlled and monitored through several fixed-point set target positions, which can not only ensure the accuracy of the drilling and drilling operations, but also improve the system operation efficiency.

[0028] In another technical solution, Figure 3-4 As shown, in the control method for the telescopic automatic hydraulic tongs to cooperate with the drilling, firstly, a step of judging whether there is liquid overflow at the wellhead is set on the first touch screen or the second touch screen. If so, the steps S1-S8 are performed normally in sequence. If not, the step starts from step S5. In the control method for the telescopic automatic hydraulic tongs to cooperate with the drilling, firstly, a step of judging whether the wellhead needs to be centered is set on the first touch screen or the second touch screen. If so, the steps A1-A8 are performed normally in sequence. If not, the step starts from step S12, thereby improving the operation of the control system and the operating efficiency of the hydraulic tongs.

[0029] In another technical solution, Figure 5-6As shown, according to the specific positions to be reached by the extension and retraction of the clamp frame, three target position scales are set on the telescopic stroke, corresponding to the clamp frame being in the standby position, the centering anti-splash position, and the wellhead position, respectively. The telescopic mechanism is controlled by a hydraulic electromagnetic proportional valve. In step S2, the main controller controls the movement of the telescopic mechanism as follows: S201, giving a clamp frame target position, a standby position, a centering anti-splash position, or a wellhead position; S202, comparing the real-time displacement value fed back by the displacement sensor installed on the telescopic mechanism with the target position scale value; S203, performing PID algorithm adjustment on the comparison value; S204, the control value after PID adjustment is calculated by the amplifier PWMI and output to the hydraulic solenoid proportional valve; S205, the proportional valve controls the telescopic mechanism to move until it reaches the target position and stops.

[0030] The target position of each mechanism is set according to the positions required for starting drilling, before drilling, during operation, and after operation. The telescopic mechanism is set with three target position scales: standby position, centering anti-splash position and wellhead position; the rotating mechanism is set with three target position scales: waiting position, rathole position and wellhead position. By performing PID negative feedback operation and PWMI strategy control on the telescopic cylinder and the rotating cylinder, the telescopic mechanism and the rotating mechanism are accurately controlled at the three target positions of the corresponding scales, and the positioning is accurate and correct, reducing the floating margin of the large tongs designed to adapt to the wellhead tubing, thereby ensuring the automatic operation conditions of the system.

[0031] In another technical solution, Figure 7 As shown, in step S3, firstly, a preset value of the number of high-speed shackle turns is set on the first touch screen or the second touch screen, and the control method of the main controller controlling the hydraulic clamp to automatically shackle the pipe string is as follows: S301, automatic shackle enabling; S302, judging whether the corresponding proximity switch is in low gear, if not, controlling the low gear to be switched, if yes, proceeding to the next step; S303, clamp the backup tongs of the tongs, clamp the main tongs of the tongs, and start to buckle one circle at a low speed; S304, when the detection value of the number of hydraulic clamp turns is equal to value 2, the switch is switched to high speed, and the rotation speed of the main clamp of the large clamp is reduced during the switching; S305, when the number of high-speed shackle turns reaches a preset value, stop shackle.

[0032] In another technical solution, Figure 8 As shown, the automatic control method of automatic make-up and shorting is realized by the main controller as follows: S401, automatic make-up for missing enable; S402, judging whether it is in low gear through the corresponding proximity switch, if not, controlling the switch to low gear, if yes, proceeding to the next step; S403, the backup tongs of the large tongs are loosened, and the main tongs of the large tongs are loosened and rotated in the opposite direction to perform automatic gap alignment; S404, determining whether the detection sheet has a positive number of turns to the detection sensor, if so, setting the stop turn detection to a value of two, otherwise, setting it to a value of one; S405. According to the judgment result of S404, when the calculated actual number of revolutions is equal to the corresponding value, the main tongs of the large tongs stop rotating to complete the make-up and alignment.

[0033] In another technical solution, Fig. 9 As shown, the make-up torque of the selected pipe string is set on the first touch screen or the second touch screen. In step A6, the automatic control method of the make-up action is realized by the main controller as follows: A601, automatic make-up enable; A602, determine whether it is in high gear through the corresponding proximity switch, if not, control the switch to high gear, if yes, proceed to the next step; A603, clamp the backup tongs of the large tongs, clamp the main tongs of the large tongs, and start to make up. If the selected string torque is less than the maximum torque of the high gear, jump directly to A605; A604, according to the conversion of the oil pressure of the A and B ports of the main tongs, detect the real-time torque of the main tongs of the large tongs. If the real-time torque of the main tongs of the large tongs is greater than the maximum torque of the high gear, switch to the low gear; A605. The real-time torque of the main tongs is greater than the make-up torque of the selected pipe string, and the make-up is stopped.

[0034] In another technical solution, Figure 1-2 As shown, in step A7, the automatic control method of automatically making up and matching the gaps is realized by the main controller as follows: A701, automatic make-up to enable the lack of; A702, determine whether it is in low gear through the corresponding proximity switch, if not, control the switch to low gear, if yes, proceed to the next step; A703, loosen the back-up tongs of the tongs, loosen the main tongs of the tongs and rotate them in the opposite direction to automatically correct the gap; A704, determine whether the detection sheet is facing the circle detection sensor, if so, set the stop circle detection to value 2, otherwise set it to value 1; A705. According to the judgment result of A704, when the calculated actual number of revolutions is equal to the corresponding value, the main tongs of the large tongs stop rotating and the buckling is completed.

[0035] Compared with the prior art, the present invention has the following beneficial effects: (1) Using telescopic automatic hydraulic tongs instead of iron roughnecks for well repair operations can reduce costs by more than 1 / 3; (2) The clamp frame rotates to automatically locate the waiting position, rathole position and wellhead position, and the clamp frame telescopes to automatically locate the waiting position, centering anti-splash position and wellhead position, with precise positioning and automatic cruising; (3) The entire telescopic automatic hydraulic clamp control system realizes multiple modes of control operation through the valve stem, controller, and driller's room. The integrated control in the driller's room can be independently controlled automatically / sequentially, or embedded in the large well repair operation process for one-button control, realizing unmanned breakout operation on the drilling floor and away from dangerous operation areas; (4) The controllable telescopic automatic hydraulic clamp is suitable for the operation of breaking out the buckle on the mouse hole; (5) The telescopic automatic hydraulic pliers can be controlled to automatically find the hoop, improving work efficiency.

[0036] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A telescopic automatic hydraulic clamp control system, characterized in that: The telescopic automatic hydraulic tongs include a tong frame, which is sequentially connected with a telescopic mechanism, a rotating mechanism, a lifting mechanism, and a deflecting mechanism for driving the tong frame to move. The tong frame is provided with a large tong backup tong, a large tong main tong, and a centering splash-proof device for operating the wellhead pipe column. The tong frame is also provided with a hydraulic electric control box, a valve box, and a shifting mechanism. The control system includes an automatic hydraulic tong body control unit and a driller's room integrated control unit. The control part of the automatic hydraulic clamp body includes a main controller, a first touch screen, a remote controller, an amplifier, a safety barrier, a first isolation barrier, a second isolation barrier, a multi-valve group, a proximity switch, a pressure sensor, a displacement sensor, and an encoder. The displacement sensors are respectively installed on the telescopic mechanism and the lifting mechanism, and the encoder is installed on the rotating mechanism. The integrated control unit of the driller's room includes an integrated control system, a second touch screen, and operating components; The first touch screen and the remote controller are connected to the main controller respectively, the second touch screen and the operating components are connected to the integrated control system respectively, the main controller is connected to the integrated control system in communication, the first touch screen is used to set and operate the main controller, the second touch screen is used to set and operate the integrated control system, the remote controller is used to remotely operate the main controller, the operating components are used to independently operate the mechanism of the telescopic automatic hydraulic pliers, the main controller is connected to the multi-valve group through an amplifier to control the action of each valve, the main controller is connected to each proximity switch through the first and second safety barriers to collect the high / low gear detection of the shift lever and the hydraulic pliers The main controller is connected to the pressure sensor through the first isolation fence to collect the pressure detection signals of the total pressure of the hydraulic system, the main clamp oil inlet / return pressure, and the back clamp oil inlet / return pressure. The main controller is connected to the displacement sensor of the telescopic mechanism through the second isolation fence to control the movement and positioning of the telescopic mechanism. The main controller is connected to the encoder to control the movement and positioning of the rotating mechanism. The main controller is connected to the displacement sensor of the lifting mechanism to assist the lifting mechanism in actively adapting to the height of the wellhead pipe clamp. The main controller is connected to the deflection mechanism to adapt to the manual operation of the mouse hole inclined pipe string make-up and breakout operations.

2. The telescopic automatic hydraulic pliers control system according to claim 1, characterized in that: Each valve of the automatic hydraulic pliers is provided with a hydraulic valve stem and can be manually operated by the hydraulic valve stem. The remote controller is also used to switch manual operation or remotely operate the main controller. The second touch screen is also used to switch manual operation of the hydraulic valve stem for the integrated control system.

3. The control method of the telescopic automatic hydraulic pliers according to claim 2, characterized in that: The invention comprises a control method for cooperating with the telescopic automatic hydraulic tongs to start drilling and a control method for cooperating with the drilling, wherein the control method for cooperating with the telescopic automatic hydraulic tongs to start drilling comprises the following steps: S1. Initialize the telescopic automatic hydraulic clamp, put the clamp frame in the standby position, open the centering splash-proof device, and the main clamp is missing; S2, drive the clamp frame to extend to the wellhead position, and the clamp frame lifting mechanism automatically finds the hoop; S3, automatic shackle; S4, automatic shackle missing; S5. The hydraulic clamp retreats to the centering and splash-proof position; S6, the centering splash guard is closed; S7, after the liquid has completely overflowed, the centering splash-proof device is opened; S8, the clamp frame retracts to the standby position and waits for the next command; The control method of the telescopic automatic hydraulic tongs in cooperation with drilling comprises the following steps: A1. Initialize the telescopic automatic hydraulic tongs, put the tongs frame in the standby position, open the centering splash-proof device, and make the main tongs aligned; A2. Drive the clamp frame to extend to the centering anti-splash position, and the clamp frame lifting mechanism automatically finds the hoop; A3. The centering splash guard is closed; A4. Open the centering splash guard; A5. The clamp frame is retracted to the wellhead position; A6, automatic buckle up; A7, automatic buckle up and missing; A8. The clamp frame retracts to the standby position and waits for the next command.

4. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: In the control method of the telescopic automatic hydraulic tongs for drilling, first, a step of judging whether there is liquid overflow at the wellhead is set on the first touch screen or the second touch screen. If so, the steps S1-S8 are performed normally in sequence. If not, the step starts from step S5. In the control method of the telescopic automatic hydraulic tongs for drilling, first, a step of judging whether the wellhead needs to be centered is set on the first touch screen or the second touch screen. If so, the steps A1-A8 are performed normally in sequence. If not, the step starts from step S12.

5. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: According to the specific positions to be reached by the extension and retraction of the clamp frame, three target position scales are set on the telescopic stroke, corresponding to the clamp frame being in the standby position, the centering splash-proof position, and the wellhead position, respectively. The telescopic mechanism is controlled by a hydraulic electromagnetic proportional valve. In step S2, the main controller controls the movement of the telescopic mechanism as follows: S201, giving a clamp frame target position, a standby position, a centering anti-splash position, or a wellhead position; S202, comparing the real-time displacement value fed back by the displacement sensor installed on the telescopic mechanism with the target position scale value; S203, performing PID algorithm adjustment on the comparison value; S204, the control value after PID adjustment is calculated by the amplifier PWMI and output to the hydraulic solenoid proportional valve; S205, the proportional valve controls the telescopic mechanism to move until it reaches the target position and stops.

6. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: In step S3, firstly, a preset value of the number of high-speed shackle turns is set on the first touch screen or the second touch screen, and the control method of the main controller controlling the hydraulic clamp to automatically shackle the pipe string is as follows: S301, automatic shackle enabling; S302, judging whether the corresponding proximity switch is in low gear, if not, controlling the low gear to be switched, if yes, proceeding to the next step; S303, clamp the backup tongs of the tongs, clamp the main tongs of the tongs, and start to buckle one circle at a low speed; S304, when the detection value of the number of hydraulic clamp turns is equal to value 2, the switch is switched to high speed, and the rotation speed of the main clamp of the large clamp is reduced during the switching; S305, when the number of high-speed shackle turns reaches a preset value, stop shackle.

7. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: The automatic control method of automatic make-up and shorting by the main controller is as follows: S401, automatic make-up for missing enable; S402, judging whether it is in low gear through the corresponding proximity switch, if not, controlling the switch to low gear, if yes, proceeding to the next step; S403, the backup tongs of the large tongs are loosened, and the main tongs of the large tongs are loosened and rotated in the opposite direction to perform automatic gap alignment; S404, determining whether the detection sheet is facing the lap detection sensor, if so, setting the stop lap detection to value 2, otherwise, setting the stop lap detection to value 1; S405. According to the judgment result of S404, when the calculated actual number of revolutions is equal to the corresponding value, the main tongs of the large tongs stop rotating to complete the make-up and alignment.

8. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: The make-up torque of the selected pipe string is set on the first touch screen or the second touch screen. In step A6, the automatic control method of the make-up action is realized by the main controller as follows: A601, automatic make-up enable; A602, determine whether it is in high gear through the corresponding proximity switch, if not, control the switch to high gear, if yes, proceed to the next step; A603, clamp the backup tongs of the large tongs, clamp the main tongs of the large tongs, and start to make up. If the selected string torque is less than the maximum torque of the high gear, jump directly to A605; A604, according to the conversion of the oil pressure of the A and B ports of the main tongs, detect the real-time torque of the main tongs of the large tongs. If the real-time torque of the main tongs of the large tongs is greater than the maximum torque of the high gear, switch to the low gear; A605. The real-time torque of the main tongs is greater than the make-up torque of the selected pipe string, and the make-up is stopped.

9. The control method of the telescopic automatic hydraulic pliers according to claim 3, characterized in that: In step A7, the automatic control method of automatic make-up and missing is realized by the main controller as follows: A701, automatic make-up to enable the lack of; A702, determine whether it is in low gear through the corresponding proximity switch, if not, control the switch to low gear, if yes, proceed to the next step; A703, loosen the back-up tongs of the tongs, loosen the main tongs of the tongs and rotate them in the opposite direction to automatically correct the gaps; A704, determine whether the detection sheet is facing the detection sensor, if so, set the stop circle detection to value 2, otherwise set it to value 1; A705. According to the judgment result of A704, when the actual number of revolutions is equal to the corresponding value, the main tongs of the large tongs stop rotating and the buckling is completed.

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