A telescopic automatic hydraulic tong control system and a control method thereof

Abstract

The application discloses a telescopic automatic hydraulic tong control system and a control method thereof. The telescopic automatic hydraulic tong control system comprises an automatic hydraulic tong body control unit and a driller house integrated control unit which are connected with each other in communication. The system can realize the operation of various modes of the telescopic automatic hydraulic tong, can reduce the number of personnel operating the wellhead hydraulic tong, is favorable for guaranteeing the safety of personnel operation and equipment operation, can cooperate with a sensor to obtain position data, can realize unmanned drilling platform surface of workover operation with high cost performance, efficient make-up and break-out operation, and can realize the control method of the telescopic automatic hydraulic tong. The control method controls the operation of the telescopic automatic hydraulic tong in different modes during the process of tripping out and tripping in, can accurately control and monitor the action of the hydraulic tong through several target positions set by a fixed point, can guarantee the accuracy of tripping out and tripping in operation, can improve the system operation efficiency, and can reduce the cost by more than 1 / 3.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of well repair automatic hydraulic tong control system. More particularly, the present application relates to a telescopic automatic hydraulic tong control system and a control method thereof. BACKGROUND

[0002] The pipe / tubing make-break tool is a special tool for releasing the connection of the drill pipe. It is widely used in the fields of drilling and geological exploration. With the progress of technology and changes in demand, the drill pipe make-break tool has undergone great development and improvement. The traditional drill pipe connection make-break tool is mainly manually operated, and the operator needs to use a manual tool (such as a pipe wrench) to make up and break off the drill pipe. This way is relatively low in efficiency, has human operation errors, and cannot guarantee safety.

[0003] In order to improve the operation efficiency and reduce the complexity of manual operation, the traditional hydraulic tong is born. Although this tong solves the problem of high physical labor intensity of the operator, the tong must be suspended by a wire rope, the height is adjusted by a hydraulic winch, and the personnel operation must be on the side of the tong, so the safety problem is still not solved. In addition, the overhaul often uses a mouse hole for single pipe connection operation, and the pipe column in the mouse hole is inclined at a certain angle to the wellhead. The traditional hydraulic tong or iron driller cannot realize the inclination, so it cannot meet the requirements of the mouse hole operation. For the hydraulic tong or iron driller, the make-break must correspond to the wellhead pipe clamp, but in fact the stopping position of the pipe column at the wellhead cannot be well determined within the appropriate range, so the traveling block must be operated to adjust to adapt to the hydraulic tong or iron driller with fixed position, or the height of the hydraulic tong or iron driller is manually adjusted to adapt to the pipe clamp at the wellhead. Both methods are undoubtedly very low in efficiency, and the cost of the iron driller is relatively high. Therefore, there is still an urgent need to develop a high-performance make-break automatic tool. SUMMARY

[0004] An object of the present application is to solve at least the above problems and to provide at least the advantages to be explained later.

[0005] Another object of the present application is to provide a telescopic automatic hydraulic tong control system and a control method thereof to solve the technical problem of low automation degree of the automatic make-break operation by the hydraulic tong in the prior art.

[0006] In order to achieve the purposes and other advantages according to the present application, in one aspect, the present application provides a telescopic automatic hydraulic tong control system, the telescopic automatic hydraulic tong comprising a tong frame, the tong frame being connected with a telescopic mechanism, a rotating mechanism, a lifting mechanism and a deflecting mechanism in sequence for driving the tong frame to move, the tong frame being provided with a large tong back tong, a large tong main tong and a centering splash-proof device for operating a wellhead pipe string, the tong frame being further provided with a hydraulic electric control box, a valve box and a gear shifting mechanism, the control system comprising an automatic hydraulic tong body control part and a driller house integrated control part;

[0007] The automatic hydraulic tong body control part comprises 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-union valve group, a proximity switch, a pressure sensor, a displacement sensor and an encoder, the displacement sensors being respectively installed on the telescopic mechanism and the lifting mechanism, and the encoder being installed on the rotating mechanism;

[0008] The driller house integrated control part comprises an integrated control system, a second touch screen and operating components;

[0009] The first touch screen and the remote controller are respectively connected with the main controller, the second touch screen and the operating components are respectively connected with the integrated control system, the main controller is in communication connection with the integrated control system, the first touch screen is used for setting and operating the main controller, the second touch screen is used for setting and operating the integrated control system, the remote controller is used for remotely operating the main controller, the operating components are used for independently operating the mechanisms of the telescopic automatic hydraulic tong, the main controller is connected with the multi-union valve group through the amplifier to control the action of each valve, the main controller is connected with each proximity switch through the safety barrier to collect the high / low gear detection of the gear shifting lever, the detection of the number of hydraulic tong rings and the open / close state detection signal of the centering splash-proof device on both sides, the main controller is connected with the pressure sensor through the first isolation barrier to collect the total pressure of the hydraulic system, the oil pressure of the main tong and the oil pressure of the back tong, the main controller is connected with the displacement sensor of the telescopic mechanism through the second isolation barrier to control the movement and positioning of the telescopic mechanism, the main controller is connected with the encoder to control the movement and positioning of the rotating mechanism, the main controller is connected with the displacement sensor of the lifting mechanism to assist the lifting mechanism to actively adapt to the height of the wellhead pipe clamp, and the main controller is connected with the deflecting mechanism to adapt to the make-up and break-out operation of the mouse hole inclined pipe string in manual operation.

[0010] Preferably, a hydraulic valve rod is arranged on each valve of the automatic hydraulic tong and can be manually operated through the hydraulic valve rod, the remote controller is further used for switching the manual operation or remotely operating the main controller, and the second touch screen is further used for switching the hydraulic valve rod manual operation of the integrated control system.

[0011] In another aspect, the present application provides a control method of a telescopic automatic hydraulic tong, including a control method of the telescopic automatic hydraulic tong cooperating with a tripping-in and a control method of the telescopic automatic hydraulic tong cooperating with a tripping-out, wherein the control method of the telescopic automatic hydraulic tong cooperating with the tripping-in includes the following steps:

[0012] S1, initializing the telescopic automatic hydraulic tong, making the tong frame in a standby position, opening a centering splash-proof device, and making the main tong pair lack;

[0013] S2, driving the tong frame to extend to a wellhead position, and automatically searching a hook by a tong frame lifting mechanism;

[0014] S3, automatically unhooking;

[0015] S4, automatically unhooking and pairing;

[0016] S5, retreating the hydraulic tong to the centering splash-proof position;

[0017] S6, closing the centering splash-proof device;

[0018] S7, opening the centering splash-proof device after liquid overflow is completed;

[0019] S8, retracting the tong frame to the standby position, and waiting for a next command;

[0020] The control method of the telescopic automatic hydraulic tong cooperating with the tripping-out includes the following steps:

[0021] A1, initializing the telescopic automatic hydraulic tong, making the tong frame in a standby position, opening a centering splash-proof device, and making the main tong pair lack;

[0022] A2, driving the tong frame to extend to a centering splash-proof position, and automatically searching a hook by a tong frame lifting mechanism;

[0023] A3, closing the centering splash-proof device;

[0024] A4, opening the centering splash-proof device;

[0025] A5, retracting the tong frame to a wellhead position;

[0026] A6, automatically hooking;

[0027] A7, automatically hooking and pairing;

[0028] A8, retracting the tong frame to the standby position, and waiting for a next command.

[0029] Preferably, in the control method of the telescopic automatic hydraulic tong, first, a judgment step of whether there is liquid overflow at the wellhead is set on the first touch screen or the second touch screen, if yes, it is normally carried out in sequence of steps S1-S8, if no, it is carried out from step S5; in the control method of the telescopic automatic hydraulic tong, first, whether the wellhead needs to be centered is set on the first touch screen or the second touch screen, if yes, it is normally carried out in sequence of steps A1-A8, if no, it is carried out from step S12.

[0030] Preferably, according to the specific position required by the extension and retraction of the tong frame, three target position scales are set on the telescopic stroke, which correspond to standby position, centering and splash prevention position and wellhead position respectively, the telescopic mechanism is controlled by a hydraulic electromagnetic proportional valve, and in step S2, the movement control mode of the telescopic mechanism by the main controller is as follows:

[0031] S201, a tong frame target position is given, which is standby position, centering and splash prevention position or wellhead position;

[0032] S202, a comparison is made between the real-time displacement value fed back by the displacement sensor installed on the telescopic mechanism and the target position scale value;

[0033] S203, the comparison value is adjusted by PID algorithm;

[0034] S204, after the control value after PID adjustment is calculated by the amplifier PWMI, it is output to the hydraulic electromagnetic proportional valve;

[0035] S205, the proportional valve controls the action of the telescopic mechanism until it stops after reaching the target position.

[0036] Preferably, in step S3, first, a preset value of the number of high-speed buckle release is set on the first touch screen or the second touch screen, and the control mode of the hydraulic tong for automatically releasing the pipe string is as follows:

[0037] S301, automatic buckle release is enabled;

[0038] S302, whether it is in low gear is judged by the corresponding proximity switch, if not, the low gear is controlled to switch, if yes, the next step is continued;

[0039] S303, the large tong backup tong is clamped, the large tong main tong is clamped, and the low-speed buckle release of one circle is started;

[0040] S304, when the number of hydraulic tong buckle detection value is equal to the value two, the high gear is switched, and the large tong main tong rotates at a reduced speed during the switching period;

[0041] S305, when the number of high-speed buckle release reaches the preset value, the buckle release is stopped.

[0042] Preferably, the automatic control mode of automatic make-up of the selected string torque through the main controller is as follows:

[0043] S401, automatic make-up of the selected string torque is enabled;

[0044] S402, it is judged whether the position is low range through the corresponding proximity switch, if not, the low range is controlled to be switched, if yes, the next step is continued;

[0045] S403, the back tong of the tongs is loosened, the main tong of the tongs is loosened and rotated in the reverse direction, and automatic make-up is performed;

[0046] S404, it is judged whether the detection piece is directly opposite the number of turns detection sensor, if yes, the stop number of turns detection is set to be value two, if not, it is set to be value one;

[0047] S405, according to the judgment result of S404, when the calculated actual number of turns is equal to the corresponding value, the main tong of the tongs is stopped from rotating, and the make-up of the selected string torque is completed.

[0048] Preferably, the selected string torque is set on the first touch screen or the second touch screen, and in step A6, the automatic control mode of make-up action through the main controller is as follows:

[0049] A601, automatic make-up is enabled;

[0050] A602, it is judged whether the position is high range through the corresponding proximity switch, if not, the high range is controlled to be switched, if yes, the next step is continued;

[0051] A603, the standby tong of the tongs is clamped, the main tong of the tongs is clamped, make-up is started, and if the selected string torque is less than the maximum torque of the high range, it is directly jumped to A605;

[0052] A604, according to the oil pressure conversion of the main tong A and B ports, the real-time torque of the main tong of the tongs is detected, and if the real-time torque of the main tong of the tongs is greater than the maximum torque of the high range, the low range is switched;

[0053] A605, the real-time torque of the main tong of the tongs is greater than the selected string torque, and make-up is stopped.

[0054] Preferably, in step A7, the automatic control mode of automatic make-up of the selected string torque through the main controller is as follows:

[0055] A701, automatic make-up of the selected string torque is enabled;

[0056] A702, it is judged whether the position is low range through the corresponding proximity switch, if not, the low range is controlled to be switched, if yes, the next step is continued;

[0057] A703, the back tong of the tongs is loosened, the main tong of the tongs is loosened and rotated in the reverse direction, and automatic make-up is performed;

[0058] A704, judge whether the detection piece is directly opposite the number of turns detection sensor, if yes, set the stop number of turns detection as a value two, otherwise set as a value one;

[0059] A705, according to the judgment result of A704, when the calculated actual number of turns is equal to the corresponding value, the main tong of the large tong stops rotating, and the make-up is completed.

[0060] The present application at least includes the following beneficial effects: the telescopic automatic hydraulic tong control system includes an automatic hydraulic tong body control part and a driller house integrated control part, the automatic hydraulic tong body control part 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-union valve group, a proximity switch, a pressure sensor, a displacement sensor, an encoder, the driller house integrated control part includes an integrated control system, a second touch screen, and operating components, the main controller is in communication connection with the driller house integrated control system, multiple modes of operation of the telescopic automatic hydraulic tong are realized, the number of wellhead operation hydraulic tong personnel can be reduced, the safety of personnel operation and equipment operation is beneficial to guarantee, position data is obtained in cooperation with the sensor, unmanned drilling platform surface of workover operation with high cost performance, efficient make-up and break-out operation are realized; different modes of operation control are performed on the tripping and running processes by using the telescopic automatic hydraulic tong control system, the action of the hydraulic tong is accurately controlled and monitored through several target positions set by pointing, the accuracy of tripping and running operation can be ensured, the system operation efficiency can be improved, and the cost can be reduced by more than 1 / 3.

[0061] Other advantages, objects, and features of the present application will be apparent from the following specification, and will be understood by those skilled in the art. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 A structure diagram of the telescopic automatic hydraulic tong provided by the present application is shown in the figure.

[0063] Figure 2 A schematic diagram of the telescopic automatic hydraulic tong control system provided by the present application is shown in the figure.

[0064] Figure 3 A work flow chart of the telescopic automatic hydraulic tong control system provided by the present application controlling automatic make-up in the running process is shown in the figure.

[0065] Figure 4 A work flow chart of the telescopic automatic hydraulic tong control system provided by the present application controlling automatic break-out in the tripping process is shown in the figure.

[0066] Figure 5 A flowchart of the telescopic automatic hydraulic tong control system provided by the present application controlling the tong frame telescopic mechanism is shown in the figure.

[0067] Figure 6 The flow chart of the control system of the telescopic automatic hydraulic tong provided by the present application controls the rotating mechanism of the tong frame;

[0068] Figure 7 The flow chart of the control system of the telescopic automatic hydraulic tong provided by the present application controls the automatic unhooking of the large tong;

[0069] Figure 8 The flow chart of the control system of the telescopic automatic hydraulic tong provided by the present application controls the automatic hooking of the large tong;

[0070] Figure 9 The flow chart of the control system of the telescopic automatic hydraulic tong provided by the present application controls the automatic hooking / unhooking of the large tong;

[0071] Description of the drawings:

[0072] 1, hydraulic tong electric control box; 2, valve box; 3, telescopic mechanism; 4, rotating mechanism; 5, lifting mechanism; 6, large tong back tong; 7, suspension mechanism; 8, gear shifting mechanism; 9, large tong main tong; 10, centering splash-proof device; 11, deflection mechanism, A, automatic hydraulic tong; B, driller's house, A-1, main controller; A-2, first touch screen; A-3, remote controller; A-4, amplifier; A-5, multi-union valve group; A-6, safety fence; A-7, proximity switch; A-8, first isolation fence; A-9, pressure sensor; A-10, second isolation fence; A-11, displacement sensor; A-12, encoder; A-13, automatic hooking system, B-1, driller's integrated control system; B-2, second touch screen; B-3, operating components. DETAILED DESCRIPTION

[0073] The present application will be further described in conjunction with the drawings, so that those skilled in the art can implement it according to the description and the drawings.

[0074] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified; in the description of the present application, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0075] As Figures 1-9As shown, the present application provides a telescopic automatic hydraulic tong control system, the telescopic automatic hydraulic tong A comprises a tong frame, the tong frame is sequentially connected with a telescopic mechanism 3 for driving the tong frame to move, a rotating mechanism 4, a lifting mechanism 5, a deflection mechanism 11, the tong frame is provided with a large tong back tong 6 and a large tong main tong 9 for operating the wellhead string, and a centering splash-proof device 10, the tong frame is also provided with a hydraulic electric control box 1, a valve box 2 and a gear shifting mechanism 8, the control system comprises an automatic hydraulic tong body control part and a driller's cabin B integrated control part;

[0076] The automatic hydraulic tong body control part comprises 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-union valve group A-5, a proximity switch A-7, a pressure sensor A-9, a displacement sensor A-11 and an encoder A-12, the displacement sensors are respectively installed on the telescopic mechanism and the lifting mechanism, and the encoder is installed on the shaft end of the rotating mechanism to realize the detection of the rotation angle;

[0077] The driller's cabin integrated control part comprises an integrated control system B-1, a second touch screen B-2 and an operating component B-3;

[0078] The first touch screen and the remote controller are connected with the main controller respectively, the second touch screen and the operating component are connected with the integrated control system respectively, the main controller is in communication connection with the integrated control system, the first touch screen is used for setting and operating the main controller, the second touch screen is used for setting and operating the integrated control system, the remote controller is used for remotely operating the main controller, and the operating component is used for independently operating the mechanism of the telescopic automatic hydraulic tong, the main controller is connected with the multi-union valve group through the amplifier to control the action of each valve, the main controller is connected with each proximity switch through the safety barrier to collect the high / low gear detection of the gear shifting lever, the detection of the number of hydraulic tong rings and the state detection signal of the opening / closing of the centering splash-proof device on both sides, the main controller is connected with the displacement sensor of the telescopic mechanism through the first isolation barrier to collect the total pressure of the hydraulic system, the oil pressure of the main tong and the oil pressure of the back tong, the main controller is connected with the displacement sensor of the lifting mechanism to assist the lifting mechanism to adapt to the height of the wellhead pipe clamp, and the main controller is connected with the deflection mechanism to adapt to the manual operation of the mouse hole inclined pipe string.

[0079] The high / low gear detection sensor is installed through a support and corresponds to the positions of the shift lever corresponding to the high gear and the low gear respectively; the number of turns detection sensor is installed on the rotating circumference of the main tong through a support, and the detection sheet is installed on the non-rotating part of the outer frame of the main tong; the centering device opening / closing detection 1-4 is installed on the supports at both ends of the opening and closing positions respectively. The system pressure sensor is installed on the oil inlet pipeline tee joint, and the main tong oil inlet / back oil pressure sensor is installed on the A and B ports of the main tong respectively; the back tong oil inlet / back oil pressure sensor is installed on the A and B ports of the back tong respectively.

[0080] The centering splash-proof device includes a blowout preventer, a centering tile, a cylinder, an opening and closing detection sensor, a splash-proof and centering function, which realizes the splash-proof function in the drilling condition and the pipe string centering function in the pipe string lowering condition respectively. The mechanism for driving the tong frame to move is powered by a hydraulic system, and 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 built-in magnetostrictive displacement sensor of the cylinder, which realizes the stroke detection of the cylinder extension and retraction. The telescopic automatic hydraulic tong control system further includes a suspension mechanism 7 and auxiliary sensors, cylinders, motors and the like, the main controller is connected with an automatic collar searching system, and the lifting displacement signal of the tong frame and the data of the automatic collar searching system can be combined to actively adapt to the height of the wellhead pipe collar. The automatic collar searching system A-13 can be additionally and separately set as required, and only needs to be compared with the displacement sensor data of the present embodiment, and then automatically controls the movement of the telescopic mechanism through the main controller. The specific collar searching system does not belong to the improvement content of the present embodiment, and will not be described here.

[0081] The telescopic automatic hydraulic tong control system of the present embodiment uses the telescopic automatic hydraulic tong to replace the traditional pipe tongs and hydraulic tongs in the workover operation process, which releases the operators from heavy physical labor, uses the telescopic automatic hydraulic tong to replace the iron roughneck in the workover operation focusing on high cost performance, which not only saves a lot of cost, but also sets various operation structures such as the first touch screen, the second touch screen, the remote controller, the driller house operation component and the like, and the main controller is in communication connection with the integrated control system of the driller house, realizes the operation of various modes of the telescopic automatic hydraulic tong, can reduce the number of operators of the wellhead operation hydraulic tong, is conducive to the safety of personnel operation and equipment operation, the tong frame is deflected through the setting of the tong frame deflection mechanism, which can adapt to the inclination of the single pipe string in the mouse hole, so as to realize the mouse hole unmanned single pipe string connection, the displacement sensor is used to cooperate with the automatic collar searching system, so that the tong frame automatically realizes the collar positioning during the extension process, and thus the workover operation drilling platform surface unmanned and efficient make and break operation with high cost performance are realized.

[0082] In another technical solution, as Figures 1-2As 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 control 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.

[0083] The valve stem operation is purely hydraulic without any logic protection; the remote control has two operation modes: manual and automatic, and has complete logic protection; the driller room operation has three operation modes: manual, automatic, and sequential control.

[0084] In another technical solution, Figures 1-4 As shown, the control method of the telescopic automatic hydraulic tongs in cooperation with the drilling and the control method of the telescopic automatic hydraulic tongs in cooperation with the drilling, wherein the control method of the telescopic automatic hydraulic tongs in cooperation with the drilling comprises the following steps:

[0085] S1. Initialize the telescopic automatic hydraulic clamp to ensure that the hydraulic clamp is in the best condition when operating. Put the clamp frame in the standby position, open the centering anti-splash device, and align the main clamp;

[0086] S2. The main controller controls the movement of the telescopic mechanism, the rotating mechanism, and the lifting mechanism to extend the tongs to the wellhead position. The first touch screen displays the corresponding displacement sensor data on the lifting mechanism. The lifting mechanism is activated to automatically search for the coupling. The backup tongs of the tongs clamp the coupling, and the main tongs of the tongs clamp the tubing string.

[0087] S3, control the rotation direction of the hydraulic motor and automatically shackle;

[0088] S4. Control the hydraulic pliers to reach a designated position by controlling the speed and rotation time of the hydraulic pliers, and use the detection piece to detect whether it is facing the notch, and automatically shackle the notch;

[0089] S5. The hydraulic clamp moves back to the centering and splash-proof position;

[0090] S6, the centering splash guard is closed;

[0091] S7. After the liquid has completely overflowed, the centering anti-splash device is opened;

[0092] S8, the clamp frame retracts to the standby position and waits for the next command;

[0093] The control method of the telescopic automatic hydraulic tongs in conjunction with drilling comprises the following steps:

[0094] A1. Initialize the telescopic automatic hydraulic clamp, put the clamp frame in the standby position, open the centering splash guard, and align the main clamp;

[0095] A2. Drive the clamp frame to extend to the centering anti-splash position, and the clamp frame lifting mechanism automatically finds the hoop;

[0096] A3, the centering splash guard is closed;

[0097] A4, the centering splash guard is opened;

[0098] A5, the tong frame is retracted to the wellhead position;

[0099] A6, automatic make-up;

[0100] A7, automatic make-up is failed;

[0101] A8, the tong frame is retracted to the standby position, and the next command is waited.

[0102] The telescopic automatic hydraulic tong control system is used to control the tripping and running processes in different ways, improve the operation efficiency of the hydraulic tong, first perform state initialization to ensure that the hydraulic tong is in the best working state, then control the tong frame to move to the set standby position target position, start the corresponding operation process, then control the tong frame to move to the second target position of the centering splash guard / wellhead position, perform the next corresponding operation process, continue to move to the next target position of the wellhead position / centering splash guard position, return to the standby position after completing the last operation, and the movement of the hydraulic tong is accurately controlled and monitored through the several target positions set by the fixed point, which can not only ensure the accuracy of the tripping and running operation, but also improve the system operation efficiency.

[0103] In another technical scheme, as shown in Figures 3-4 , in the telescopic automatic hydraulic tong control method cooperating with tripping, first set a judgment step of whether there is liquid overflow at the wellhead on the first touch screen or the second touch screen, if yes, normally perform steps S1-S8 in sequence, if no, start from step S5; in the telescopic automatic hydraulic tong control method cooperating with running, first set whether the wellhead needs to be centered on the first touch screen or the second touch screen, if yes, normally perform steps A1-A8 in sequence, if no, start from step S12, and the operation efficiency of the control system and the hydraulic tong is improved.

[0104] In another technical scheme, as shown in Figures 5-6 , according to the specific position required to be reached by the extension and retraction of the tong frame, three target position scales are set on the telescopic stroke, which correspond to the standby position, the centering splash guard position and the wellhead position respectively, the telescopic mechanism is controlled to move by a hydraulic electromagnetic proportional valve, and in step S2, the main controller controls the movement of the telescopic mechanism as follows:

[0105] S201, a tong frame target position is given, which is the standby position, the centering splash guard position or the wellhead position;

[0106] S202, comparing the real-time displacement value fed back by the displacement sensor mounted on the telescopic mechanism with the target position scale value;

[0107] S203, PID algorithm adjustment on the comparison value;

[0108] S204, after the PID adjusted control value is calculated by the amplifier PWMI, it is output to the hydraulic electromagnetic proportional valve;

[0109] S205, the proportional valve controls the telescopic mechanism to act until it stops after reaching the target position.

[0110] For the positions required before and after drilling, operation, and operation, the target positions of each mechanism are set, the telescopic mechanism sets three target position scales standby position, centering splash prevention position, and wellhead position, the rotating mechanism sets three target position scales waiting position, mouse hole position, and wellhead position, through PID negative feedback operation and PWMI strategy control on the telescopic cylinder and rotating cylinder, the telescopic mechanism and rotating mechanism are accurately controlled at the corresponding scale of the three target positions, the positioning is accurate and error-free, the margin of the large tong designed to adapt to the wellhead pipe string is reduced, and the automatic operation condition of the system is ensured.

[0111] In another technical solution, as shown in Figure 7 , in step S3, first, a preset value of high-speed back-off turns is set on the first touch screen or the second touch screen, and the control mode of the hydraulic tong for automatically back-off of the pipe string controlled by the main controller is as follows:

[0112] S301, automatic back-off enabled;

[0113] S302, whether it is located in the low gear is judged by the corresponding proximity switch, if not, the low gear is controlled to switch, if yes, the next step is continued;

[0114] S303, the large tong spare tong is clamped, the large tong main tong is clamped, and the low-speed back-off of one turn is started;

[0115] S304, when the hydraulic tong turn detection value is equal to the value two, the high gear is switched, and the large tong main tong is rotated at a reduced speed during the switching period;

[0116] S305, when the high-speed back-off turns reaches the preset value, the back-off is stopped.

[0117] In another technical solution, as shown in Figure 9 , the automatic control mode of the automatic make-up of the lack realized by the main controller is as follows:

[0118] S401, automatic make-up of the lack enabled;

[0119] S402, judging whether the position is low range through the corresponding proximity switch, if not, controlling switching low range, if yes, continuing the next step;

[0120] S403, the back tong of the tongs is loosened, the main tong of the tongs is loosened and rotates in the opposite direction, and automatic pairing is performed;

[0121] S404, judging whether the detection sheet is a positive number of turns through the detection sensor, if yes, setting the stop number of detection as a value two, otherwise setting as a value one;

[0122] S405, according to the judgment result of S404, when the calculated actual number of turns is equal to the corresponding value, the main tong of the tongs stops rotating, and the upper fastening pairing is completed.

[0123] In another technical solution, as shown in Figure 8 the selected string-up torque is set on the first touch screen or the second touch screen, and in step A6, the automatic control mode of the string-up action is realized through the main controller as follows:

[0124] A601, automatic string-up enabling;

[0125] A602, judging whether the position is high range through the corresponding proximity switch, if not, controlling switching high range, if yes, continuing the next step;

[0126] A603, the backup tong of the tongs is clamped, the main tong of the tongs is clamped, and the string-up is started, if the selected string-up torque is less than the maximum torque of the high range, then directly jumping to A605;

[0127] A604, detecting the real-time torque of the main tong of the tongs according to the oil pressure conversion of the A and B ports of the main tong, if the real-time torque of the main tong of the tongs is greater than the maximum torque of the high range, then switching low range;

[0128] A605, the real-time torque of the main tong of the tongs is greater than the selected string-up torque, and the string-up is stopped.

[0129] In another technical solution, as shown in Figures 1-2 in step A7, the automatic control mode of the automatic string-up pairing is realized through the main controller as follows:

[0130] A701, automatic string-up pairing enabling;

[0131] A702, judging whether the position is low range through the corresponding proximity switch, if not, controlling switching low range, if yes, continuing the next step;

[0132] A703, the back tong of the tongs is loosened, the main tong of the tongs is loosened and rotates in the opposite direction, and automatic pairing is performed;

[0133] A704、Judge whether the detection piece is directly opposite the number of turns detection sensor, if yes, set the stop number of turns detection as value two, otherwise set as value one;

[0134] A705、According to the judgment result of A704, when the calculated actual number of turns is equal to the corresponding value, the main tong of the large tong stops rotating, and the make-up is completed.

[0135] Compared with the prior art, the present application has the following beneficial effects:

[0136] (1) The telescopic automatic hydraulic tong is used to replace the iron driller to carry out well repair operation, and the cost can be reduced by more than 1 / 3;

[0137] (2) The tong frame rotates to automatically position the waiting position, the mouse hole position and the wellhead position, the tong frame telescopes to automatically position the standby position, the centering and splash-proof position and the wellhead position, and accurate positioning and automatic cruising are achieved;

[0138] (3) The entire telescopic automatic hydraulic tong control system realizes control operation in multiple modes through a valve rod, a controller and a driller house, the integrated control of the driller house can be automatically controlled or sequentially controlled, or can be embedded in a large well repair operation process to realize one-key control, realizes unmanned operation of the unbuckling operation on the drilling platform, and is far away from the dangerous operation area;

[0139] (4) The telescopic automatic hydraulic tong can be controlled to adapt to the mouse hole make-up and breakout operation;

[0140] (5) The telescopic automatic hydraulic tong can be controlled to automatically search for a hoop, and the operation efficiency is improved.

[0141] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, and can be fully applied to various fields suitable for the present application, and other modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A telescopic automatic hydraulic tong control system, characterized in that, The telescopic automatic hydraulic tong comprises a tong frame, a telescopic mechanism, a rotating mechanism, a lifting mechanism and a deflection mechanism connected in sequence for driving the tong frame to move, a large tong back tong and a large tong main tong provided on the tong frame for operating the wellhead pipe column, a centering splash-proof device provided on the tong frame, a hydraulic electric control box, a valve box and a gear shifting mechanism, and a control system comprising an automatic hydraulic tong body control part and a driller house integrated control part; The automatic hydraulic tong body control part comprises a main controller, a first touch screen, a remote controller, an amplifier, a safety barrier, a first isolation barrier, a second isolation barrier, a multiple valve group, a proximity switch, a pressure sensor, a displacement sensor, an encoder, the telescopic mechanism and the lifting mechanism each having a corresponding displacement sensor installed thereon, and the encoder being installed on the rotating mechanism; The driller house integrated control part comprises an integrated control system, a second touch screen and operating components; The first touch screen and the remote controller are connected with the main controller respectively, the second touch screen and the operating components are connected with the integrated control system respectively, the main controller is in communication connection with the integrated control system, the first touch screen is used for setting and operating the main controller, the second touch screen is used for setting and operating the integrated control system, the remote controller is used for remotely operating the main controller, the operating components are used for independently operating the mechanisms of the telescopic automatic hydraulic tong, the main controller is connected with the multiple valve group through the amplifier to control the action of each valve, the main controller is connected with each proximity switch through the first and second safety barriers to collect the high / low gear detection of the gear shifting lever, the detection of the number of hydraulic tong rings and the open / close state detection signal of the two sides of the centering splash-proof device, the main controller is connected with the pressure sensor through the first isolation barrier to collect the total pressure of the hydraulic system, the in / out oil pressure of the main tong and the back tong, the main controller is connected with the displacement sensor of the telescopic mechanism through the second isolation barrier to control the movement and positioning of the telescopic mechanism, the main controller is connected with the encoder to control the movement and positioning of the rotating mechanism, the main controller is connected with the displacement sensor of the lifting mechanism to assist the lifting mechanism to actively adapt to the height of the wellhead pipe clamp, and the main controller is connected with the deflection mechanism to adapt to the manual operation of the mouse hole inclined pipe column to perform the make-up and break-out operation.

2. The telescopic automatic hydraulic tong control system of claim 1, wherein, A hydraulic valve rod is arranged on each valve of the automatic hydraulic tong and can be manually operated through the hydraulic valve rod, the remote controller is further used for switching the manual operation or remotely operating the main controller, and the second touch screen is further used for switching the hydraulic valve rod manual operation of the integrated control system.

3. A method of controlling a telescopic automatic hydraulic tong using the control system according to claim 2, characterized in that, The control method comprises the following steps: S1, the telescopic automatic hydraulic tong is initialized, the tong frame is in standby position, the centering splash-proof device is opened, and the main tong is paired with the lack; S2, the tong frame is driven to extend to the wellhead position, and the lifting mechanism of the tong frame automatically searches for the clamp; S3, the automatic break-out is performed; S4, the automatic break-out is paired with the lack; S5, the hydraulic tong is retreated to the centering splash-proof position; S6, the centering splash-proof device is closed; S7, after the liquid overflow is completed, the centering splash-proof device is opened; S8, the tong frame is retracted to the standby position, and the next command is waited for. The control method of the telescopic automatic hydraulic tong cooperating with the drilling comprises the following steps: A1, initialization of the telescopic automatic hydraulic tong, so that the tong frame is in standby position, the centering and splash-proof device is opened, and the main tong is paired; A2, the tong frame is driven to extend to the centering and splash-proof position, and the tong frame lifting mechanism automatically searches the hook; A3, the centering and splash-proof device is closed; A4, the centering and splash-proof device is opened; A5, the tong frame is retracted to the wellhead position; A6, automatic makeup; A7, automatic makeup pairing; A8, the tong frame is retracted to the standby position, and the next step is waited.

4. The method of controlling a telescopic automatic hydraulic tong according to claim 3, characterized in that, In the control method of the telescopic automatic hydraulic tong cooperating with the tripping, first, a judgment step of whether there is liquid overflow at the wellhead is set on the first touch screen or the second touch screen, if yes, the steps S1-S8 are sequentially performed, if no, the step S8 is started; in the control method of the telescopic automatic hydraulic tong cooperating with the drilling, first, whether the wellhead needs to be centered is set on the first touch screen or the second touch screen, if yes, the steps A1-A8 are sequentially performed, if no, the step A5 is started.

5. The method of controlling a telescopic automatic hydraulic tong according to claim 3, wherein, According to the specific position required by the extension and retraction of the tong frame, three target position scales are set on the telescopic stroke, which correspond to the standby position, the centering and splash-proof position and the wellhead position respectively, the telescopic mechanism is controlled to act through the hydraulic electromagnetic proportional valve, and the moving control mode of the main controller on the telescopic mechanism is as follows: S201, a tong frame target position is given, which is the standby position, the centering and splash-proof position or the wellhead position; S202, the real-time displacement value and the target position scale value are compared through the displacement sensor installed on the telescopic mechanism; S203, the comparison value is adjusted through the PID algorithm; S204, the control value after the PID adjustment is calculated through the amplifier PWMI, and then output to the hydraulic electromagnetic proportional valve; S205, the proportional valve controls the action of the telescopic mechanism, and stops until the target position is reached.

6. The method of controlling a telescopic automatic hydraulic tong according to claim 3, wherein, In step S3, first, the preset value of the high-speed tripping number of turns is set on the first touch screen or the second touch screen, and the control mode of the hydraulic tong controlled by the main controller to automatically trip the pipe string is as follows: S301, automatic tripping is enabled; S302, whether the corresponding proximity switch is in the low gear is judged, if not, the low gear is controlled to be switched, if yes, the next step is continued; S303, the backup clamp of the large tong is clamped, the main tong of the large tong is clamped, and the low-speed tripping of one turn is started; S304, when the hydraulic tong turn detection value is equal to the value two, the high gear is switched, and the large tong main tong is rotated at a reduced speed during the switching; S305, when the high-speed tripping number of turns reaches the preset value, the tripping is stopped.

7. The method of controlling a telescopic automatic hydraulic tong according to claim 3, wherein The automatic control mode of the automatic tripping pairing realized by the main controller is as follows: S401, automatic tripping pairing is enabled; S402, whether the corresponding proximity switch is in the low gear is judged, if not, the low gear is controlled to be switched, if yes, the next step is continued; S403, the backup clamp of the large tong is loosened, the main tong of the large tong is loosened and rotates in the opposite direction, and the automatic pairing is performed; S404, whether the detection sheet is directly opposite the turn detection sensor is judged, if yes, the stop turn detection is set to the value two, if not, the stop turn detection is set to the value one; S405, according to the judgment result of S404, when the actual number of turns to be calculated is equal to the corresponding value, the main tongs of the large tongs stop rotating, and the make-up of the buckle is completed.

8. The method of controlling a telescopic automatic hydraulic tong according to claim 3, wherein, The selected column make-up torque is set on the first touch screen or the second touch screen, and the automatic control mode of the make-up operation is realized by the main controller in step A6 as follows: A601, automatic make-up enablement; A602, whether the position is in the high gear is judged by the corresponding proximity switch, if not, the high gear is controlled to be switched, if yes, the next step is continued; A603, the backup tong of the large tongs is clamped, the main tong of the large tongs is clamped, the make-up is started, and if the selected column torque is less than the maximum torque of the high gear, it is directly jumped to A605; A604, according to the oil pressure conversion of the A and B ports of the main tongs, the real-time torque of the main tong of the large tongs is detected, and if the real-time torque of the main tong of the large tongs is greater than the maximum torque of the high gear, the low gear is switched; A605, the real-time torque of the main tong of the large tongs is greater than the selected column make-up torque, and the make-up is stopped.

9. The method of controlling a telescopic automatic hydraulic tong according to claim 3, wherein, In step A7, the automatic control mode of the automatic make-up is realized by the main controller as follows: A701, automatic make-up enablement; A702, whether the position is in the low gear is judged by the corresponding proximity switch, if not, the low gear is controlled to be switched, if yes, the next step is continued; A703, the backup tong of the large tongs is loosened, the main tong of the large tongs is loosened and rotated in the opposite direction, and the automatic make-up is performed; A704, whether the detection piece is directly opposite the detection sensor is judged, if yes, the stop number of turns detection is set to be the value two, otherwise it is set to be the value one; A705, according to the judgment result of A704, when the actual number of turns is equal to the corresponding value, the main tong of the large tongs stops rotating, and the make-up is completed.

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