Electric finger board driving device based on parallel communication and control method

Abstract

The invention discloses an electric finger board driving device based on parallel communication. The electric finger board driving device comprises a servo motor module group, an RS485 communication module, an industrial control switch module and an equipment main controller. The servo motor module group belongs to the control object category and comprises actuating mechanisms including a racking platform left-side drill rod fingerboard, a racking platform left-side drill collar fingerboard, a racking platform left-side main gear lever, a racking platform right-side drill rod fingerboard, a racking platform right-side drill collar fingerboard and a racking platform right-side main gear lever, and the actuating mechanisms are driven by the servo motor module group as an actuating terminal. The invention further discloses a control method of the electric finger board driving device based on parallel communication. The problems that in the prior art, when a racking platform finger board is automatically controlled in a low-temperature environment, an air control system is faced with the risk of air path water vapor condensation and blockage, and damage is caused by motor jamming are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of the electrical automation control system of oil drilling rigs, and particularly relates to an electric finger beam driving device based on parallel communication. The invention also relates to a control method for the electric finger beam driving device based on parallel communication. Background Art

[0002] With the improvement of the automation level of oil drilling rigs and the development of pipe handling equipment, the need to realize the automation control of the second floor finger beam is particularly urgent.

[0003] At present, there are mainly the following two methods for the automation control of the second floor finger beam:

[0004] 1) The control of the second floor finger beam clamping plate and the total shift lever is realized by driving a cylinder through a pneumatic control valve. This control method is based on a complex pneumatic control valve island, and at the same time, more sensors must be added to detect the states of the clamping plate and the total shift lever; in a low-temperature environment, the pneumatic control system will face the risk of blockage due to condensation of water vapor in the air circuit.

[0005] 2) The control of the second floor finger beam clamping plate and the total shift lever is realized by a point-to-point electric drive form. This control method solves the defects of air drive, but the control and state acquisition of the motor need to be realized by adding a large number of module control channels. At the same time, this implementation method has the risk of damage caused by motor jamming.

[0006] Since the second floor finger beam and the total shift lever actuator are installed at the suspended position on the second floor, how to stably and reliably control the equipment, and at the same time facilitate diagnosis, maintenance and repair has become the key point of this design. Summary of the Invention

[0007] The purpose of the invention is to provide an electric finger beam driving device based on parallel communication, which solves the problems existing in the prior art that in a low-temperature environment, the pneumatic control system of the second floor finger beam automation control faces the risk of blockage due to condensation of water vapor in the air circuit, and there is a risk of damage caused by motor jamming.

[0008] Another purpose of the invention is to provide a control method for the electric finger beam driving device based on parallel communication.

[0009] The first technical solution adopted by the invention is that the electric finger beam driving device based on parallel communication includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a device main controller.

[0010] The characteristics of the first technical solution of the invention also lie in that

[0011] The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the monkey board, the drill collar finger beam on the left side of the monkey board, the total retaining rod on the left side of the monkey board, the drill pipe finger beam on the right side of the monkey board, the drill collar finger beam on the right side of the monkey board, and the total retaining rod on the right side of the monkey board. The driving method of the actuator uses the servo motor module group as the execution terminal.

[0012] The drill pipe finger beam motor module group, the drill collar finger beam motor module group, and the total retaining rod motor module group are all installed on the monkey board finger beam and belong to the system control terminal. The RS485 communication module is installed in the control box of the monkey board finger beam.

[0013] The drill pipe finger beam motor module group is connected to 8 groups of channels of the RS485 communication module through parallel communication. The drill collar finger beam motor module group is connected to 8 groups of channels of the RS485 communication module through serial communication. The total retaining rod motor module group is connected to the last group of channels of the RS485 communication module.

[0014] Two RS485 communication modules are configured in the left finger beam control box, and two are configured in the right finger beam control box; the industrial control switches are installed in the left and right finger beam control boxes and the control box of the monkey board pipe arrangement device respectively; the main equipment controller is installed in the control box of the monkey board pipe arrangement device.

[0015] The second technical solution adopted by the present invention is a control method for an electric finger beam driving device based on parallel communication, which is specifically as follows:

[0016] First, parameter settings are performed on the servo motor module group. Specifically: the RS485 addresses of the drill pipe finger beam motor module groups on the left and right sides are both defined as 10; the RS485 addresses of the drill collar finger beam motor module groups on the left and right sides are both defined as 20; the RS485 addresses of the total retaining rod motor module groups on the left and right sides are both defined as 30. The address definitions, structural forms, and electrical parameters of all the same type of motor module groups are exactly the same, thus achieving the standardization of spare parts.

[0017] The RS485 communication module integrates the signal modes of the motor modules and converts them into a high-speed, efficient, and distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment.

[0018] The industrial control switch forwards the motor cluster data converted by the on-site RS485 communication module, enabling the main controller to poll and access the motor module group and read and write data through the Ethernet-RS485 communication link.

[0019] The main equipment controller polls and accesses the motor module group and reads and writes data respectively according to predetermined logic and rules to achieve the purpose of collecting module data and controlling module actions.

[0020] The second technical solution of the present invention is also characterized in that:

[0021] Connect the motor module groups of the drill rod finger beams No. 1 to No. 8 on the left side to the channels 1 to 8 of the first RS485 communication module on the left side in parallel communication mode; connect the motor module groups of the drill rod finger beams No. 9 to No. 16 on the left side to the channels 1 to 8 of the second RS485 communication module on the left side in parallel communication mode;

[0022] Connect the left side 1-8 drill collar finger beam motor module group to the 1-8 channels of the first RS485 communication module on the left side in parallel communication mode; connect the left side main stopper motor module group to the 8 channel of the second RS485 communication module on the left side;

[0023] Connect the motor module groups of the drill rod finger beams No. 1 to No. 8 on the right side to the channels 1 to 8 of the first RS485 communication module on the right side in parallel communication mode; connect the motor module groups of the drill rod finger beams No. 9 to No. 16 on the right side to the channels 1 to 8 of the second RS485 communication module on the right side in parallel communication mode;

[0024] Connect the right side No. 1-8 drill collar finger beam motor module group to the No. 1-8 channels of the first RS485 communication module on the right side in parallel communication mode; connect the right side main stop rod motor module group to the No. 8 channel of the second RS485 communication module on the right side.

[0025] Connect the two RS485 communication modules in the left finger beam control box to the industrial control switch on the left through Ethernet communication cables; connect the two RS485 communication modules in the right finger beam control box to the industrial control switch on the right through Ethernet communication cables; connect the industrial control switches in the left and right finger beam control boxes to the industrial control switch of the second-floor platform pipe arrangement device control box through Ethernet cables; connect the main equipment controller in the second-floor platform pipe arrangement device control box to the industrial control switch of the second-floor platform control box.

[0026] Set the parameters of the RS485 communication module, and define the communication addresses of the first RS485 communication module on the left, the second RS485 communication module on the left, the first RS485 communication module on the right, and the second RS485 communication module on the right as 192.168.100.221-192.168.100.224 in sequence;

[0027] Set the parameters of the RS485 communication module, add the target position control word of the corresponding motor module group for the 8 channels of the module, add the current position control word of the corresponding motor module group for the 8 channels of the module, add the enable control word of the corresponding motor module group for the 8 channels of the module, add the reset control word of the corresponding motor module group for the 8 channels of the module, and add the fault feedback control word of the corresponding motor module group for the 8 channels of the module.

[0028] Set parameters for the drill pipe finger beam motor module group: Define the module group ID as 10;

[0029] Set parameters for the drill collar finger beam motor module group: Define the module group ID as 20;

[0030] Set parameters for the main shift lever motor module group: Define the module group ID as 30;

[0031] Set parameters for the motor module group: Define the baud rate of the module group as 9600;

[0032] Set parameters for the motor module group: Define the running speed as 30;

[0033] Set parameters for the motor module group: Define the acceleration as 1000;

[0034] Set parameters for the motor module group: Define the torque limit as 9600.

[0035] The beneficial effects of the present invention are as follows: The electric finger beam drive device based on parallel communication abandons the traditional air drive system, greatly weakens the influence of environmental temperature on the control system, and improves the low-temperature resistance level from -15°C to -35°C; The communication network constructed in the form of bus communication communicates through RS485 to Ethernet, which can greatly improve the response speed of the device, and increases the average reaction speed of the device from 700ms to 30ms. For the control method of the electric finger beam drive device based on parallel communication, a clear hierarchical relationship is constructed from the on-site finger beam motor → RS485 communication module → industrial control switch → main equipment controller. When a fault occurs, it can help engineers quickly locate the fault location and solve the fault problem in a timely manner. Economically, it can slightly reduce the material cost, greatly reduce the design and service costs, and the long-term economic benefits are remarkable. Brief Description of the Drawings

[0036] Figure 1 It is the parallel communication electrical single-line diagram in the electric finger beam drive device and control method based on parallel communication of the present invention;

[0037] Figure 2 It is the system electrical topology diagram of the electric finger beam drive device and control method based on parallel communication of the present invention;

[0038] Figure 3 It is the parameter setting interface of the RS485 communication module in the electric finger beam drive device and control method based on parallel communication of the present invention.

[0039] In the figure, 1. Drill pipe finger beam motor module group, 2. Drill collar finger beam motor module group, 3. RS485 communication module, 4. Main shift lever motor module group, 5. Industrial control switch, 6. Main equipment controller. Detailed implementation mode

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0041] The electric finger beam driving device based on parallel communication of the present invention has a structure as Figure 1 、 Figure 2 shown, and includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a device main controller.

[0042] The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the second floor platform, the drill collar finger beam on the left side of the second floor platform, the total retaining rod on the left side of the second floor platform, the drill pipe finger beam on the right side of the second floor platform, the drill collar finger beam on the right side of the second floor platform, and the total retaining rod on the right side of the second floor platform. The driving mode of the actuator uses the servo motor module group as the execution terminal.

[0043] The drill pipe finger beam motor module group 1, the drill collar finger beam motor module group 2, and the total retaining rod motor module group 4 are all installed on the finger beam of the second floor platform and belong to the system control terminal. The RS485 communication module 3 is installed in the control box of the finger beam on the second floor platform.

[0044] The drill pipe finger beam motor module group 1 is connected to 8 groups of channels of the RS485 communication module 3 through parallel communication. The drill collar finger beam motor module group 2 is connected to 8 groups of channels of the RS485 communication module 3 through serial communication. The total retaining rod motor module group 4 is connected to the last group of channels of the RS485 communication module 3.

[0045] Two sets of RS485 communication modules 3 are configured in the left finger beam control box and two sets are configured in the right finger beam control box; Figure 2 The industrial control switch 5 is installed in the left and right finger beam control boxes and the control box of the pipe arrangement device on the second floor platform respectively; Figure 2 The main device controller 6 is installed in the control box of the pipe arrangement device on the second floor platform.

[0046] The control method of the electric finger beam driving device based on parallel communication is as follows:

[0047] First, parameter settings are performed on the servo motor module group. Specifically: the RS485 addresses of the drill pipe finger beam motor module groups on the left and right sides are both defined as 10; the RS485 addresses of the drill collar finger beam motor module groups on the left and right sides are both defined as 20; the RS485 addresses of the total retaining rod motor module groups on the left and right sides are both defined as 30. The address definitions, structural forms, and electrical parameters of all the same type of motor module groups are completely consistent, thus achieving the standardization of spare parts;

[0048] The RS485 communication module 3 integrates the signal modes of the motor modules and converts them into a high-speed, efficient, and distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment. In this invention, a communication module with 8 * RS485 channels is selected. This module supports parallel communication of 8 RS485 devices and serial communication of 8 * 32 RS485 devices. Devices of the same type are built in a parallel communication manner. Taking a 7000-meter drilling rig as a design prototype example, 2 RS485 communication devices are installed on the left side, which can support up to 16 drill pipe finger beam motor module groups and 16 drill collar finger beam motor module groups, and at the same time, control the total shift lever motor module group on the left side. The right side is the same as the left side. The 2 RS485 communication modules on the right side can also support up to 16 drill pipe finger beam motor module groups and 16 drill collar finger beam motor module groups, and at the same time, control the total shift lever motor module group on the right side. All RS485 communication modules are configured according to 17 motor modules. Only the number of drill pipe finger beam motor modules, drill collar finger beam motor modules, and total shift lever motor modules needs to be configured in the main controller of the equipment to achieve automated control of different numbers of finger beams. All RS485 communication modules have exactly the same parameters except for the different IPs, thus achieving the standardization of RS485 communication modules.

[0049] The industrial control switch relays the motor cluster data converted by the on-site RS485 communication module, enabling the main controller to poll and access and read / write data from the motor module group through the Ethernet - RS485 communication link.

[0050] The main device controller polls and accesses and reads / writes data from the motor module group respectively according to predetermined logic and rules, for the purpose of collecting module data and controlling module actions.

[0051] The control system of the second-floor electric finger beam uses the finger beam shift lever motor module group and the total shift lever motor module group as the terminal actuators, uses the multi-channel RS485 communication module as the data acquisition and conversion medium, and uses the main controller as the core device for data processing and sending. It abandons the conventional RS485 serial communication structure and builds a data management and control method characterized by a parallel communication structure, achieving the automated control of the second-floor electric finger beam.

[0052] RS485 communication module parameter setting interface. It mainly includes the device attributes, addressing methods, control word address definitions and settings, data type definitions, data read / write method definitions, IP addresses, etc. of each port of the communication module.

[0053] Table 1 is the parameter setting interface of the motor module group. It mainly includes the settings of key parameters such as the ID, baud rate, running speed, acceleration, torque limit, etc. of the motor module group.

[0054] Connect the motor module groups 1 of the drill rod finger beams No. 1 to 8 on the left side to the channels 1 to 8 of the first RS485 communication module 3 on the left side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9 to 16 on the left side to the channels 1 to 8 of the second RS485 communication module 3 on the left side in parallel communication mode;

[0055] Reference Figure 1 Principle: connect the left side 1-8 drill collar finger beam motor module group 2 to the 1-8 channels of the first RS485 communication module 3 on the left side in parallel communication mode; connect the left side main stopper motor module group 4 to the 8 channel of the second RS485 communication module 3 on the left side;

[0056] Reference Figure 1 Principle: Connect the motor module groups 1 of the drill rod finger beams No. 1-8 on the right side to the channels 1-8 of the first RS485 communication module 3 on the right side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9-16 on the right side to the channels 1-8 of the second RS485 communication module 3 on the right side in parallel communication mode;

[0057] Reference Figure 1 Principle: the right side No. 1-8 drill collar finger beam motor module group 2 is connected to the No. 1-8 channels of the first RS485 communication module 3 on the right side in parallel communication mode; the right side main stop rod motor module group 4 is connected to the No. 8 channel of the second RS485 communication module 3 on the right side.

[0058] Reference Figure 2 , connect the two RS485 communication modules 3 in the left finger beam control box to the industrial control switch 5 on the left through the Ethernet communication cable; connect the two RS485 communication modules 3 in the right finger beam control box to the industrial control switch 5 on the right through the Ethernet communication cable; connect the industrial control switches 5 in the left and right finger beam control boxes to the industrial control switch 5 of the second-floor platform pipe arrangement device control box through Ethernet cables; connect the main equipment controller 6 in the second-floor platform pipe arrangement device control box to the industrial control switch 5 of the second-floor platform control box.

[0059] Figure 3 This is the RS485 communication module parameter setting interface, which mainly includes the device attributes, addressing mode, control word address definition and setting, data type definition, data read and write method definition, IP address, etc. of each port of the communication module.

[0060] Reference Figure 3 , set the parameters of RS485 communication module 3, and define the communication addresses of the first on the left, the second on the left, the first on the right, and the second on the right RS485 communication module 3 as 192.168.100.221-192.168.100.224 in sequence;

[0061] Refer to Figure 3 Figure 3 , set the parameters of the RS485 communication module 3. For each of the 8 channels of the module, set and add the target position control word for the corresponding motor module group, set and add the current position control word for the corresponding motor module group, set and add the enable control word for the corresponding motor module group, set and add the reset control word for the corresponding motor module group, and set and add the fault feedback control word for the corresponding motor module group.

[0062] Refer to Table 1 and set the parameters of the drill pipe finger beam motor module group 1: Define the module group ID as 10;

[0063] Set the parameters of the drill collar finger beam motor module group 2: Define the module group ID as 20;

[0064] Set the parameters of the total shift lever motor module group 4: Define the module group ID as 30;

[0065] Set the parameters of the motor module group: Define the module group baud rate as 9600;

[0066] Set the parameters of the motor module group: Define the running speed as 30;

[0067] Set the parameters of the motor module group: Define the acceleration as 1000;

[0068] Set the parameters of the motor module group: Define the torque limit as 9600.

[0069] Table 1 is the parameter setting interface of the motor module group. It mainly includes the setting of key parameters such as the ID, baud rate, running speed, acceleration, and torque limit of the motor module group.

[0070] Table 1 Parameter Setting Interface of Motor Module Group

[0071]

[0072]

[0073] Embodiment 1

[0074] The electric finger beam driving device based on parallel communication of the present invention has a structure as shown in Figure 1 、 Figure 2 and includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a device main controller.

[0075] The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the monkey board, the drill collar finger beam on the left side of the monkey board, the total stop bar on the left side of the monkey board, the drill pipe finger beam on the right side of the monkey board, the drill collar finger beam on the right side of the monkey board, and the total stop bar on the right side of the monkey board. The driving mode of the actuator uses the servo motor module group as the execution terminal.

[0076] The drill pipe finger beam motor module group 1 is connected to 8 groups of channels of the RS485 communication module 3 through parallel communication. The drill collar finger beam motor module group 2 is connected to 8 groups of channels of the RS485 communication module 3 through serial communication. The total stop bar motor module group 4 is connected to the last group of channels of the RS485 communication module 3.

[0077] Two RS485 communication modules 3 are configured in the left finger beam control box and two are configured in the right finger beam control box; Figure 2 The industrial control switch 5 is installed in the left and right finger beam control boxes and the monkey board pipe arrangement device control box respectively; Figure 2 The main equipment controller 6 is installed in the monkey board pipe arrangement device control box.

[0078] Embodiment 2

[0079] The electric finger beam driving device based on parallel communication of the present invention has a structure as Figure 1 、 Figure 2 shown, and includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a device main controller.

[0080] The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the monkey board, the drill collar finger beam on the left side of the monkey board, the total stop bar on the left side of the monkey board, the drill pipe finger beam on the right side of the monkey board, the drill collar finger beam on the right side of the monkey board, and the total stop bar on the right side of the monkey board. The driving mode of the actuator uses the servo motor module group as the execution terminal.

[0081] The drill pipe finger beam motor module group 1, the drill collar finger beam motor module group 2, and the total stop bar motor module group 4 are all installed on the monkey board finger beam and belong to the system control terminal. The RS485 communication module 3 is installed in the monkey board finger beam control box.

[0082] Two RS485 communication modules 3 are configured in the left finger beam control box and two are configured in the right finger beam control box; Figure 2 The industrial control switch 5 is installed in the left and right finger beam control boxes and the monkey board pipe arrangement device control box respectively; Figure 2 The main equipment controller 6 is installed in the monkey board pipe arrangement device control box.

[0083] Embodiment 3

[0084] The electric finger beam driving device based on parallel communication has a structure as shown in Figure 1 , Figure 2 and includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a device main controller.

[0085] The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the second floor platform, the drill collar finger beam on the left side of the second floor platform, the general retaining rod on the left side of the second floor platform, the drill pipe finger beam on the right side of the second floor platform, the drill collar finger beam on the right side of the second floor platform, and the general retaining rod on the right side of the second floor platform. The driving mode of the actuator uses the servo motor module group as the execution terminal.

[0086] The drill pipe finger beam motor module group 1, the drill collar finger beam motor module group 2, and the general retaining rod motor module group 4 are all installed on the finger beam of the second floor platform and belong to the system control terminal. The RS485 communication module 3 is installed in the control box of the finger beam on the second floor platform.

[0087] The drill pipe finger beam motor module group 1 is connected to 8 groups of channels of the RS485 communication module 3 through parallel communication. The drill collar finger beam motor module group 2 is connected to 8 groups of channels of the RS485 communication module 3 through serial communication. The general retaining rod motor module group 4 is connected to the last group of channels of the RS485 communication module 3.

[0088] Embodiment 4

[0089] The control method of the electric finger beam driving device based on parallel communication is as follows:

[0090] First, set the parameters of the servo motor module group. Specifically: the RS485 addresses of the drill pipe finger beam motor module groups on the left and right sides are both defined as 10; the RS485 addresses of the drill collar finger beam motor module groups on the left and right sides are both defined as 20; the RS485 addresses of the general retaining rod motor module groups on the left and right sides are both defined as 30. The address definitions, structural forms, and electrical parameters of all the same type of motor module groups are exactly the same, thus achieving the unification of spare parts;

[0091] The RS485 communication module 3 integrates the signal modes of the motor modules and converts them into a high-speed, efficient, and distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment; the industrial control switch transfers and forwards the motor cluster data converted by the on-site RS485 communication module, enabling the main controller to poll and access the motor module group and read and write data through the Ethernet-RS485 communication link;

[0092] Connect the motor module groups 1 of the drill rod finger beams No. 1 to No. 8 on the left side to the channels 1 to 8 of the first RS485 communication module 3 on the left side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9 to No. 16 on the left side to the channels 1 to 8 of the second RS485 communication module 3 on the left side in parallel communication mode;

[0093] Reference Figure 1 Principle: connect the left side 1-8 drill collar finger beam motor module group 2 to the 1-8 channels of the first RS485 communication module 3 on the left side in parallel communication mode; connect the left side main stopper motor module group 4 to the 8 channel of the second RS485 communication module 3 on the left side;

[0094] Reference Figure 1 Principle: Connect the motor module groups 1 of the drill rod finger beams No. 1-8 on the right side to the channels 1-8 of the first RS485 communication module 3 on the right side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9-16 on the right side to the channels 1-8 of the second RS485 communication module 3 on the right side in parallel communication mode;

[0095] Reference Figure 1 Principle: the right side No. 1-8 drill collar finger beam motor module group 2 is connected to the No. 1-8 channels of the first RS485 communication module 3 on the right side in parallel communication mode; the right side main stop rod motor module group 4 is connected to the No. 8 channel of the second RS485 communication module 3 on the right side.

[0096] Reference Figure 2 , connect the two RS485 communication modules 3 in the left finger beam control box to the industrial control switch 5 on the left through the Ethernet communication cable; connect the two RS485 communication modules 3 in the right finger beam control box to the industrial control switch 5 on the right through the Ethernet communication cable; connect the industrial control switches 5 in the left and right finger beam control boxes to the industrial control switch 5 of the second-floor platform pipe arrangement device control box through Ethernet cables; connect the main equipment controller 6 in the second-floor platform pipe arrangement device control box to the industrial control switch 5 of the second-floor platform control box.

[0097] Figure 3 This is the RS485 communication module parameter setting interface, which mainly includes the device attributes, addressing mode, control word address definition and setting, data type definition, data read and write method definition, IP address, etc. of each port of the communication module.

[0098] Reference Figure 3 , set the parameters of RS485 communication module 3, and define the communication addresses of the first on the left, the second on the left, the first on the right, and the second on the right RS485 communication module 3 as 192.168.100.221-192.168.100.224 in sequence;

[0099] Refer to Figure 3 Figure 3 , set parameters for the RS485 communication module 3. For each of the 8 channels of the module, set and add the target position control word for the corresponding motor module group, the current position control word for the corresponding motor module group, the enable control word for the corresponding motor module group, the reset control word for the corresponding motor module group, and the fault feedback control word for the corresponding motor module group respectively.

[0100] Refer to Table 1 and set parameters for the drill pipe finger beam motor module group 1: Define the module group ID as 10;

[0101] Set parameters for the drill collar finger beam motor module group 2: Define the module group ID as 20;

[0102] Set parameters for the main shifter motor module group 4: Define the module group ID as 30;

[0103] Set parameters for the motor module group: Define the module group baud rate as 9600;

[0104] Set parameters for the motor module group: Define the running speed as 30;

[0105] Set parameters for the motor module group: Define the acceleration as 1000;

[0106] Set parameters for the motor module group: Define the torque limit as 9600.

[0107] Example 5

[0108] The control method of the electric finger beam drive device based on parallel communication is as follows:

[0109] First, set parameters for the servo motor module group. Specifically: The RS485 addresses of the drill pipe finger beam motor module groups on the left and right are both defined as 10; The RS485 addresses of the drill collar finger beam motor module groups on the left and right are both defined as 20; The RS485 addresses of the main shifter motor module groups on the left and right are both defined as 30. The address definitions, structural forms, and electrical parameters of all the same type of motor module groups are exactly the same, thus achieving the unification of spare parts;

[0110] The RS485 communication module 3 integrates the signal modes of the motor modules and converts them into a high-speed, efficient, distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment;

[0111] The industrial control switch relays the motor cluster data converted by the field-level RS485 communication module, enabling the master controller to poll and access the motor module group and read and write data through the Ethernet-RS485 communication link;

[0112] The master device controller polls and accesses the motor module group and reads and writes data respectively according to predetermined logic and rules, achieving the purpose of collecting module data and controlling module actions.

[0113] Connect the left drill pipe finger beam motor module group 1 of numbers 1-8 to channels 1-8 of the first RS485 communication module 3 on the left in parallel communication mode in sequence; connect the left drill pipe finger beam motor module group 1 of numbers 9-16 to channels 1-8 of the second RS485 communication module 3 on the left in parallel communication mode in sequence;

[0114] Refer to Figure 1 the principle, connect the left drill collar finger beam motor module group 2 of numbers 1-8 to channels 1-8 of the first RS485 communication module 3 on the left in parallel communication mode in sequence; connect the left total stop bar motor module group 4 to channel 8 of the second RS485 communication module 3 on the left;

[0115] Refer to Figure 1 the principle, connect the right drill pipe finger beam motor module group 1 of numbers 1-8 to channels 1-8 of the first RS485 communication module 3 on the right in parallel communication mode in sequence; connect the right drill pipe finger beam motor module group 1 of numbers 9-16 to channels 1-8 of the second RS485 communication module 3 on the right in parallel communication mode in sequence;

[0116] Refer to Figure 1 the principle, connect the right drill collar finger beam motor module group 2 of numbers 1-8 to channels 1-8 of the first RS485 communication module 3 on the right in parallel communication mode in sequence; connect the right total stop bar motor module group 4 to channel 8 of the second RS485 communication module 3 on the right.

[0117] Figure 3 This is the parameter setting interface for the RS485 communication module. It mainly includes the device attributes, addressing methods, control word address definitions and settings, data type definitions, data read and write method definitions, IP addresses, etc. of each port of the communication module.

[0118] Refer to Figure 3 , set the parameters of the RS485 communication module 3, and define the communication addresses of the first RS485 communication module 3 on the left, the second RS485 communication module 3 on the left, the first RS485 communication module 3 on the right, and the second RS485 communication module 3 on the right as 192.168.100.221 - 192.168.100.224 in sequence;

[0119] Refer to Figure 3, parameter settings are performed on the RS485 communication module 3. For the 8 channels of the module, the target position control words corresponding to the motor module groups are added respectively, the current position control words corresponding to the motor module groups are added respectively, the enable control words corresponding to the motor module groups are added respectively, the reset control words corresponding to the motor module groups are added respectively, and the fault feedback control words corresponding to the motor module groups are added respectively for the 8 channels of the module.

[0120] Referring to Table 1, parameter settings are performed on the drill pipe finger beam motor module group 1: define the module group ID as 10;

[0121] Parameter settings are performed on the drill collar finger beam motor module group 2: define the module group ID as 20;

[0122] Parameter settings are performed on the total shift lever motor module group 4: define the module group ID as 30;

[0123] Parameter settings are performed on the motor module group: define the module group baud rate as 9600;

[0124] Parameter settings are performed on the motor module group: define the running speed as 30;

[0125] Parameter settings are performed on the motor module group: define the acceleration as 1000;

[0126] Parameter settings are performed on the motor module group: define the torque limit as 9600.

[0127] Embodiment 6

[0128] The control method of the electric finger beam drive device based on parallel communication is as follows:

[0129] First, parameter settings are performed on the servo motor module group. Specifically: the RS485 addresses of the drill pipe finger beam motor module groups on the left and right are both defined as 10; the RS485 addresses of the drill collar finger beam motor module groups on the left and right are both defined as 20; the RS485 addresses of the total shift lever motor module groups on the left and right are both defined as 30. The address definitions, structural forms, and electrical parameters of all the same type of motor module groups are exactly the same, thus achieving the unification of spare parts;

[0130] The RS485 communication module 3 integrates the signal modes of the motor modules and converts them into a high-speed, efficient, and distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment; the industrial control switch forwards the motor cluster data converted by the on-site RS485 communication module, enabling the main controller to poll and access and read and write data from the motor module group through the Ethernet-RS485 communication link;

[0131] The main device controller performs polling access and data reading and writing to the motor module group according to predetermined logic and rules, so as to achieve the purpose of collecting module data and controlling module actions.

[0132] Connect the motor module groups 1 of the drill rod finger beams No. 1 to 8 on the left side to the channels 1 to 8 of the first RS485 communication module 3 on the left side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9 to 16 on the left side to the channels 1 to 8 of the second RS485 communication module 3 on the left side in parallel communication mode;

[0133] Reference Figure 1 Principle: connect the left side 1-8 drill collar finger beam motor module group 2 to the 1-8 channels of the first RS485 communication module 3 on the left side in parallel communication mode; connect the left side main stopper motor module group 4 to the 8 channel of the second RS485 communication module 3 on the left side;

[0134] Reference Figure 1 Principle: Connect the motor module groups 1 of the drill rod finger beams No. 1-8 on the right side to the channels 1-8 of the first RS485 communication module 3 on the right side in parallel communication mode; connect the motor module groups 1 of the drill rod finger beams No. 9-16 on the right side to the channels 1-8 of the second RS485 communication module 3 on the right side in parallel communication mode;

[0135] Reference Figure 1 Principle: the right side No. 1-8 drill collar finger beam motor module group 2 is connected to the No. 1-8 channels of the first RS485 communication module 3 on the right side in parallel communication mode; the right side main stop rod motor module group 4 is connected to the No. 8 channel of the second RS485 communication module 3 on the right side.

[0136] Reference Figure 2 , connect the two RS485 communication modules 3 in the left finger beam control box to the industrial control switch 5 on the left through the Ethernet communication cable; connect the two RS485 communication modules 3 in the right finger beam control box to the industrial control switch 5 on the right through the Ethernet communication cable; connect the industrial control switches 5 in the left and right finger beam control boxes to the industrial control switch 5 of the second-floor platform pipe arrangement device control box through Ethernet cables; connect the main equipment controller 6 in the second-floor platform pipe arrangement device control box to the industrial control switch 5 of the second-floor platform control box.

[0137] Figure 3 This is the RS485 communication module parameter setting interface, which mainly includes the device attributes, addressing mode, control word address definition and setting, data type definition, data read and write method definition, IP address, etc. of each port of the communication module.

[0138] Reference Figure 3, set parameters for the RS485 communication module 3, and define the communication addresses of the first, second, third, and fourth RS485 communication modules 3 from the left as 192.168.100.221 - 192.168.100.224 in sequence;

[0139] Refer to Figure 3 , set parameters for the RS485 communication module 3, and add the target position control word of the corresponding motor module group for each of the 8 channels of the module, add the current position control word of the corresponding motor module group for each of the 8 channels of the module, add the enable control word of the corresponding motor module group for each of the 8 channels of the module, add the reset control word of the corresponding motor module group for each of the 8 channels of the module, and add the fault feedback control word of the corresponding motor module group for each of the 8 channels of the module.

Claims

1. Electric finger beam driving device based on parallel communication, characterized in that, It includes a servo motor module group, an RS485 communication module, an industrial control switch module, and a main equipment controller.

2. The electric finger beam driving device based on parallel communication according to claim 1, characterized in that, The servo motor module group belongs to the category of controlled objects and includes actuators such as the drill pipe finger beam on the left side of the second floor platform, the drill collar finger beam on the left side of the second floor platform, the total stop bar on the left side of the second floor platform, the drill pipe finger beam on the right side of the second floor platform, the drill collar finger beam on the right side of the second floor platform, and the total stop bar on the right side of the second floor platform. The driving mode of the actuator uses the servo motor module group as the execution terminal.

3. The electric finger beam driving device based on parallel communication according to claim 2, characterized in that, The drill pipe finger beam motor module group (1), the drill collar finger beam motor module group (2), and the total stop bar motor module group (4) are all installed on the finger beam of the second floor platform and belong to the system control terminal. The RS485 communication module (3) is installed in the control box of the finger beam on the second floor platform.

4. The electric finger beam driving device based on parallel communication according to claim 3, characterized in that, The drill pipe finger beam motor module group (1) is connected to 8 channels of the RS485 communication module (3) through parallel communication. The drill collar finger beam motor module group (2) is connected to 8 channels of the RS485 communication module (3) through serial communication. The total stop bar motor module group (4) is connected to the last group of channels of the RS485 communication module (3).

5. The electric finger beam driving device based on parallel communication according to claim 4, characterized in that, Two RS485 communication modules (3) are configured in the left finger beam control box, and two are configured in the right finger beam control box; the industrial control switch (5) is installed in the left and right finger beam control boxes and the control box of the pipe arrangement device on the second floor platform respectively; the main equipment controller (6) is installed in the control box of the pipe arrangement device on the second floor platform.

6. Control method of the electric finger beam driving device based on parallel communication, characterized in that, Specifically as follows: First, parameter settings are made for the servo motor module group. Specifically: the RS485 addresses of the drill pipe finger beam motor module groups on the left and right sides are both defined as 10; the RS485 addresses of the drill collar finger beam motor module groups on the left and right sides are both defined as 20; the RS485 addresses of the total stop bar motor module groups on the left and right sides are both defined as 30. The address definitions, structural forms, and electrical parameters of all motor module groups of the same type are exactly the same, thus achieving the unification of spare parts. The RS485 communication module (3) integrates the signal modes of the motor modules and converts them into a high-speed, efficient, and distributed high-speed Ethernet communication network to achieve precise and rapid control of the equipment. The industrial control switch forwards the motor cluster data converted by the on-site RS485 communication module, enabling the main controller to poll and access the motor module group and read and write data through the Ethernet-RS485 communication link. The main equipment controller polls and accesses the motor module group and reads and writes data respectively according to predetermined logics and rules to achieve the purpose of collecting module data and controlling module actions.

7. The control method of the electric finger beam driving device based on parallel communication according to claim 6, characterized in that, Connect the left drill pipe finger beam motor module groups 1-8 (1) to channels 1-8 of the first RS485 communication module (3) on the left in sequence through parallel communication; connect the left drill pipe finger beam motor module groups 9-16 (1) to channels 1-8 of the second RS485 communication module (3) on the left in sequence through parallel communication; The left side No. 1-8 drill collar finger beam motor module group (2) is sequentially connected to the No. 1-8 channels of the first RS485 communication module (3) on the left side in parallel communication mode; the left side main stop lever motor module group (4) is connected to the No. 8 channel of the second RS485 communication module (3) on the left side; The right side No. 1-8 drill rod finger beam motor module group (1) is sequentially connected to the 1-8 channels of the first RS485 communication module (3) on the right side in a parallel communication mode; the right side No. 9-16 drill rod finger beam motor module group (1) is sequentially connected to the 1-8 channels of the second RS485 communication module (3) on the right side in a parallel communication mode; The right side No. 1-8 drill collar finger beam motor module group (2) is sequentially connected to the No. 1-8 channels of the first right RS485 communication module (3) in parallel communication mode; the right side main stopper motor module group (4) is connected to the No. 8 channel of the second right RS485 communication module (3).

8. The control method of the electric finger beam driving device based on parallel communication according to claim 7, characterized in that, The two RS485 communication modules (3) in the left finger beam control box are connected to the industrial control switch (5) on the left side through Ethernet communication cables; the two RS485 communication modules (3) in the right finger beam control box are connected to the industrial control switch (5) on the right side through Ethernet communication cables; the industrial control switches (5) in the left and right finger beam control boxes are connected to the industrial control switches (5) in the second-floor platform pipe arrangement device control box through Ethernet cables; the main device controller (6) in the second-floor platform pipe arrangement device control box is connected to the industrial control switch (5) in the second-floor platform control box.

9. The control method of the electric finger beam driving device based on parallel communication according to claim 8, characterized in that, Parameters are set for the RS485 communication module (3), and the communication addresses of the first RS485 communication module on the left, the second RS485 communication module on the left, the first RS485 communication module on the right, and the second RS485 communication module on the right are defined as 192.168.100.221-192.168.100.224 in order; The RS485 communication module (3) is parameterized, and the target position control word of the corresponding motor module group is added to the 8 channels of the module respectively, the current position control word of the corresponding motor module group is added to the 8 channels of the module respectively, the enable control word of the corresponding motor module group is added to the 8 channels of the module respectively, the reset control word of the corresponding motor module group is added to the 8 channels of the module respectively, and the fault feedback control word of the corresponding motor module group is added to the 8 channels of the module respectively.

10. The control method of the electric finger beam driving device based on parallel communication according to claim 9, characterized in that, Set the parameters of the drill rod finger beam motor module group (1): define the module group ID as 10; Set parameters for the drill collar finger beam motor module group (2): define the module group ID as 20; Set the parameters of the main lever motor module group (4): define the module group ID as 30; Set the parameters of the motor module group: define the module group baud rate as 9600; Set the parameters of the motor module group: define the running speed as 30; Set the parameters of the motor module group: define the acceleration as 1000; Parameterize the motor module group: Define the torque limit to 9600.

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