Control system and control method of single-shaft pipe supporting manipulator

Abstract

The invention discloses a control system of a single-shaft supporting pipe manipulator, which is characterized in that a single-shaft supporting pipe manipulator body is mounted on a drill floor surface, and the control system comprises a control cabinet, a feedback unit, a valve group unit and an execution mechanism which are mounted on the single-shaft supporting pipe manipulator body, and further comprises an operation display unit mounted in a driller room, the operation display unit is connected with the control cabinet through a cable, the control cabinet is connected with the feedback unit and the valve group unit through cables, and the valve group unit is connected with the executing mechanism through an oil pipe and further connected with a liquid supply unit of the drilling machine body through a main oil supply pipe and a main oil return pipe. The operation display unit is further connected with a drilling machine electric control unit of the drilling machine body through a cable. The buffer manipulator solves the problem that in the prior art, a buffer manipulator body and a driller console controller are connected through a multi-core cable, and the number of equipment fault points is large. The invention further discloses a control method of the single-shaft pipe supporting manipulator.

Description

Technical Field

[0001] The invention belongs to the technical field of electrical control equipment, and relates to a control system of a single-axis pipe-supporting manipulator. The invention also relates to a control method of the single-axis pipe-supporting manipulator. Background Art

[0002] When performing a drill string throwing operation in the oil drilling industry, the elevating bail suspends the upper end of the drill string above the wellhead, and then places the lower end face of the drill string on the power catwalk. As the traveling block descends, the entire drill string is placed on the power catwalk. The elevating bail is opened, the catwalk trolley drags backward, the drill string feeding device descends to the low position, and the drill string throwing process ends. When performing a build-up operation, the traveling block descends to the low position, the elevating bail is opened, the catwalk transports the upper end of the drill string to the drill floor and feeds it into the elevating bail. The elevating bail is closed, the traveling block is lifted, the elevating bail suspends the drill string and lifts it, and the lower end of the drill string is finally placed at the upper end position of the wellhead.

[0003] Currently, there are mainly two ways to move the lower end of the drill string from the wellhead to the power catwalk during the drill string throwing process: the first is manual dragging, and the second is to use a buffer manipulator installed on the back crossbeam of the derrick to support the drill string to the power catwalk. There are also two ways to move the lower end of the drill string from the power catwalk to the wellhead during the build-up: the first is manual dragging, and the second is to use a buffer manipulator installed on the back crossbeam of the derrick to support the drill string to the wellhead position.

[0004] Whether it is drill string throwing or build-up, the manual dragging working method has high intensity and poor safety; the buffer manipulator needs to be installed on the back crossbeam of the derrick. For some old drilling rigs and platform derricks, due to structural or layout considerations, the drilling rig does not have enough space to install the buffer manipulator on the derrick. The distance between the back crossbeam of some drilling rigs and the catwalk is too far, and the buffer manipulator cannot be used to pick up and deliver the drill string; currently, the control of the buffer manipulator uses a multi-core cable to connect the buffer manipulator body and the controller of the driller's console, and there are many equipment failure points. Summary of the Invention

[0005] The purpose of the invention is to provide a control system of a single-axis pipe-supporting manipulator, which solves the problem that there are many equipment failure points in the prior art where a multi-core cable is used to connect the buffer manipulator body and the controller of the driller's console.

[0006] Another purpose of the invention is to provide a control method of the single-axis pipe-supporting manipulator.

[0007] The technical solution adopted by the present invention is a control system for a single-axis pipe supporting manipulator. The single-axis pipe supporting manipulator body is installed on the drilling platform and includes a control cabinet, a feedback unit, a valve group unit, and an actuator installed on the single-axis pipe supporting manipulator body. It also includes an operation display unit installed inside the driller's cabin. The operation display unit is connected to the control cabinet through a cable. The control cabinet is respectively connected to the feedback unit and the valve group unit through cables. The valve group unit is connected to the actuator through an oil pipe. The valve group unit is also connected to the liquid supply unit of the drilling rig body through a main supply oil pipe and a main return oil pipe. The operation display unit is also connected to the drilling rig's electric control unit through a cable.

[0008] The features of the present invention also lie in that

[0009] The control cabinet includes a signal input isolation module, a signal acquisition unit, a slave controller, an instruction output unit, and a signal output isolation module that are sequentially connected through cables inside the control cabinet. The feedback unit is connected to the signal input isolation module through a cable. The signal output isolation module is connected to the valve group unit through a cable. An auxiliary power distribution unit is also provided inside the control cabinet. The auxiliary power distribution unit is respectively connected to the signal input isolation module, the signal acquisition unit, the slave controller, the instruction output unit, and the signal output isolation module through cables. An auxiliary emergency stop button is also provided on the panel of the control cabinet. The slave controller, the signal output isolation module, and the auxiliary emergency stop button are all connected to the operation display unit through cables.

[0010] The feedback unit includes a pressure sensor installed at the total oil inlet of the valve group unit, a telescopic arm displacement sensor installed inside the telescopic arm oil cylinder of the single-axis pipe supporting manipulator body, a luffing arm displacement sensor installed inside the luffing arm oil cylinder of the single-axis pipe supporting manipulator body, and a drill tool detection sensor installed at the head of the telescopic arm of the single-axis pipe supporting manipulator body. The pressure sensor, the telescopic arm displacement sensor, the luffing arm displacement sensor, and the drill tool detection sensor are all connected to the signal input isolation module through cables.

[0011] The actuator includes the support wheel oil cylinder, the shift lever oil cylinder, the telescopic arm oil cylinder, and the luffing arm oil cylinder of the single-axis pipe supporting manipulator body. The valve group unit includes a support wheel telescopic valve, a shift lever telescopic valve, a telescopic arm telescopic valve, and a luffing arm telescopic valve. The oil inlets of the support wheel telescopic valve, the shift lever telescopic valve, the telescopic arm telescopic valve, and the luffing arm telescopic valve are connected in parallel and then connected to the main supply oil pipe. The oil return ports of the support wheel telescopic valve, the shift lever telescopic valve, the telescopic arm telescopic valve, and the luffing arm telescopic valve are connected in parallel and then connected to the main return oil pipe. The other ends of the main supply oil pipe and the main return oil pipe are connected to the liquid supply unit. The A ports and B ports of the support wheel telescopic valve, the shift lever telescopic valve, the telescopic arm telescopic valve, and the luffing arm telescopic valve are respectively connected to the two oil ports of the corresponding support wheel oil cylinder, shift lever oil cylinder, telescopic arm oil cylinder, and luffing arm oil cylinder through oil pipes.

[0012] The operation display unit includes an operation display unit housing, in which a communication unit, an HMI touch screen and a master station controller connected to the communication unit via a cable are provided. The communication unit is respectively connected to the drilling electric control unit and the slave station controller of the drilling rig body via cables. The HMI touch screen and the master station controller are also commonly connected to a power distribution unit via a cable. The operation display unit further includes an emergency stop control unit, which is respectively connected to the master station controller, the power distribution unit, an auxiliary emergency stop button and a signal output isolation module via cables. The power distribution unit is also respectively connected to the communication unit and an auxiliary power distribution unit via cables;

[0013] The HMI touch screen is embedded in the operation display unit housing, and a main emergency stop button is also installed on the operation display unit housing. The main emergency stop button is connected to the emergency stop control unit via a cable; An on-switch is also installed on the operation display unit housing, and the on-switch is connected to the power distribution unit via a cable.

[0014] A mode selection switch is also provided on the operation display unit housing. The mode selection switch is a multi-position conversion switch, including five selection positions, namely standby, normal, drill lifting linkage, drill lowering linkage, and test. The mode selection switch and the master station controller are connected via a cable;

[0015] An operation handle is also provided on the operation display unit housing. The operation handle is a "cross-shaped" handle. The operation handle is connected to the master station controller via an Ethernet bus-type handle and a network cable. The up, down, left, and right of the "cross-shaped" handle respectively control the telescoping of the telescopic arm and the telescoping of the luffing arm. The operation handle is also provided with "cancel" and "confirm" keys, which are used to confirm or cancel the telescoping operation of the telescopic arm and the telescoping operation of the luffing arm.

[0016] Operation item buttons, a feedback display window and a parameter setting window are provided on the HMI touch screen. The operation item buttons include: a go-to-wellhead button, a go-to-zero button, a support wheel retraction button, a support wheel extension button, a gear lever opening button, a gear lever closing button, and a stop action button; The go-to-wellhead button is set as: pressing the go-to-wellhead button, the single-axis pipe handling manipulator executes the command to go to the wellhead; The go-to-zero button is set as: pressing the go-to-zero button, the single-axis pipe handling manipulator executes the command to go to zero; The support wheel extension button is set as: pressing the support wheel retraction button, the support wheel extends; The support wheel retraction button is set as: pressing the support wheel retraction button, the support wheel retracts; The gear lever opening button is set as: pressing the gear lever opening button, the gear lever opens; The gear lever closing button is set as: pressing the gear lever closing button, the gear lever closes; Pressing the stop action; The stop action is set as: all actions of the single-axis pipe handling manipulator stop;

[0017] The feedback display window includes a system pressure display window, a horizontal displacement display window, a vertical height display window, an indicator light for reaching the initial position, an indicator light for reaching the wellhead, an indicator light for the drill pipe being detected, a telescopic displacement fault display window, a luffing displacement fault display window, a system emergency stop display window, an equipment anti-collision display window, and a mode status display window;

[0018] The parameter setting window includes a telescopic arm speed setting window, a luffing arm speed setting window, an anti-collision area setting window, a wellhead calibration button, and an initial position calibration button.

[0019] The second technical solution adopted by the present invention is a control method for a single-axis pipe supporting manipulator. Using the above-mentioned control system of the single-axis pipe supporting manipulator, it is specifically implemented according to the following steps:

[0020] Step 1: Power on the system and perform self-check and initialization;

[0021] Step 2: Perform initial position calibration and wellhead position calibration;

[0022] Step 3: Manually move the mode selection switch to the corresponding position, and the control system selects to control the single-axis pipe supporting manipulator to perform corresponding actions according to the mode selection switch.

[0023] Step 1 is specifically as follows:

[0024] Turn on the power switch, power on the entire control system through the power distribution unit, and then perform self-check. Check whether the emergency stop detection unit is in the emergency stop state, whether the input signal of the pressure sensor is normal, whether the input signal of the telescopic arm displacement sensor is normal, whether the input signal of the luffing arm displacement sensor is normal, and whether the input signal of the drill pipe detection sensor is normal;

[0025] The system determines the manual operation mode or the automatic operation mode according to the self-check result. Specifically:

[0026] If during the system self-check, the emergency stop detection unit is not in emergency stop, the input of the pressure sensor reaches the system preset pressure of 16 ± 2 Mpa, the input signal of the telescopic arm displacement sensor is normal, the input signal of the luffing arm displacement sensor is normal, and the input signal of the drill pipe detection sensor is normal, then the system defaults to the automatic operation mode, and at this time, execute Step 2;

[0027] Conversely, the system defaults to exiting the automatic operation mode and operates in the manual operation mode. All actions of all single-axis pipe supporting manipulators are manually operated by the operator.

[0028] Step 2 is specifically as follows:

[0029] When the communication between the operation display unit and the control cabinet is normal, the input of the telescopic boom displacement sensor is normal, the input of the luffing boom displacement sensor is normal, the input signal of the drill tool detection sensor is normal, the input signal of the pressure sensor is normal and the input of the detection pressure sensor reaches the system preset pressure of 16±2 Mpa, the initial position calibration and the wellhead position calibration are carried out. Specifically:

[0030] Initial position calibration: Manually turn the mode selection switch to "Test", then use the operation handle to operate the luffing cylinder until it is fully retracted, operate the telescopic boom cylinder until it is fully retracted, and then press the initial position calibration button and hold it for 6 s. Release it when the initial position calibration button flashes. At this time, the calibration is successful. The master station controller records and saves the current data of the telescopic boom displacement sensor and the luffing boom displacement sensor, records the initial position signals of the telescopic boom cylinder and the luffing boom cylinder, and records them as HMSet1 and HMSet2 respectively, as the target displacements of the initial positions.

[0031] Wellhead position calibration: Manually turn the mode selection switch to "Test", then use the operation handle to operate the support wheel cylinder until it is fully extended and operate the luffing cylinder to extend. When observing that the support wheel is directly above the wellhead, stop all operations, press the wellhead calibration button and hold it for 6 s. Release the button when the wellhead calibration button flashes. At this time, the calibration is successful. The master station controller records and saves the current data of the telescopic boom displacement sensor and the luffing boom displacement sensor, records the wellhead position signals of the telescopic boom cylinder and the luffing boom cylinder, and records them as WCSet1 and WCSet2 respectively, as the target displacements of the wellhead positions.

[0032] Step 3 is specifically as follows:

[0033] If the mode selection switch selects "Test", then at this time, all actions are directly operated by the operator through the relevant buttons of the control system for each action.

[0034] If the mode selection switch selects "Standby", the HMI touch screen interface cannot be operated.

[0035] If the mode selection switch selects "Normal", the specific operation process is as follows:

[0036] If in the automatic operation mode, then

[0037] Automatically go to the wellhead: Press the down wellhead button. The down wellhead button sends a rising edge signal to the master station controller via the bus. The master station controller is connected to the communication unit via a network cable, and the slave station controller is connected to the communication unit via a network cable. The master station controller compares and analyzes the real-time values of the telescopic arm displacement sensor and the luffing arm displacement sensor collected with the previously calibrated wellhead position, and transmits the output command to the slave station controller via the network bus. The slave station controller sends the signal for the solenoid valve to extend to the command output unit, and finally connects to the valve group unit through the signal output isolation module. The valve group unit opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator to move to the predetermined destination. Among them, the valve group unit opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator to move to the predetermined destination specifically as follows: The extend electromagnet of the telescopic arm expansion valve is energized, the telescopic arm cylinder extends, driving the telescopic arm to extend. When the displacement of the telescopic arm cylinder reaches WCSet1, the extend electromagnet in the telescopic arm expansion valve is de-energized, the telescopic arm cylinder stops moving, and the telescopic arm stops moving. At the same time, the extend electromagnet of the luffing arm expansion valve is energized, the luffing arm cylinder extends, driving the luffing arm to extend. When the displacement of the luffing cylinder reaches WCSet2, the extend electromagnet in the luffing arm expansion valve is de-energized, the luffing arm cylinder stops moving, and the luffing arm stops moving. At this time, the support wheel reaches the wellhead position, and the automatic going up to the wellhead action ends, and the wellhead arrival indicator light comes on.

[0038] Automatically go to the zero position: Press the down zero position button. The down zero position button sends a rising edge signal to the master station controller via the bus. The master station controller is connected to the communication unit via a network cable, and the slave station controller is connected to the communication unit via a network cable. The master station controller compares and analyzes the real-time values of the telescopic arm displacement sensor and the luffing arm displacement sensor collected with the previously calibrated initial position, and transmits the output command to the slave station controller via the network bus. The slave station controller sends the signal for the solenoid valve to extend to the command output unit, and finally connects to the valve group unit through the signal output isolation module. The valve group unit opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator to move to the predetermined destination. Among them, the valve group unit opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator to move to the predetermined destination specifically as follows: The retract electromagnet of the telescopic arm expansion valve is energized, the telescopic arm cylinder retracts, driving the telescopic arm to retract. When the displacement of the telescopic arm cylinder reaches HMSet1, the retract electromagnet in the telescopic arm expansion valve is de-energized, the telescopic arm cylinder stops moving, and the telescopic arm stops moving. At the same time, the retract electromagnet of the luffing arm expansion valve is energized, the luffing arm cylinder retracts, driving the luffing arm to retract. When the displacement of the luffing cylinder reaches HMSet2, the retract electromagnet in the luffing arm expansion valve is de-energized, the luffing arm cylinder stops moving, and the luffing arm stops moving. At this time, the support wheel reaches the initial position; the automatic going up to the zero position action ends, and the initial position arrival indicator light comes on.

[0039] In the manual operation mode, the buttons on the HMI touch screen and the operating handle are manually operated, specifically as follows:

[0040] Support wheel extension: Press the support wheel extension button on the HMI touch screen interface. The extension electromagnet in the support wheel expansion valve is energized, and the hydraulic system drives the support wheel expansion cylinder to extend through this valve, driving the support wheel to extend; release the support wheel extension button on the HMI touch screen interface, the extension electromagnet in the support wheel expansion valve loses power, the support wheel cylinder stops moving, and the support wheel stops moving;

[0041] Support wheel retraction: Press the support wheel retraction button on the HMI touch screen interface. The retraction electromagnet in the support wheel expansion valve is energized, and the hydraulic system drives the support wheel expansion cylinder to retract through this valve, driving the support wheel to retract; release the support wheel retraction button on the HMI touch screen interface, the retraction electromagnet in the support wheel expansion valve loses power, the support wheel cylinder stops moving, and the support wheel stops moving;

[0042] Gear lever opening: Press the gear lever opening button on the HMI touch screen interface. The opening electromagnet in the gear lever expansion valve is energized, and the hydraulic system drives the gear lever cylinder to extend through this valve, driving the gear lever to open; release the gear lever opening button on the HMI touch screen interface, the opening electromagnet in the gear lever expansion valve loses power, the gear lever cylinder stops moving, and the gear lever stops moving;

[0043] Gear lever closing: Press the gear lever closing button on the HMI touch screen interface. The closing electromagnet in the gear lever expansion valve is energized, and the hydraulic system drives the gear lever cylinder to close through this valve, driving the gear lever to close; release the gear lever closing button on the HMI touch screen interface, the closing electromagnet in the gear lever expansion valve loses power, the gear lever cylinder stops moving, and the gear lever stops moving;

[0044] Boom extension: Push the operating handle installed on the operation display unit forward. The extension electromagnet in the boom expansion valve is energized, and the hydraulic system drives the boom cylinder to extend through this valve, driving the boom to extend; release the operating handle, the extension electromagnet in the boom expansion valve loses power, the boom cylinder stops moving, and the boom stops moving;

[0045] Boom retraction: Push the operating handle installed on the operation display unit backward. The retraction electromagnet in the boom expansion valve is energized, and the hydraulic system drives the boom cylinder to retract through this valve, driving the boom to retract; release the operating handle, the retraction electromagnet in the boom expansion valve loses power, the boom cylinder stops moving, and the boom stops moving;

[0046] Jib extension: Push the operating handle installed on the operation display unit to the left. The extension electromagnet in the jib telescopic valve is energized, and the hydraulic system drives the jib cylinder to extend through this valve, driving the jib to extend; release the operating handle, the extension electromagnet in the jib telescopic valve loses power, the jib cylinder stops moving, and the jib stops moving;

[0047] Jib retraction: Push the operating handle installed on the operation display unit to the right. The retraction electromagnet in the jib telescopic valve is energized, and the hydraulic system drives the jib cylinder to retract through this valve, driving the jib to retract; release the operating handle, the retraction electromagnet in the jib telescopic valve loses power, the jib cylinder stops moving, and the jib stops moving;

[0048] Control the single-axis pipe support manipulator to reach the wellhead or retract according to the above through manual operation;

[0049] If the mode selection switch selects the drill pipe lifting linkage or the drill pipe lowering linkage, these two operation modes are only executed in the automatic operation mode, and the mode status display window displays the words "drill pipe lifting linkage" or "drill pipe lowering linkage". Specifically:

[0050] Drill pipe lifting linkage:

[0051] Step q1: After the drilling rig's electric control unit sends the signal that the iron roughneck has completed the make-and-break operation and has exited the wellhead area, and the communication unit of the single-axis pipe support manipulator control system receives this signal, the communication unit sends this signal to the main station controller. At this time, the main station controller believes that there are no other devices at the wellhead and it is safe to extend to the wellhead, then perform the following actions: The support wheel cylinder retracts for 2 s and then stops moving, driving the support wheel to retract; the shift lever cylinder retracts for 2 s and then stops moving, driving the shift lever to retract; the telescopic arm cylinder extends to drive the telescopic arm to extend. After the cylinder extends to the original set telescopic arm wellhead position calibration point WCSet1, it stops moving. The jib cylinder extends to drive the jib to extend. After the cylinder extends to the original set jib wellhead position calibration point WCSet2, it stops moving. At this time, the support wheel of the single-axis pipe support manipulator has reached the wellhead position, and the arrival wellhead indicator light changes from gray to green;

[0052] Step q2: After reaching the wellhead position, at this time, the drill string detection sensor detects the drill string signal and feeds the drill string signal back to the slave station controller. The slave station controller then sends the drill string signal to the drill string detected indicator light and the support wheel telescopic valve respectively. The drill string detected indicator light turns on, and controls the support wheel telescopic valve to extend and stops moving after 3 s; at the same time, it outputs a shift lever extension signal to the shift lever telescopic valve to drive the shift lever to extend and stops moving after 3 s. After the shift lever and the support wheel extension actions are completed, the drill string is wrapped to prevent the drill string from falling off;

[0053] Step q3: After the operation in Step q2 is completed, the driller operates the drawworks to raise, and at the same time sends a signal to the single-axis pipe handling manipulator. The drill string is lifted from the tool joint of the drill string fixed at the wellhead to a set distance, and the drawworks height signal is sent to the single-axis pipe handling manipulator. The single-axis pipe handling manipulator automatically executes the command to return to the initial position and performs the following actions: the telescopic arm cylinder retracts to drive the telescopic arm to retract, and stops when the extended length of the cylinder reaches the original set telescopic arm initial position calibration point HMSet1; the luffing arm cylinder retracts to drive the luffing arm to retract, and stops when the retracted length of the cylinder reaches the original set luffing arm initial position calibration point HMSet2. At this time, the single-axis pipe handling manipulator reaches the initial position, the arrival wellhead indicator light changes from green to gray, and the arrival initial position indicator light changes from gray to green; the shift lever cylinder retracts for 2 s and then stops, driving the shift lever to retract.

[0054] Step q4: The driller operates the traveling block to lower. When it reaches the catwalk handover height and the bottom of the drill string reaches inside the V-groove of the catwalk, after the single-axis pipe handling manipulator collects the height signal of the traveling block, it performs the action of leaving the drill string as follows: the luffing arm cylinder extends to drive the luffing arm to extend, and stops when the extended length of the cylinder reaches half of the original set luffing arm wellhead position calibration point WCSet2 / 2. At this time, the support wheel cylinder drives the support wheel to retract for 2 s and then stops. The luffing arm cylinder retracts to drive the luffing arm to retract, and stops when the retracted length of the cylinder reaches the original set luffing arm initial position calibration point HMSet2. At this time, the single-axis pipe handling manipulator reaches the initial position.

[0055] Step q5: After the traveling block completely places the drill string on the catwalk, the catwalk descends, the traveling block returns to the wellhead position again, the elevator latch closes to grasp the next stand, lifts it to the preset height, the iron roughneck extends the pipe tongs. After the pipe tonging is completed and it withdraws from the wellhead area, Step q1 is executed in a loop.

[0056] Connection during running in:

[0057] Step x1: After the driller operates the elevator clamp to engage the drill pipe on the catwalk, the traveling block rises. The traveling block transmits its height signal to the master station controller through the communication unit via the network bus. When it rises to a certain handover distance, the master station controller sends the action signal of the equipment to the slave station controller according to this height signal. The slave station controller sends the signal for the solenoid valve to extend to the command output unit, and finally connects to the valve group unit through the signal output isolation module. The valve group unit opens the corresponding solenoid valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator to reach the predetermined purpose. Among them, driving the mechanism in the actuator to reach the predetermined purpose specifically means: the luffing arm cylinder extends to drive the luffing arm to extend. When the extension length of the cylinder reaches half of the original set calibration point WCSet2 / 2 of the luffing arm wellhead position, the action stops. At this time, the support wheel cylinder drives the support wheel to extend and stops after 2s. The traveling block continues to rise, and finally the drill pipe touches the support wheel. At this height, the shift lever cylinder drives the shift lever to extend and stops after 2s;

[0058] Step x2: Linkage to the wellhead: After the shift lever is closed, the single-axis pipe handling manipulator continues to perform the following actions: the telescopic arm cylinder extends to drive the telescopic arm to extend. When the extension length of the cylinder reaches the original set calibration point WCSet1 of the telescopic arm wellhead position, the action stops. The luffing arm cylinder extends to drive the luffing arm to extend. When the extension length of the cylinder reaches the original set calibration point WCSet2 of the luffing arm wellhead position, the action stops. At this time, the support wheel of the single-axis pipe handling manipulator has reached the wellhead position, and the arrival wellhead indicator light changes from gray to green. The support wheel cylinder retracts and stops after 2s, driving the support wheel to retract; the shift lever cylinder retracts and stops after 2s, driving the shift lever to retract;

[0059] Step x3: Return to the initial position: After the shift lever is opened, the single-axis pipe handling manipulator continues to perform the following actions: the retract electromagnet of the telescopic arm expansion valve is energized, and the telescopic arm cylinder retracts, driving the telescopic arm to retract. When the displacement of the telescopic arm cylinder reaches HMSet1, the retract electromagnet in the telescopic arm expansion valve is de-energized, and the telescopic arm cylinder stops moving, and the telescopic arm stops moving; at the same time, the retract electromagnet of the luffing arm expansion valve is energized, and the luffing arm cylinder retracts, driving the luffing arm to retract. When the displacement of the luffing cylinder reaches HMSet2, the retract electromagnet in the luffing arm expansion valve is de-energized, and the luffing arm cylinder stops moving, and the luffing arm stops moving; at this time, the support wheel reaches the initial position; the arrival wellhead indicator light changes from green to gray, and the arrival initial position indicator light changes from gray to green;

[0060] Step x4: End of the process: After the iron roughneck finishes receiving the drill pipe, the traveling block places the drill pipe completely on the wellhead, and the elevator goes back to the catwalk to grab the drill pipe again. The traveling block lifts, and step x1 is executed cyclically.

[0061] The beneficial effects of the present invention are:

[0062] The present invention realizes all functions of the single-axis pipe handling manipulator through the operation touch screen in the driller's cabin. The bus communication method solves the problem of multiple fault points in multi-core wires. The control system has manual operation and linkage operation functions to ensure various working conditions, and personnel participation is achieved through the touch screen and operation handle, with high safety. The present invention sends the signals of the actuator to the controller for logical processing, realizing the spatial safety management of the equipment.

[0063] The single-axis pipe handling manipulator relied on by the present invention is installed on the drill floor for handling drill pipes, solving the problem that some drilling rigs without a back beam cannot install a buffer manipulator to support drill pipes. The single-axis pipe handling manipulator is controlled by the operation mode of the HMI in the driller's cabin, solving the current problem of manually dragging drill pipes and reducing labor intensity. The control method of the single-axis pipe handling manipulator of the present invention solves the control problem and management problem of the single-axis pipe handling manipulator. Brief Description of the Drawings

[0064] Figure 1 is a schematic structural diagram of the control system of the single-axis pipe handling manipulator of the present invention;

[0065] Figure 2 is a schematic diagram of the specific structures of the components in the control system of the single-axis pipe handling manipulator of the present invention;

[0066] Figure 3 is a schematic external structure diagram of the operation and display unit in the control system of the single-axis pipe handling manipulator of the present invention;

[0067] Figure 4 is a panel display diagram of the HMI touch screen in the control system of the single-axis pipe handling manipulator of the present invention;

[0068] Figure 5 is a schematic structural diagram of the single-axis pipe handling manipulator in the present invention;

[0069] Figure 6 is Figure 5 the top view of.

[0070] In the figure: 1. Control cabinet, 2. Feedback unit, 3. Valve group unit, 4. Actuator, 5. Liquid supply unit, 6. Operation and display unit, 7. Drilling rig electric control unit;

[0071] 1-1. Signal input isolation module, 1-2. Auxiliary power distribution unit, 1-3. Signal output isolation module, 1-4. Signal acquisition unit, 1-5. Slave controller, 1-6. Instruction output unit, 1-7. Auxiliary emergency stop button;

[0072] 2-1. Pressure sensor, 2-2. Telescopic arm displacement sensor, 2-3. Luffing arm displacement sensor, 2-4. Drill pipe detection sensor;

[0073] 3-1. Support wheel telescopic valve, 3-2. Shift lever telescopic valve, 3-3. Telescopic arm telescopic valve, 3-4. Luffing arm telescopic valve;

[0074] 4-1. Support wheel cylinder, 4-2. Shift lever cylinder, 4-3. Telescopic arm cylinder, 4-4. Luffing arm cylinder, 4-5. Frame, 4-6. Connecting shaft, 4-7. Telescopic arm, 4-8. Support wheel, 4-9. Shift lever;

[0075] 6-1. Communication unit, 6-2. Emergency stop control unit, 6-3. Power distribution unit, 6-4. Master station controller, 6-5. HMI touch screen, 6-6. Mode selection switch, 6-7. Operating handle;

[0076] 6-2-1. Main emergency stop button; 6-3-1. Power-on switch;

[0077] 6-5-1. Zeroing button, 6-5-2. Going to wellhead button, 6-5-3. Support wheel retraction button, 6-5-4. Support wheel extension button, 6-5-5. Shift lever closing button, 6-5-6. Shift lever opening button, 6-5-7. Stop action button, 6-5-8. Telescopic arm speed setting window, 6-5-9. Luffing arm speed setting window, 6-5-10. Anti-collision area setting window, 6-5-11. System pressure display window, 6-5-12. Horizontal displacement display window, 6-5-13. Vertical height display window, 6-5-14. Reaching initial position indicator light, 6-5-15. Reaching wellhead indicator light, 6-5-16. Drill tool detected indicator light, 6-5-17. Telescopic displacement fault display window, 6-5-18. Luffing displacement fault display window, 6-5-19. System emergency stop display window, 6-5-20. Equipment anti-collision display window, 6-5-21. Mode status display window, 6-5-22. Wellhead calibration button, 6-5-23. Initial position calibration button. Detailed implementation mode

[0078] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0079] Embodiment 1

[0080] The control system of the single-axis pipe supporting manipulator of the present invention has a structure as Figure 1As shown in the figure, the uniaxial pipe handling manipulator body is installed on the drill floor, including a control cabinet 1, a feedback unit 2, a valve group unit 3, and an actuator 4 installed on the uniaxial pipe handling manipulator body. It also includes an operation display unit 6 installed inside the driller's cabin. The operation display unit 6 is connected to the control cabinet 1 through a cable. The control cabinet 1 is respectively connected to the feedback unit 2 and the valve group unit 3 through cables. The valve group unit 3 is connected to the actuator 4 through an oil pipe. The valve group unit 3 is also connected to the liquid supply unit 5 of the drilling rig body through a main supply oil pipe and a main return oil pipe. The operation display unit 6 is also connected to the drilling rig's electric control unit 7 of the drilling rig body through a cable.

[0081] As Figure 2 shown, the control cabinet 1 includes a signal input isolation module 1-1, a signal acquisition unit 1-4, a slave station controller 1-5, an instruction output unit 1-6, and a signal output isolation module 1-3 that are sequentially connected through cables inside the cabinet of the control cabinet 1. The feedback unit 2 is connected to the signal input isolation module 1-1 through a cable. The signal output isolation module 1-3 is connected to the valve group unit 3 through a cable. An auxiliary power distribution unit 1-2 is also provided inside the cabinet of the control cabinet 1. The auxiliary power distribution unit 1-2 is respectively connected to the signal input isolation module 1-1, the signal acquisition unit 1-4, the slave station controller 1-5, the instruction output unit 1-6, and the signal output isolation module 1-3 through cables. An auxiliary emergency stop button 1-7 is also provided on the panel of the control cabinet 1. The slave station controller 1-5, the signal output isolation module 1-3, and the auxiliary emergency stop button 1-7 are all connected to the operation display unit 6 through cables.

[0082] The feedback unit 2 includes a pressure sensor 2-1 installed at the total oil inlet of the valve group unit 3, a telescopic arm displacement sensor 2-2 installed inside the telescopic arm oil cylinder 4-3 of the uniaxial pipe handling manipulator body, a luffing arm displacement sensor 2-3 installed inside the luffing arm oil cylinder 4-4 of the uniaxial pipe handling manipulator body, and a drill tool detection sensor 2-4 installed at the head of the telescopic arm of the uniaxial pipe handling manipulator body. The pressure sensor 2-1, the telescopic arm displacement sensor 2-2, the luffing arm displacement sensor 2-3, and the drill tool detection sensor 2-4 are all connected to the signal input isolation module 1-1 through cables.

[0083] The actuator 4 includes the support wheel cylinder 4-1, the shift lever cylinder 4-2, the telescopic arm cylinder 4-3 and the luffing arm cylinder 4-4 of the single-axis pipe support manipulator body. The valve group unit 3 includes the support wheel telescopic valve 3-1, the shift lever telescopic valve 3-2, the telescopic arm telescopic valve 3-3, and the luffing arm telescopic valve 3-4. The inlet ports (P ports) of the support wheel telescopic valve 3-1, the shift lever telescopic valve 3-2, the telescopic arm telescopic valve 3-3, and the luffing arm telescopic valve 3-4 are connected in parallel and then connected to the connecting main supply oil pipe. The return ports (T ports) of the support wheel telescopic valve 3-1, the shift lever telescopic valve 3-2, the telescopic arm telescopic valve 3-3, and the luffing arm telescopic valve 3-4 are connected in parallel and then connected to the connecting main return oil pipe. The other ends of the main supply oil pipe and the main return oil pipe are connected to the liquid supply unit 5. The A ports and B ports of the support wheel telescopic valve 3-1, the shift lever telescopic valve 3-2, the telescopic arm telescopic valve 3-3, and the luffing arm telescopic valve 3-4 are respectively connected to the two oil ports of the corresponding support wheel cylinder 4-1, shift lever cylinder 4-2, telescopic arm cylinder 4-3, and luffing arm cylinder 4-4 through oil pipes.

[0084] The operation display unit 6 includes an operation display unit housing, in which a communication unit 6-1, an HMI touch screen 6-5 and a master station controller 6-4 connected to the communication unit 6-1 through a cable are arranged. The communication unit 6-1 is respectively connected to the drilling electric control unit 7 of the drilling rig body and the slave station controller 1-5 through cables. The HMI touch screen 6-5 and the master station controller 6-4 are also jointly connected to a power distribution unit 6-3 through a cable. The operation display unit 6 further includes an emergency stop control unit 6-2, and the emergency stop control unit 6-2 is respectively connected to the master station controller 6-4, the power distribution unit 6-3, the auxiliary emergency stop button 1-7 and the signal output isolation module 1-3 through cables. The power distribution unit 6-3 is also respectively connected to the communication unit 6-1 and the auxiliary power distribution unit 1-2 through cables. The communication unit 6-1, the slave station controller 1-5 and the master station controller 6-4 all communicate through a bus.

[0085] As Figure 3 shown, the HMI touch screen 6-5 is embedded in the operation display unit housing, and a main emergency stop button 6-2-1 is also installed on the operation display unit housing. The main emergency stop button 6-2-1 is connected to the emergency stop control unit 6-2 through a cable; a power-on switch 6-3-1 is also installed on the operation display unit housing, and the power-on switch 6-3-1 is connected to the power distribution unit 6-3 through a cable.

[0086] A mode selection switch 6-6 is also arranged on the operation display unit housing. The mode selection switch 6-6 is a multi-position conversion switch, including five selection positions, namely standby, normal, drill lifting linkage, drill lowering linkage, and test. The mode selection switch 6-6 and the master station controller 6-4 are connected through a cable.

[0087] An operating handle 6-7 is also provided on the operation display unit housing. The operating handle 6-7 is a "cross-shaped" handle. The operating handle 6-7 is an Ethernet bus type handle and is connected to the master station controller 6-4 through a network cable. The up, down, left, and right of the "cross-shaped" handle respectively control the telescoping of the telescopic arm and the telescoping of the luffing arm. The operating handle 6-7 is also provided with "cancel" and "confirm" keys, which are used to confirm or cancel the telescoping operations of the telescopic arm and the luffing arm.

[0088] As Figure 4 shown, operation item buttons, a feedback display window, and a parameter setting window are provided on the HMI touch screen 6-5. The operation item buttons include: a go-to-wellhead button 6-5-2, a go-to-zero button 6-5-1, a support wheel retraction button 6-5-3, a support wheel extension button 6-5-4, a shift lever open button 6-5-6, a shift lever close button 6-5-5, and a stop action button 6-5-7. The go-to-wellhead button 6-5-2 is set such that when the go-to-wellhead button 6-5-2 is pressed, the single-axis pipe support manipulator executes the command to go to the wellhead. The go-to-zero button 6-5-1 is set such that when the go-to-zero button 6-5-1 is pressed, the single-axis pipe support manipulator executes the command to go to zero. The support wheel extension button 6-5-4 is set such that when the support wheel retraction button 6-5-3 is pressed, the support wheel extends. The support wheel retraction button 6-5-3 is set such that when the support wheel retraction button 6-5-3 is pressed, the support wheel retracts. The shift lever open button 6-5-6 is set such that when the shift lever open button 6-5-6 is pressed, the shift lever opens. The shift lever close button 6-5-5 is set such that when the shift lever close button 6-5-5 is pressed, the shift lever closes. Press the stop action; the stop action 6-5-7 is set such that all actions of the single-axis pipe support manipulator stop.

[0089] The feedback display window includes a system pressure display window 6-5-11, a horizontal displacement display window 6-5-12, a vertical height display window 6-5-13, an arrival at initial position indicator light 6-5-14, an arrival at wellhead indicator light 6-5-15, a drill tool detected indicator light 6-5-16, a telescopic displacement fault display window 6-5-17, a luffing displacement fault display window 6-5-18, a system emergency stop display window 6-5-19, an equipment anti-collision display window 6-5-20, and a mode status display window 6-5-21.

[0090] The parameter setting window includes a telescopic arm speed setting window 6-5-8, a luffing arm speed setting window 6-5-9, an anti-collision area setting window 6-5-10, a wellhead calibration button 6-5-22, and an initial position calibration button 6-5-23.

[0091] As Figures 5-6As shown in the figure, the single-axis pipe handling manipulator adopted in the embodiment of the present invention includes a frame 4-5. The lower end of the frame 4-5 is rotatably connected to a telescopic arm 4-7 through a connecting shaft 4-6. The telescopic arm 4-7 includes a fixed end and a telescopic end. One end of the fixed end is rotatably connected to the lower end of the frame 4-5 through the connecting shaft 4-6. The telescopic end is slidably sleeved inside the other end of the fixed end. A telescopic arm oil cylinder 4-3 is fixed inside the fixed end. The extending rod of the telescopic arm oil cylinder 4-3 is fixed to the telescopic end of the telescopic arm 4-7. When the telescopic arm oil cylinder 4-3 extends and retracts, it will drive the telescopic end of the telescopic arm 4-7 to extend and retract. The cylinder body and the extending end of the luffing arm oil cylinder 4-4 are respectively hinged to the fixed end of the telescopic arm 4-7 and the upper end of the frame 4-5. The cylinder body of the support wheel oil cylinder 4-1 is fixed to the end of the telescopic end of the telescopic arm 4-7. The extending end of the support wheel oil cylinder 4-1 is connected to the tail of a support wheel 4-8. When the support wheel oil cylinder 4-1 extends and retracts, it drives the support wheel 4-8 to extend and retract. One end of the cylinder body of the retaining rod oil cylinder 4-2 is connected to the telescopic end of the telescopic arm 4-7. The extending end of the retaining rod oil cylinder 4-2 is connected to the tail of a retaining rod. When the retaining rod oil cylinder 4-2 extends and retracts, it drives the retaining rod 4-9 to extend and retract.

[0092] When using the system of the present invention, only need to install the single-axis pipe handling manipulator on the drill floor, with the telescopic arm parallel to the center line of the wellhead and facing the center line of the catwalk center position, and when the support wheel is fully extended, the center of the support wheel is on this center line, ensuring that the drill pipe can be picked up and placed back and forth between the wellhead and the catwalk.

[0093] Embodiment 2

[0094] On the basis of Embodiment 1, the signal input isolation module 1-1 is set in the present invention to safely input the electrical signals of the sensors into the system. The pressure sensor 2-1, the telescopic arm displacement sensor 2-2, and the luffing arm displacement sensor 2-3 adopt MTL5544 isolation barriers to isolate the analog quantity input. The drill pipe detection sensor 2-4 adopts PHOENIX 2924249 to isolate the switch quantity input.

[0095] The auxiliary power distribution unit 1-2 includes a power-on switch on the cabinet door, a circuit breaker, a contactor, etc. inside the cabinet. This module provides 24V DC power for all units of the control cabinet;

[0096] The signal acquisition unit 1-4 consists of two parts: the analog quantity acquisition module Siemens 6ES7331-7NF10-0AB0 acquires the sensor signals converted by the analog quantity isolation grid, and the digital quantity acquisition module 6ES7321-1BH02-0AB0 acquires the digital quantity signals converted by the intrinsically safe isolation grid; the slave station controller uses 6ES7153-4AA01-0XB0 to communicate with the master station controller, feedback the acquired signals to the master station through the bus, and send the output data calculated by the master station to the output unit of the slave station; the auxiliary emergency stop buttons 1-7 are installed on the panel of the control cabinet 1. When an emergency occurs, pressing this emergency stop button will stop the operation of the equipment.

[0097] The pressure sensor 2-1 is installed on the input main oil path of the valve group unit 3 to measure the input system pressure of the equipment; the telescopic arm displacement sensor 2-2 is installed inside the telescopic arm oil cylinder 4-3 and belongs to an in-cylinder sensor to acquire the telescopic displacement signal of this oil cylinder; the luffing arm displacement sensor 2-3 is installed inside the luffing arm oil cylinder 4-4 and belongs to an in-cylinder sensor to acquire the telescopic displacement signal of this oil cylinder; the drill tool detection sensor 2-4 is installed at the head of the telescopic arm to detect whether the drill tool has contacted the extended support wheel.

[0098] The support wheel expansion valve 3-1 is a three-position four-way solenoid valve. When the solenoid valve is in the middle position, the valve group does not pass oil. The two working positions are respectively the oil supply for the support wheel extension solenoid valve and the oil supply for the support wheel retraction solenoid valve; the shift lever expansion valve 3-2 is a three-position four-way solenoid valve. When the solenoid valve is in the middle position, the valve group does not pass oil. The two working positions are respectively the oil supply for the shift lever extension solenoid valve and the oil supply for the shift lever retraction solenoid valve; the telescopic arm expansion valve 3-3 is a three-position four-way solenoid valve. When the solenoid valve is in the middle position, the valve group does not pass oil. The two working positions are respectively the oil supply for the shift lever extension solenoid valve and the oil supply for the shift lever retraction solenoid valve; the luffing arm expansion valve 3-4 is a three-position four-way solenoid valve. When the solenoid valve is in the middle position, the valve group does not pass oil. The two working positions are respectively the oil supply for the luffing arm extension solenoid valve and the oil supply for the luffing arm retraction solenoid valve.

[0099] The communication unit 6-1 uses MOXA 208A to provide communication conditions for the bus network where the entire device is located; the emergency stop control unit 6-2 includes a main emergency stop button 6-2-1, a safety relay PSR-SCP-24UC / ESAM4 / 8X1 / 1X2 and its accessories. When an emergency stop occurs, the control coil of the safety relay is de-energized, and all contact terminals are disconnected to protect the safety of the entire system; the power distribution unit consists of a DC switching power supply that converts 120V - 240VAC to 24V, a circuit breaker, and a power supply terminal block. The external power supply is converted into 24V DC through the DC switching power supply and then paralleled to multiple circuit breakers. Each circuit breaker is connected to a power supply terminal block below. The same type of power supply unit can be connected by pressing the cable onto this terminal block. Closing the circuit breaker realizes the power supply function; the main station controller 6-4 uses a Siemens 1215C controller, which has built-in DI contacts, can receive the wire electrical signal of the switch, and can dock and share relevant information with third-party devices to achieve the purpose of integrated control of the device; the HMI touch screen 6-5 uses 6AV2123-2MB03-0AX0 and is responsible for issuing operation commands and feedback of relevant data; the mode selection 6-6 is a multi-position conversion switch;

[0100] In the pressure display window 6-5-11 of the present invention, the pressure of the oil measuring port in the total oil supply part of the device is displayed. In the horizontal displacement display window 6-5-12, the horizontal projection length of the telescopic arm of the single-axis pipe handling manipulator on the drill floor from the root of the single-axis pipe handling manipulator towards the wellhead is displayed. In the vertical height display window 6-5-13, the projection length of the telescopic arm of the single-axis pipe handling manipulator in the vertical direction is displayed. When the initial position indicator 6-5-14 turns green, it indicates that the support wheel has reached the wellhead. When the wellhead indicator 6-5-15 turns green, it indicates that the support wheel has reached the initial position of the well. When the drill tool detected indicator 6-5-16 turns green, it indicates that the support wheel has detected the drill tool. When the telescopic displacement fault display window 6-5-17 turns red, it indicates a signal fault of the telescopic arm displacement sensor. When the luffing displacement fault display window 6-5-18 turns red, it indicates a signal fault of the luffing displacement sensor. When the system emergency stop display window 6-5-19 turns red, it means that an emergency stop button in the entire system is in the off state. When the equipment anti-collision display window 6-5-20 turns red, it means that there is equipment at the wellhead currently, and the single-axis pipe handling manipulator has reached the edge of the wellhead anti-collision area, and entry into the wellhead area is prohibited; the mode status display window 6-5-21 displays the current status of the single-axis pipe handling manipulator: standby, operation, drill lifting linkage, drill lowering linkage, test;

[0101] The telescopic boom speed setting window 6-5-8 sets the telescopic boom speed range from 0 to 100%, and adjusts the telescopic speed of the telescopic boom proportionally; the luffing boom speed setting window 6-5-9 sets the luffing boom speed range from 0 to 100%, and adjusts the luffing speed of the luffing boom proportionally; the anti-collision area setting window 6-5-10 sets the range of the wellhead anti-collision area from 1m to 3m. The larger the range, the larger the anti-collision area; the wellhead calibration button 6-5-22 calibrates the displacements of the telescopic boom cylinder and the luffing boom cylinder when calibrating the wellhead position; the initial position calibration button 6-5-23 calibrates the displacements of the telescopic boom cylinder and the luffing boom cylinder of the single-axis pipe holding manipulator at the initial time.

[0102] Embodiment 3

[0103] The control method of the single-axis pipe holding manipulator of the present invention adopts the control system of the single-axis pipe holding manipulator in Embodiment 2, and is specifically implemented according to the following steps:

[0104] Step 1, power on the system, and perform self-check and initialization;

[0105] Step 2, perform initial position calibration and wellhead position calibration;

[0106] Step 3, manually move the mode selection switch 6-6 to the corresponding position, and the control system selects to control the single-axis pipe holding manipulator to perform corresponding actions according to the mode selection switch 6-6.

[0107] Step 1 is specifically as follows:

[0108] Turn on the power switch 6-3-1, power on the entire control system through the power distribution unit 6-3, and then perform self-check. The emergency stop detection unit 6-2 detects whether it is in the emergency stop state. There are two input paths for the emergency stop signal. The first is the auxiliary emergency stop button 1-7 installed on the equipment body, and the other is the main emergency stop button 6-2-1 installed on the operation display unit. The main emergency stop button 6-2-1 and the auxiliary emergency stop button 1-7 form the control loop of the emergency stop system. When any one of the above two emergency stop buttons is pressed, the system is in emergency stop. The input end of the main station controller 6-4 receives a change in the signal level from the emergency stop control unit 6-2, and the emergency stop signal enters the system. The controller clears all input and output commands; during emergency stop, the coil control end of the signal output isolation module 1-3 is connected to the contact of the emergency stop control unit 6-2 to disconnect, then the control coil of the signal output isolation module 1-3 loses power, all outputs are disconnected, the valve group unit 3 is completely powered off, the valve core returns to the middle position, the oil supply stops, and the actuator stops operating.

[0109] Detect whether the input signal of the pressure sensor 2-1 is normal. Convert the analog signal in the hazardous area into a safe analog input signal through the analog input isolation module 1-1. Compare the collected signal with the normal range of the analog value set by the system. The system can determine whether the signal is abnormal. This signal serves as a judgment signal for whether the single-axis pipe-lifting manipulator hydraulic system is normal.

[0110] Detect whether the input signal of the telescopic arm displacement sensor 2-2 is normal. Convert the analog signal in the hazardous area into a safe analog input signal through the analog input isolation module 1-1. Compare the collected signal with the normal range of the analog value set by the system. The system can determine whether the signal is abnormal.

[0111] Detect whether the input signal of the luffing arm displacement sensor 2-3 is normal. Convert the analog signal in the hazardous area into a safe analog input signal through the analog input isolation module 1-1. Compare the collected signal with the normal range of the analog value set by the system. The system can determine whether the signal is abnormal.

[0112] Detect whether the input signal of the drill tool detection sensor 2-4 is normal. Convert the analog signal in the hazardous area into a safe analog input signal through the analog input isolation module 1-1. Compare the collected signal with the normal range of the analog value set by the system. The system can determine whether the signal is abnormal.

[0113] The system determines the manual operation mode or the automatic operation mode according to the self-check result. Specifically:

[0114] If during the system self-check, the emergency stop detection unit 6-2 does not perform an emergency stop, the input of the pressure sensor 2-1 reaches the system preset pressure of 16 ± 2 Mpa, the input signal of the telescopic arm displacement sensor 2-2 is normal, the input signal of the luffing arm displacement sensor 2-3 is normal, and the input signal of the drill tool detection sensor 2-4 is normal, then the system defaults to the automatic operation mode and executes step 2 at this time.

[0115] Conversely, the system defaults to exiting the automatic operation mode and proceeds according to the manual operation mode. All actions of all single-axis pipe-lifting manipulators are manually operated by the operator.

[0116] Step 2 is specifically as follows:

[0117] When the communication between the operation display unit 6 and the control cabinet 1 is normal, the input of the telescopic arm displacement sensor 2-2 is normal, the input of the luffing arm displacement sensor 2-3 is normal, the input signal of the drill tool detection sensor 2-4 is normal, the input signal of the pressure sensor 2-1 is normal, and the input of the pressure sensor 2-1 reaches the system preset pressure of 16 ± 2 Mpa, perform the initial position calibration and the wellhead position calibration. Specifically:

[0118] Initial position calibration: Manually turn the mode selection switch 6-6 to "Test", then use the operating handle 6-7 to operate the boom cylinder 4-4 until it fully retracts, operate the telescopic boom cylinder 4-3 until it fully retracts, then press the initial position calibration button 6-5-23 and hold for 6 s. Release it when the initial position calibration button 6-5-23 blinks. At this time, the calibration is successful. The master station controller 6-4 records and saves the current data of the telescopic boom displacement sensor 2-2 and the boom cylinder displacement sensor 2-3, records the initial position signals of the telescopic boom cylinder 4-3 and the boom cylinder 4-4, and records them as HMSet1 and HMSet2 respectively, as the target displacements of the initial positions.

[0119] Wellhead position calibration: Manually turn the mode selection switch 6-6 to "Test", then use the operating handle 6-7 to operate the support wheel cylinder 4-1 until it fully extends and operate the boom cylinder 4-4 to extend. When observing that the support wheel is directly above the wellhead, stop all operations, press the wellhead calibration button 6-5-22 and hold for 6 s. Release the button when the wellhead calibration button 6-5-22 blinks. At this time, the calibration is successful. The master station controller 6-4 records and saves the current data of the telescopic boom displacement sensor 2-2 and the boom cylinder displacement sensor 2-3, records the wellhead position signals of the telescopic boom cylinder and the boom cylinder, and records them as WCSet1 and WCSet2 respectively, as the target displacements of the wellhead position.

[0120] Step 3 is specifically as follows:

[0121] If the mode selection switch 6-6 selects "Test", then at this time, all actions are directly operated by the operator through the relevant buttons of the control system for each action.

[0122] If the mode selection switch 6-6 selects "Standby", the HMI touch screen 6-5 interface cannot be operated.

[0123] If the mode selection switch 6-6 selects "Normal", the specific operation process is as follows:

[0124] If in the automatic operation mode, then

[0125] Automatically go to the wellhead: Press the down wellhead button 6-5-2. The down wellhead button 6-5-2 sends the rising edge signal to the master station controller 6-4 through the bus. The master station controller 6-4 is connected to the communication unit 6-1 through the network cable. The slave station controller 1-5 is connected to the communication unit 6-1 through the network cable. The master station controller 6-4 compares and analyzes the real-time values of the telescopic boom displacement sensor 2-2 and the luffing boom displacement sensor 2-4 collected with the previously calibrated wellhead position, and outputs commands to be transmitted to the slave station controller 1-5 through the network bus. The slave station controller 1-5 sends the signal for the solenoid valve to extend to the command output unit 1-6, and finally connects to the valve group unit 3 through the signal output isolation module 1-3. The valve group unit 3 opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator 4 to act and reach the predetermined purpose. Among them, the valve group unit 3 opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator 4 to act and reach the predetermined purpose specifically as follows: The solenoid for extension of the telescopic boom expansion valve 3-4 is energized, the telescopic boom cylinder 4-3 extends, driving the telescopic boom to extend. When the displacement of the telescopic boom cylinder reaches WCSet1, the solenoid for extension in the telescopic boom expansion valve 3-3 is de-energized, and the telescopic boom cylinder 4-3 stops acting, and the telescopic boom stops acting. At the same time, the solenoid for extension of the luffing boom expansion valve 3-3 is energized, the luffing boom cylinder extends, driving the luffing boom to extend. When the displacement of the luffing boom cylinder reaches WCSet2, the solenoid for extension in the luffing boom expansion valve 3-4 is de-energized, and the luffing boom cylinder 4-4 stops acting, and the luffing boom stops acting. At this time, the support wheel reaches the wellhead position, and the automatic up wellhead action ends, and the wellhead arrival indicator light 6-5-15 lights up;

[0126] Auto zeroing: Press the zeroing button 6-5-1. The zeroing button 6-5-1 sends a rising edge signal to the master controller 6-4 via the bus. The master controller 6-4 is connected to the communication unit 6-1 via a network cable. The slave controller 1-5 is connected to the communication unit 6-1 via a network cable. The master controller 6-4 compares and analyzes the real-time values of the telescopic boom displacement sensor 2-2 and the luffing boom displacement sensor 2-4 collected with the previously calibrated initial position, and outputs a command to be transmitted to the slave controller 1-5 via the network bus. The slave controller 1-5 sends the signal for the solenoid valve to extend to the command output unit 1-6, and finally connects to the valve group unit 3 through the signal output isolation module 1-3. The valve group unit 3 opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator 4 to move to the predetermined destination. Among them, the valve group unit 3 opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator 4 to move to the predetermined destination specifically as follows: The retraction electromagnet of the telescopic boom retraction valve 3-4 is energized, the telescopic boom cylinder 4-3 retracts, driving the telescopic boom to retract. When the displacement of the telescopic boom cylinder reaches HMSet1, the retraction electromagnet in the telescopic boom retraction valve 3-3 loses power, and the telescopic boom cylinder 4-3 stops moving, and the telescopic boom stops moving. At the same time, the retraction electromagnet of the luffing boom retraction valve 3-3 is energized, the luffing boom cylinder retracts, driving the luffing boom to retract. When the displacement of the luffing cylinder reaches HMSet2, the retraction electromagnet in the luffing boom retraction valve 3-4 loses power, and the luffing boom cylinder 4-4 stops moving, and the luffing boom stops moving. At this time, the support wheel reaches the initial position. The auto up zeroing action ends, and the reach initial position indicator light 6-5-14 lights up.

[0127] If in the manual operation mode, then manually operate the buttons on the HMI touch screen 6-5 and the operation handle 6-7 for operation, specifically as follows:

[0128] Support wheel extension: Press the support wheel extension button 6-5-4 on the HMI touch screen 6-5 interface. The extension electromagnet in the support wheel expansion valve 3-1 is energized, and the hydraulic system drives the support wheel expansion cylinder to extend through this valve, driving the support wheel to extend. Release the support wheel extension button 6-5-4 on the HMI touch screen 6-5 interface, and the extension electromagnet in the support wheel expansion valve 3-1 loses power, and the support wheel cylinder 4-1 stops moving, and the support wheel stops moving.

[0129] Support wheel retraction: Press the support wheel retraction button 6-5-3 on the HMI touch screen 6-5 interface. The retraction electromagnet in the support wheel expansion valve 3-1 is energized, and the hydraulic system drives the support wheel expansion cylinder to retract through this valve, driving the support wheel to retract. Release the support wheel retraction button 6-5-3 on the HMI touch screen 6-5 interface, and the retraction electromagnet in the support wheel expansion valve 3-1 loses power, and the support wheel cylinder 4-1 stops moving, and the support wheel stops moving.

[0130] Gear lever opening: Press the gear lever opening button 6-5-6 on the HMI touch screen interface 6-5. The opening electromagnet in the gear lever expansion valve 3-1 is energized, and the hydraulic system drives the gear lever cylinder to extend through this valve, driving the gear lever to open; release the gear lever opening button 6-5-6 on the HMI touch screen interface 6-5, the opening electromagnet in the gear lever expansion valve 3-1 loses power, the gear lever cylinder 4-2 stops operating, and the gear lever stops operating;

[0131] Gear lever closing: Press the gear lever closing button 6-5-5 on the HMI touch screen interface 6-5. The closing electromagnet in the gear lever expansion valve 3-1 is energized, and the hydraulic system drives the gear lever cylinder to close through this valve, driving the gear lever to close; release the gear lever closing button 6-5-5 on the HMI touch screen interface 6-5, the closing electromagnet in the gear lever expansion valve 3-1 loses power, the gear lever cylinder 4-2 stops operating, and the gear lever stops operating;

[0132] Boom extension: Push the operating handle 6-7 installed on the operation display unit 6 forward. The extension electromagnet in the boom expansion valve 3-3 is energized, and the hydraulic system drives the boom cylinder 4-3 to extend through this valve, driving the boom to extend; release the operating handle 6-7, the extension electromagnet in the boom expansion valve 3-3 loses power, the boom cylinder 4-3 stops operating, and the boom stops operating;

[0133] Boom retraction: Push the operating handle 6-7 installed on the operation display unit 6 backward. The retraction electromagnet in the boom expansion valve 3-3 is energized, and the hydraulic system drives the boom cylinder 4-3 to retract through this valve, driving the boom to retract; release the operating handle 6-7, the retraction electromagnet in the boom expansion valve 3-3 loses power, the boom cylinder 4-3 stops operating, and the boom stops operating;

[0134] Jib extension: Push the operating handle 6-7 installed on the operation display unit 6 to the left. The extension electromagnet in the jib expansion valve 3-4 is energized, and the hydraulic system drives the jib cylinder 4-4 to extend through this valve, driving the jib to extend; release the operating handle 6-7, the extension electromagnet in the jib expansion valve 3-4 loses power, the jib cylinder 4-4 stops operating, and the jib stops operating;

[0135] Jib retraction: Push the operating handle 6-7 installed on the operation display unit 6 to the right. The retraction electromagnet in the jib expansion valve 3-4 is energized, and the hydraulic system drives the jib cylinder 4-4 to retract through this valve, driving the jib to retract; release the operating handle 6-7, the retraction electromagnet in the jib expansion valve 3-4 loses power, the jib cylinder 4-4 stops operating, and the jib stops operating;

[0136] Control the single-axis pipe-holding manipulator to reach or retract to the wellhead manually according to the above;

[0137] For manual operation, going to the wellhead and the initial position can be achieved by pushing the handle and operating the automatic wellhead and zeroing buttons on the HMI. And during the process of automatic wellhead and zeroing, if any abnormal situation is found and the action needs to be stopped, any button on the operation interface can cancel the automatic wellhead or zeroing function.

[0138] If the mode selection switch 6-6 selects the drill pipe pulling or lowering linkage, these two operation modes are only executed in the automatic operation mode. The mode status display window 6-5-21 shows the words "drill pipe pulling linkage" or "drill pipe lowering linkage", specifically as follows:

[0139] Drill pipe pulling linkage:

[0140] Step q1: The drill rig electric control unit 7 sends the signal that the iron roughneck has completed the make-up / break-out operation and has exited the wellhead area to the communication unit 6-1 of the single-axis pipe handling manipulator control system. After receiving this signal, the communication unit 6-1 sends this signal to the master station controller 6-4. At this time, the master station controller 6-4 believes that there are no other devices at the wellhead and it is safe to extend to the wellhead, then the following actions are executed: The support wheel cylinder 4-1 retracts for 2 s and then stops, driving the support wheel to retract; the retaining rod cylinder 4-2 retracts for 2 s and then stops, driving the retaining rod to retract; the telescopic arm cylinder 4-3 extends, driving the telescopic arm to extend. After the cylinder extends to the original set telescopic arm wellhead position calibration point WCSet1, it stops; the luffing arm cylinder 4-4 extends, driving the luffing arm to extend. After the cylinder extends to the original set luffing arm wellhead position calibration point WCSet2, it stops. At this time, the support wheel of the single-axis pipe handling manipulator has reached the wellhead position, and the arrival wellhead indicator light 6-5-15 changes from gray to green.

[0141] Step q2: After reaching the wellhead position, at this time the drill pipe detection sensor 2-4 detects the drill pipe signal and feeds the drill pipe signal back to the slave station controller 1-5. The slave station controller 1-5 then sends the drill pipe signal to the drill pipe detected indicator light 6-5-16 and the support wheel expansion valve 3-1 respectively. The drill pipe detected indicator light 6-5-16 lights up, and the support wheel expansion valve 3-1 is controlled to extend and stops after 3 s; at the same time, an output signal for the retaining rod to extend is sent to the retaining rod expansion valve, driving the retaining rod to extend and stopping after 3 s. After the retaining rod and the support wheel extension actions are completed, the drill pipe is wrapped to prevent the drill pipe from falling off.

[0142] Step q3: After the operation in Step q2 is completed, the driller operates the drawworks to raise, and at the same time sends a signal to the single-axis pipe handling manipulator. The drill string is lifted from the tool joint of the drill string fixed at the wellhead to a set distance, and the drawworks height signal is sent to the single-axis pipe handling manipulator. The single-axis pipe handling manipulator automatically executes the command to return to the initial position and performs the following actions: The telescopic arm cylinder 4-3 retracts to drive the telescopic arm to retract. When the extended length of the cylinder reaches the original set telescopic arm initial position calibration point HMSet1, the action stops. The luffing arm cylinder 4-4 retracts to drive the luffing arm to retract. When the retracted length of the cylinder reaches the original set luffing arm initial position calibration point HMSet2, the action stops. At this time, the single-axis pipe handling manipulator reaches the initial position. The wellhead arrival indicator 6-5-15 changes from green to gray, and the initial position arrival indicator 6-5-14 changes from gray to green. The shift lever cylinder 4-2 retracts for 2 s and then stops, driving the shift lever to retract.

[0143] Step q4: The driller operates the traveling block to lower. When it reaches the catwalk handover height and the bottom of the drill string reaches the inside of the V-groove of the catwalk, after the single-axis pipe handling manipulator collects the height signal of the traveling block, it performs the action of leaving the drill string as follows: The luffing arm cylinder 4-4 extends to drive the luffing arm to extend. When the extended length of the cylinder reaches half of the original set luffing arm wellhead position calibration point WCSet2 / 2, the action stops. At this time, the support wheel cylinder 4-1 drives the support wheel to retract for 2 s and then stops. The luffing arm cylinder 4-4 retracts to drive the luffing arm to retract. When the retracted length of the cylinder reaches the original set luffing arm initial position calibration point HMSet2, the action stops. At this time, the single-axis pipe handling manipulator reaches the initial position.

[0144] Step q5: After the traveling block places the drill string completely on the catwalk, the catwalk descends, the traveling block returns to the wellhead position again, the elevator latch grabs and lifts the next stand to the preset height. The iron roughneck extends the pipe tongs. After the pipe tong operation is completed and it withdraws from the wellhead area, Step q1 is executed in a loop.

[0145] Lowering drill string interlock:

[0146] Step x1: After the driller operates the lifting buckle to latch the drill pipe on the catwalk, the traveling block rises. The traveling block transmits its height signal to the master station controller 6-4 through the communication unit 6-1 via the network bus. When it rises to a certain handover distance, at this time, the master station controller 6-4 sends the action signal of the equipment to the slave station controller 1-5 according to this height signal. The slave station controller 1-5 sends the signal for the solenoid valve to extend to the command output unit 1-6, and finally connects to the valve group unit 3 through the signal output isolation module 1-3. The valve group unit 3 opens the corresponding solenoid valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator 4 to reach the predetermined purpose. Among them, driving the mechanism in the actuator 4 to reach the predetermined purpose specifically means: the luffing arm cylinder 4-4 extends to drive the luffing arm to extend, and stops acting when the cylinder extension length reaches half of the original set luffing arm wellhead position calibration point WCSet2 / 2. At this time, the support wheel cylinder 4-1 drives the support wheel to extend and stops acting after 2s. The traveling block continues to rise, and finally the drill pipe touches the support wheel. At this height, the shift lever cylinder 4-2 drives the shift lever to extend and stops acting after 2s;

[0147] Step x2: Linkage to the wellhead: After the shift lever is closed, the single-axis pipe handling manipulator continues to perform the following actions: the telescopic arm cylinder 4-3 extends to drive the telescopic arm to extend, and stops acting when the cylinder extension length reaches the original set telescopic arm wellhead position calibration point WCSet1. The luffing arm cylinder 4-4 extends to drive the luffing arm to extend, and stops acting when the cylinder extension length reaches the original set luffing arm wellhead position calibration point WCSet2. At this time, the support wheel of the single-axis pipe handling manipulator has reached the wellhead position, and the wellhead arrival indicator light 6-5-15 changes from gray to green. The support wheel cylinder 4-1 retracts and stops acting after 2s, driving the support wheel to retract; the shift lever cylinder 4-2 retracts and stops acting after 2s, driving the shift lever to retract;

[0148] Step x3: Return to the initial position: After the shift lever is opened, the single-axis pipe handling manipulator continues to perform the following actions: the retraction electromagnet of the telescopic arm expansion valve 3-4 is energized, and the telescopic arm cylinder 4-3 retracts, driving the telescopic arm to retract. When the displacement of the telescopic arm cylinder reaches HMSet1, the retraction electromagnet in the telescopic arm expansion valve 3-3 is de-energized, and the telescopic arm cylinder 4-3 stops acting, and the telescopic arm stops acting; at the same time, the retraction electromagnet of the luffing arm expansion valve 3-3 is energized, and the luffing arm cylinder retracts, driving the luffing arm to retract. When the displacement of the luffing cylinder reaches HMSet2, the retraction electromagnet in the luffing arm expansion valve 3-4 is de-energized, and the luffing arm cylinder 4-4 stops acting, and the luffing arm stops acting; at this time, the support wheel reaches the initial position; the wellhead arrival indicator light 6-5-15 changes from green to gray, and the initial position arrival indicator light 6-5-14 changes from gray to green;

[0149] Step x4: Process ends: After the iron roughneck connects the drill pipe, the traveling block places the drill pipe completely at the wellhead. The elevator grabs the drill pipe on the catwalk again, the traveling block lifts, and step x1 is executed cyclically.

[0150] Embodiment 4

[0151] Based on Embodiment 3, for the initial position calibration and wellhead position calibration in Step 2 of the present invention, parameter calibration is performed when the system is powered on for the first time, and calibration only needs to be done once. If the device sensor is damaged and a new sensor is replaced with an offset in the position zero point, calibration can be performed again. If calibration has been done, this step is directly skipped. When automatically going to the wellhead, automatically going to the zero position, performing the drill lifting linkage, and performing the drill lowering linkage, it is necessary to ensure that the communication between the operation display unit 6 and the equipment body control cabinet 1 is normal, the input of the telescopic arm displacement sensor 2-2 is normal, the input of the luffing arm displacement sensor 2-3 is normal, the input signal of the luffing arm displacement sensor 2-3 is normal, the input signal of the drill pipe detection sensor 2-4 is normal, and the input of the detection pressure sensor 2-1 reaches the system preset pressure of 16 ± 2 Mpa before performing the operation.

Claims

1. The control system of a single-axis pipe supporting manipulator, characterized in that, Install the uniaxial pipe handling manipulator body on the drill floor, which includes a control cabinet (1), a feedback unit (2), a valve group unit (3), and an actuator (4) installed on the uniaxial pipe handling manipulator body. It also includes an operation display unit (6) installed inside the driller's cabin. The operation display unit (6) is connected to the control cabinet (1) through a cable. The control cabinet (1) is respectively connected to the feedback unit (2) and the valve group unit (3) through cables. The valve group unit (3) is connected to the actuator (4) through an oil pipe. The valve group unit (3) is also connected to the liquid supply unit (5) of the drilling rig body through a main supply oil pipe and a main return oil pipe. The operation display unit (6) is also connected to the drilling rig's electric control unit (7) through a cable.

2. The control system of a single-axis pipe supporting manipulator according to claim 1, characterized in that, The control cabinet (1) includes a signal input isolation module (1-1), a signal acquisition unit (1-4), a slave controller (1-5), an instruction output unit (1-6), and a signal output isolation module (1-3) that are sequentially connected through cables inside the control cabinet (1). The feedback unit (2) is connected to the signal input isolation module (1-1) through a cable. The signal output isolation module (1-3) is connected to the valve group unit (3) through a cable. An auxiliary power distribution unit (1-2) is also arranged inside the control cabinet (1). The auxiliary power distribution unit (1-2) is respectively connected to the signal input isolation module (1-1), the signal acquisition unit (1-4), the slave controller (1-5), the instruction output unit (1-6), and the signal output isolation module (1-3) through cables. An auxiliary emergency stop button (1-7) is also arranged on the panel of the control cabinet (1). The slave controller (1-5), the signal output isolation module (1-3), and the auxiliary emergency stop button (1-7) are all connected to the operation display unit (6) through cables.

3. The control system of a single-axis pipe supporting manipulator according to claim 2, characterized in that, The feedback unit (2) includes a pressure sensor (2-1) installed at the main inlet of the valve group unit (3), a telescopic arm displacement sensor (2-2) installed inside the telescopic arm cylinder (4-3) of the uniaxial pipe handling manipulator body, a luffing arm displacement sensor (2-3) installed inside the luffing arm cylinder (4-4) of the uniaxial pipe handling manipulator body, and a drill tool detection sensor (2-4) installed at the head of the telescopic arm of the uniaxial pipe handling manipulator body. The pressure sensor (2-1), the telescopic arm displacement sensor (2-2), the luffing arm displacement sensor (2-3), and the drill tool detection sensor (2-4) are all connected to the signal input isolation module (1-1) through cables.

4. The control system of a single-axis pipe supporting manipulator according to claim 2 or 3, characterized in that, The actuator (4) includes a support wheel oil cylinder (4-1), a shift lever oil cylinder (4-2), a telescopic arm oil cylinder (4-3), and a luffing arm oil cylinder (4-4) of the single-axis pipe handling manipulator body. The valve unit (3) includes a support wheel telescopic valve (3-1), a shift lever telescopic valve (3-2), a telescopic arm telescopic valve (3-3), and a luffing arm telescopic valve (3-4). The inlets of the support wheel telescopic valve (3-1), the shift lever telescopic valve (3-2), the telescopic arm telescopic valve (3-3), and the luffing arm telescopic valve (3-4) are connected in parallel and then connected to the connecting main supply oil pipe. The outlets of the support wheel telescopic valve (3-1), the shift lever telescopic valve (3-2), the telescopic arm telescopic valve (3-3), and the luffing arm telescopic valve (3-4) are connected in parallel and then connected to the connecting main return oil pipe. The other ends of the main supply oil pipe and the main return oil pipe are connected to the liquid supply unit (5). The A ports and B ports of the support wheel telescopic valve (3-1), the shift lever telescopic valve (3-2), the telescopic arm telescopic valve (3-3), and the luffing arm telescopic valve (3-4) are respectively connected to the two oil ports of the corresponding support wheel oil cylinder (4-1), shift lever oil cylinder (4-2), telescopic arm oil cylinder (4-3), and luffing arm oil cylinder (4-4) through oil pipes.

5. The control system of a single-axis pipe supporting manipulator according to claim 4, characterized in that, The operation display unit (6) includes an operation display unit housing. A communication unit (6-1), an HMI touch screen (6-5), and a master station controller (6-4) connected to the communication unit (6-1) through a cable are arranged in the operation display unit housing. The communication unit (6-1) is respectively connected to the drill electric control unit (7) and the slave station controller (1-5) of the drill rig body through cables. The HMI touch screen (6-5) and the master station controller (6-4) are also commonly connected to a power distribution unit (6-3) through a cable. The operation display unit (6) further includes an emergency stop control unit (6-2). The emergency stop control unit (6-2) is respectively connected to the master station controller (6-4), the power distribution unit (6-3), an auxiliary emergency stop button (1-7), and a signal output isolation module (1-3) through cables. The power distribution unit (6-3) is also respectively connected to the communication unit (6-1) and an auxiliary power distribution unit (1-2) through cables; The HMI touch screen (6-5) is embedded in the operation display unit housing. A main emergency stop button (6-2-1) is also installed on the operation display unit housing. The main emergency stop button (6-2-1) is connected to the emergency stop control unit (6-2) through a cable; A power-on switch (6-3-1) is also installed on the operation display unit housing. The power-on switch (6-3-1) is connected to the power distribution unit (6-3) through a cable. A mode selection switch (6-6) is also arranged on the operation display unit housing. The mode selection switch (6-6) is a multi-position conversion switch, including five selection positions, namely standby, normal, drill lifting linkage, drill lowering linkage, and test. The mode selection switch (6-6) and the master station controller (6-4) are connected through a cable; An operation handle (6-7) is also provided on the operation display unit housing. The operation handle (6-7) is a "cross-shaped" handle. The operation handle (6-7) is an Ethernet bus type handle and is connected to the master station controller (6-4) through a network cable. The up, down, left, and right directions of the "cross-shaped" handle respectively control the telescoping of the telescopic arm and the telescoping of the luffing arm. The operation handle (6-7) is also provided with "Cancel" and "Confirm" keys, which are used to confirm or cancel the telescoping operations of the telescopic arm and the luffing arm.

6. The control system of a single-axis pipe supporting manipulator according to claim 5, characterized in that, Operation item buttons, a feedback display window, and a parameter setting window are provided on the HMI touch screen (6-5). The operation item buttons include: a go-to-wellhead button (6-5-2), a go-to-zero button (6-5-1), a support wheel retraction button (6-5-3), a support wheel extension button (6-5-4), a gear lever opening button (6-5-6), a gear lever closing button (6-5-5), and a stop action button (6-5-7); The go-to-wellhead button (6-5-2) is set such that when the go-to-wellhead button (6-5-2) is pressed, the single-axis pipe handling manipulator executes the command to go to the wellhead; The go-to-zero button (6-5-1) is set such that when the go-to-zero button (6-5-1) is pressed, the single-axis pipe handling manipulator executes the command to go to zero; The support wheel extension button (6-5-4) is set such that when the support wheel retraction button (6-5-3) is pressed, the support wheel extends; The support wheel retraction button (6-5-3) is set such that when the support wheel retraction button (6-5-3) is pressed, the support wheel retracts; The gear lever opening button (6-5-6) is set such that when the gear lever opening button (6-5-6) is pressed, the gear lever opens; The gear lever closing button (6-5-5) is set such that when the gear lever closing button (6-5-5) is pressed, the gear lever closes; Press the stop action; The stop action (6-5-7) is set such that all actions of the single-axis pipe handling manipulator stop; The feedback display window includes a system pressure display window (6-5-11), a horizontal displacement display window (6-5-12), a vertical height display window (6-5-13), an arrival at initial position indicator light (6-5-14), an arrival at wellhead indicator light (6-5-15), a drill tool detected indicator light (6-5-16), a telescopic displacement fault display window (6-5-17), a luffing displacement fault display window (6-5-18), a system emergency stop display window (6-5-19), an equipment anti-collision display window (6-5-20), and a mode status display window (6-5-21); The parameter setting window includes a telescopic arm speed setting window (6-5-8), a luffing arm speed setting window (6-5-9), an anti-collision area setting window (6-5-10), a wellhead calibration button (6-5-22), and an initial position calibration button (6-5-23).

7. The control method of a single-axis pipe supporting manipulator, characterized in that, The control system of the single-axis pipe handling manipulator according to claim 6 is implemented specifically according to the following steps: Step 1, power on the system and perform self-check and initialization; Step 2: Perform initial position calibration and wellhead position calibration; Step 3: Manually move the mode selection switch (6-6) to the corresponding position, and the control system selects and controls the single-axis pipe support manipulator to perform corresponding actions according to the mode selection switch (6-6).

8. The control method of a single-axis pipe supporting manipulator according to claim 7, characterized in that, The specific content of Step 1 is as follows: Turn on the power switch (6-3-1), power on the entire control system through the power distribution unit (6-3), and then perform self-check. Check whether the emergency stop detection unit (6-2) is in the emergency stop state, whether the input signal of the pressure sensor (2-1) is normal, whether the input signal of the telescopic arm displacement sensor (2-2) is normal, whether the input signal of the luffing arm displacement sensor (2-3) is normal, and whether the input signal of the drill string detection sensor (2-4) is normal; The system determines whether to operate in the manual mode or the automatic mode according to the self-check result, specifically: If during the system self-check, the emergency stop detection unit (6-2) is not in the emergency stop state, the input of the pressure sensor (2-1) reaches the system preset pressure of 16±2 Mpa, the input signal of the telescopic arm displacement sensor (2-2) is normal, the input signal of the luffing arm displacement sensor (2-3) is normal, and the input signal of the drill string detection sensor (2-4) is normal, then the system defaults to enter the automatic operation mode, and Step 2 is executed at this time; On the contrary, the system defaults to exit the automatic operation mode and operates in the manual operation mode. All actions of all single-axis pipe support manipulators are manually operated by the operator.

9. The control method of a single-axis pipe supporting manipulator according to claim 8, characterized in that, The specific content of Step 2 is as follows: When the communication between the operation display unit (6) and the control cabinet (1) is normal, the input of the telescopic arm displacement sensor (2-2) is normal, the input of the luffing arm displacement sensor (2-3) is normal, the input signal of the drill string detection sensor (2-4) is normal, the input signal of the pressure sensor (2-1) is normal, and the input of the pressure sensor (2-1) reaches the system preset pressure of 16±2 Mpa, perform initial position calibration and wellhead position calibration, specifically: Initial position calibration: Manually move the mode selection switch (6-6) to "Test", then use the operation handle (6-7) to operate the luffing cylinder (4-4) to fully retract, operate the telescopic arm cylinder (4-3) to fully retract, and then press and hold the initial position calibration button (6-5-23) for 6 s. Release it when the initial position calibration button (6-5-23) flashes. At this time, the calibration is successful. The master station controller (6-4) records and saves the current data of the telescopic arm displacement sensor (2-2) and the luffing arm displacement sensor (2-3), and records the initial position signals of the telescopic arm cylinder (4-3) and the luffing arm cylinder (4-4) as HMSet1 and HMSet2 respectively, as the target displacements of the initial positions; Wellhead position calibration: Manually turn the mode selection switch (6-6) to "Test", then use the operation handle (6-7) to operate the support wheel cylinder (4-1) until it fully extends and the luffing cylinder (4-4) extends. When observing that the support wheel is directly above the wellhead, stop all operations, press and hold the wellhead calibration button (6-5-22) for 6 s, and release the button when the wellhead calibration button (6-5-22) flashes. At this time, the calibration is successful. The master station controller (6-4) records and saves the current data of the telescopic boom displacement sensor (2-2) and the luffing boom displacement sensor (2-3), records the wellhead position signals of the telescopic boom cylinder and the luffing boom cylinder, and records them as WCSet1 and WCSet2 respectively, as the target displacements of the wellhead position.

10. The control method of a single-axis pipe supporting manipulator according to claim 9, characterized in that, The specific steps of step 3 are as follows: If the mode selection switch (6-6) selects "Test", then at this time, all actions are directly operated by the operator through the relevant buttons of the operation control system for each action. If the mode selection switch (6-6) selects "Standby", the HMI touch screen (6-5) interface cannot be operated. If the mode selection switch (6-6) selects "Normal", the specific operation process is as follows: If in the automatic operation mode, then Automatically go to the wellhead: Press the go-to-wellhead button (6-5-2). The go-to-wellhead button (6-5-2) sends a rising edge signal to the master station controller (6-4) through the bus. The master station controller (6-4) is connected to the communication unit (6-1) through a network cable, and the slave station controller (1-5) is connected to the communication unit (6-1) through a network cable. The master station controller (6-4) compares and analyzes the real-time values of the telescopic boom displacement sensor (2-2) and the luffing boom displacement sensor (2-4) collected with the previously calibrated wellhead position, and outputs commands to be transmitted to the slave station controller (1-5) through the network bus. The slave station controller (1-5) sends the signal for the solenoid valve to extend to the command output unit (1-6), and finally connects to the valve group unit (3) through the signal output isolation module (1-3). The valve group unit (3) opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator (4) to act and reach the predetermined purpose. Among them, the valve group unit (3) opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator (4) to act and reach the predetermined purpose specifically as follows: The solenoid for extension of the telescopic boom expansion valve (3-4) is energized, the telescopic boom cylinder (4-3) extends, driving the telescopic boom to extend. When the displacement of the telescopic boom cylinder reaches WCSet1, the solenoid for extension in the telescopic boom expansion valve (3-3) is de-energized, and the telescopic boom cylinder (4-3) stops acting, and the telescopic boom stops acting. At the same time, the solenoid for extension of the luffing boom expansion valve (3-3) is energized, the luffing boom cylinder extends, driving the luffing boom to extend. When the displacement of the luffing cylinder reaches WCSet2, the solenoid for extension in the luffing boom expansion valve (3-4) is de-energized, and the luffing boom cylinder (4-4) stops acting, and the luffing boom stops acting. At this time, the support wheel reaches the wellhead position, and the automatic go-up-to-wellhead action ends, and the reach-the-wellhead indicator light (6-5-15) lights up. Auto zeroing: Press the zeroing button (6-5-1). The zeroing button (6-5-1) sends a rising edge signal to the master controller (6-4) via the bus. The master controller (6-4) is connected to the communication unit (6-1) via an Ethernet cable, and the slave controller (1-5) is connected to the communication unit (6-1) via an Ethernet cable. The master controller (6-4) compares and analyzes the real-time values of the telescopic boom displacement sensor 2-2 and the luffing boom displacement sensor 2-4 it collects with the previously calibrated initial position, and outputs commands to be transmitted to the slave controller (1-5) via the network bus. The slave controller (1-5) sends the signal for the solenoid valve to extend to the command output unit (1-6), and finally connects to the valve group unit (3) through the signal output isolation module (1-3). The valve group unit (3) opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator (4) to act and reach the predetermined purpose. Among them, the valve group unit (3) opens the corresponding valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator (4) to act and reach the predetermined purpose specifically as follows: The retracting electromagnet of the telescopic boom retraction valve (3-4) is energized, and the telescopic boom cylinder (4-3) retracts, driving the telescopic boom to retract. When the displacement of the telescopic boom cylinder reaches HMSet1, the retracting electromagnet in the telescopic boom retraction valve (3-3) is de-energized, and the telescopic boom cylinder (4-3) stops acting, and the telescopic boom stops acting. At the same time, the retracting electromagnet of the luffing boom retraction valve (3-3) is energized, and the luffing boom cylinder retracts, driving the luffing boom to retract. When the displacement of the luffing cylinder reaches HMSet2, the retracting electromagnet in the luffing boom retraction valve (3-4) is de-energized, and the luffing boom cylinder (4-4) stops acting, and the luffing boom stops acting. At this time, the support wheel reaches the initial position. The auto up zeroing action ends, and the reach initial position indicator light (6-5-14) lights up. In the manual operation mode, manual operation is performed by pressing the buttons on the HMI touch screen (6-5) and the operation handle (6-7). Specifically: Support wheel extension: Press the support wheel extension button (6-5-4) on the interface of the HMI touch screen (6-5). The extending electromagnet in the support wheel expansion valve (3-1) is energized, and the hydraulic system drives the support wheel expansion cylinder to extend through this valve, driving the support wheel to extend. Release the support wheel extension button (6-5-4) on the interface of the HMI touch screen (6-5), and the extending electromagnet in the support wheel expansion valve (3-1) is de-energized, and the support wheel cylinder (4-1) stops acting, and the support wheel stops acting. Support wheel retraction: Press the support wheel retraction button (6-5-3) on the interface of the HMI touch screen (6-5). The retracting electromagnet in the support wheel expansion valve (3-1) is energized, and the hydraulic system drives the support wheel expansion cylinder to retract through this valve, driving the support wheel to retract. Release the support wheel retraction button (6-5-3) on the interface of the HMI touch screen (6-5), and the retracting electromagnet in the support wheel expansion valve (3-1) is de-energized, and the support wheel cylinder (4-1) stops acting, and the support wheel stops acting. Shift lever open: Press the shift lever open button (6-5-6) on the HMI touch screen (6-5) interface. The open electromagnet in the shift lever expansion valve (3-1) is energized, and the hydraulic system drives the shift lever cylinder to extend through this valve, driving the shift lever to open. Release the shift lever open button (6-5-6) on the HMI touch screen (6-5) interface. The open electromagnet in the shift lever expansion valve (3-1) loses power, the shift lever cylinder (4-2) stops moving, and the shift lever stops moving. Shift lever close: Press the shift lever close button (6-5-5) on the HMI touch screen (6-5) interface. The close electromagnet in the shift lever expansion valve (3-1) is energized, and the hydraulic system drives the shift lever cylinder to close through this valve, driving the shift lever to close. Release the shift lever close button (6-5-5) on the HMI touch screen (6-5) interface. The close electromagnet in the shift lever expansion valve (3-1) loses power, the shift lever cylinder (4-2) stops moving, and the shift lever stops moving. Jib extension: Push the operating handle (6-7) installed on the operation display unit (6) forward. The extend electromagnet in the jib expansion valve (3-3) is energized, and the hydraulic system drives the jib cylinder (4-3) to extend through this valve, driving the jib to extend. Release the operating handle (6-7). The extend electromagnet in the jib expansion valve (3-3) loses power, the jib cylinder (4-3) stops moving, and the jib stops moving. Jib retraction: Push the operating handle (6-7) installed on the operation display unit (6) backward. The retract electromagnet in the jib expansion valve (3-3) is energized, and the hydraulic system drives the jib cylinder (4-3) to retract through this valve, driving the jib to retract. Release the operating handle (6-7). The retract electromagnet in the jib expansion valve (3-3) loses power, the jib cylinder (4-3) stops moving, and the jib stops moving. Boom extension: Push the operating handle (6-7) installed on the operation display unit (6) to the left. The extend electromagnet in the boom expansion valve (3-4) is energized, and the hydraulic system drives the boom cylinder (4-4) to extend through this valve, driving the boom to extend. Release the operating handle (6-7). The extend electromagnet in the boom expansion valve (3-4) loses power, the boom cylinder (4-4) stops moving, and the boom stops moving. Boom retraction: Push the operating handle (6-7) installed on the operation display unit (6) to the right. The retract electromagnet in the boom expansion valve (3-4) is energized, and the hydraulic system drives the boom cylinder (4-4) to retract through this valve, driving the boom to retract. Release the operating handle (6-7). The retract electromagnet in the boom expansion valve (3-4) loses power, the boom cylinder (4-4) stops moving, and the boom stops moving. Control the single-axis pipe support manipulator to reach or retract to the wellhead manually according to the above method. If the mode selection switch (6-6) selects the drill string lifting linkage or the drill string lowering linkage, these two operation modes are only executed in the automatic operation mode, and the mode status display window (6-5-21) displays the words "drill string lifting linkage" or "drill string lowering linkage". Specifically: Drill string lifting linkage: Step q1: After the top drive electric control unit (7) sends the signal that the iron roughneck has completed the uncoupling and has withdrawn from the wellhead area, the communication unit (6-1) of the single-axis pipe handling manipulator control system receives this signal. After receiving the signal, the communication unit (6-1) sends this signal to the master station controller (6-4). At this time, the master station controller (6-4) believes that there are no other devices at the wellhead and it is safe to extend out of the wellhead, then the following actions are performed: The support wheel cylinder (4-1) retracts for 2 s and then stops, driving the support wheel to retract; the shift lever cylinder (4-2) retracts for 2 s and then stops, driving the shift lever to retract; the telescopic arm cylinder (4-3) extends, driving the telescopic arm to extend. After the cylinder extension length reaches the original set telescopic arm wellhead position calibration point WCSet1, it stops; the luffing arm cylinder (4-4) extends, driving the luffing arm to extend. After the cylinder extension length reaches the original set luffing arm wellhead position calibration point WCSet2, it stops. At this time, the support wheel of the single-axis pipe handling manipulator has reached the wellhead position, and the wellhead arrival indicator light (6-5-15) changes from gray to green; Step q2: After reaching the wellhead position, at this time the drill string detection sensor (2-4) detects the drill string signal and feeds the drill string signal back to the slave station controller (1-5). The slave station controller (1-5) then sends the drill string signal to the drill string detected indicator light (6-5-16) and the support wheel expansion valve (3-1) respectively. The drill string detected indicator light (6-5-16) lights up, and the support wheel expansion valve (3-1) is controlled to extend and stops after 3 s; at the same time, a signal for the shift lever to extend is output to the shift lever expansion valve, driving the shift lever to extend and stopping after 3 s. After the shift lever and the support wheel extension actions are completed, the drill string is wrapped to prevent the drill string from falling off; Step q3: After the actions in Step q2 are completed, the driller operates the drawworks to raise, and at the same time sends a signal to the single-axis pipe handling manipulator. The drill string is lifted from the drill string box fixed at the wellhead to a set distance, and the drawworks height signal is sent to the single-axis pipe handling manipulator. The single-axis pipe handling manipulator automatically executes the command to return to the initial position and performs the following actions: The telescopic arm cylinder (4-3) retracts, driving the telescopic arm to retract. After the cylinder extension length reaches the original set telescopic arm initial position calibration point HMSet1, it stops; the luffing arm cylinder (4-4) retracts, driving the luffing arm to retract. After the cylinder retraction length reaches the original set luffing arm initial position calibration point HMSet2, it stops. At this time, the single-axis pipe handling manipulator reaches the initial position, the wellhead arrival indicator light (6-5-15) changes from green to gray, and the initial position arrival indicator light (6-5-14) changes from gray to green; the shift lever cylinder (4-2) retracts for 2 s and then stops, driving the shift lever to retract; Step q4: The driller operates the traveling block to lower. When it reaches the catwalk handover height and the bottom of the drill string reaches the inside of the V-groove of the catwalk, after the single-axis pipe handling manipulator collects the height signal of the traveling block, it performs the following actions to leave the drill string: The luffing arm cylinder (4-4) extends to drive the luffing arm to extend. When the extension length of the cylinder reaches half of the original set calibration point WCSet2 / 2 of the luffing arm wellhead position, it stops. At this time, the support wheel cylinder (4-1) drives the support wheel to retract for 2 s and then stops. The luffing arm cylinder (4-4) retracts to drive the luffing arm to retract. When the retraction length of the cylinder reaches the original set calibration point HMSet2 of the luffing arm initial position, it stops. At this time, the single-axis pipe handling manipulator reaches the initial position; Step q5: After the traveling block places the drill string completely on the catwalk, the catwalk descends, the traveling block returns to the wellhead position again, the lifting clamp closes to grab the next stand, lifts it to the preset height, the iron roughneck extends the pipe tongs. After the pipe tongs operation is completed and it withdraws from the wellhead area, step q1 is executed in a loop; Lowering drill string interlock: Step x1: After the driller operates the lifting clamp to engage the drill string on the catwalk, the traveling block rises. The traveling block transmits its height signal to the master station controller (6-4) through the communication unit (6-1) via the network bus. When it rises to a certain handover distance, at this time, the master station controller (6-4) sends the action signal of the equipment to the slave station controller (1-5) according to this height signal. The slave station controller (1-5) sends the signal for the solenoid valve to extend to the command output unit (1-6), and finally connects to the valve bank unit (3) through the signal output isolation module (1-3). The valve bank unit (3) opens the corresponding solenoid valve, and the hydraulic oil passes through the solenoid valve to drive the mechanism in the actuator (4) to move to the predetermined destination. Among them, driving the mechanism in the actuator (4) to move to the predetermined destination specifically means: The luffing arm cylinder (4-4) extends to drive the luffing arm to extend. When the extension length of the cylinder reaches half of the original set calibration point WCSet2 / 2 of the luffing arm wellhead position, it stops. At this time, the support wheel cylinder (4-1) drives the support wheel to extend for 2 s and then stops. The traveling block continues to rise. Finally, the drill string touches the support wheel. At this height, the shift lever cylinder (4-2) drives the shift lever to extend for 2 s and then stops; Step x2: Interlock to the wellhead: After the shift lever is closed, the single-axis pipe handling manipulator continues to perform the following actions: The telescopic arm cylinder (4-3) extends to drive the telescopic arm to extend. When the extension length of the cylinder reaches the original set calibration point WCSet1 of the telescopic arm wellhead position, it stops. The luffing arm cylinder (4-4) extends to drive the luffing arm to extend. When the extension length of the cylinder reaches the original set calibration point WCSet2 of the luffing arm wellhead position, it stops. At this time, the support wheel of the single-axis pipe handling manipulator has reached the wellhead position, and the wellhead arrival indicator light (6-5-15) changes from gray to green. The support wheel cylinder (4-1) retracts for 2 s and then stops, driving the support wheel to retract; The shift lever cylinder (4-2) retracts for 2 s and then stops, driving the shift lever to retract; Step x3: Return to the initial position: After the gear lever is opened, the single-axis pipe handling manipulator continues to perform the following actions: The retraction electromagnet of the telescopic arm expansion valve (3-4) is energized, and the telescopic arm oil cylinder (4-3) retracts, driving the telescopic arm to retract. When the displacement of the telescopic arm oil cylinder reaches HMSet1, the retraction electromagnet in the telescopic arm expansion valve (3-3) loses power, and the telescopic arm oil cylinder (4-3) stops moving, and the telescopic arm stops moving; At the same time, the retraction electromagnet of the luffing arm expansion valve (3-3) is energized, and the luffing arm oil cylinder retracts, driving the luffing arm to retract. When the displacement of the luffing oil cylinder reaches HMSet2, the retraction electromagnet in the luffing arm expansion valve (3-4) loses power, and the luffing arm oil cylinder (4-4) stops moving, and the luffing arm stops moving; At this time, the support wheel reaches the initial position; The arrival at wellhead indicator light (6-5-15) changes from green to gray, and the arrival at initial position indicator light (6-5-14) changes from gray to green; Step x4: End of the process: After the iron roughneck connects the drill pipe, the traveling block places the drill pipe completely on the wellhead, the elevators go back to the mousehole to grab the drill pipe again, the traveling block lifts, and step x1 is executed cyclically.

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