Automatic upper throwing drill control system

Abstract

The invention belongs to the technical field of oil exploration equipment, and particularly provides an automatic upward drill throwing control system, a pipe column output end of a catwalk is connected with a drill floor, the drill floor is respectively connected with a drill floor manipulator, a slip and an iron roughneck, and a racking platform is respectively connected with a racking platform manipulator and an elevator. And the intelligent centralized control device is electrically connected with the catwalk, the drill floor manipulator, the slips, the iron roughneck, the racking platform manipulator and the elevator respectively. The problems that the safety is poor and the efficiency is low due to the fact that an existing driller and drill floor manual cooperation mode is adopted for completing upper drill throwing operation are solved. According to the invention, the communication among the devices is ensured, the linkage among the devices is realized through the communication, the action of the next device is automatically triggered by the information completed by one device according to the process of upward drill throwing, the integrity of the information interaction of the devices is ensured, the overall efficiency of the system is improved, the manual operation is reduced, and the safety is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil exploration equipment, and particularly relates to an automated upper drill pipe throwing control system. Background Art

[0002] At present, with the operation requirements of reducing staff and increasing efficiency in major oilfields, oilfield drilling equipment is gradually developing towards automated drilling rigs equipped with automated operation tools. However, due to the immaturity of the technology of each tool itself or the entire process control, the upper drill pipe throwing operation mainly adopts the method of manual cooperation between the driller and the drill floor. The driller operates the drawworks, elevators and slips, and the drill floor personnel operate the pneumatic drawworks or handheld remote control to control the catwalk, and cooperate with each other to complete the upper drill pipe throwing operation. The driller communicates with the drill floor personnel by visual means, and the operation safety and efficiency cannot be guaranteed.

[0003] The patent number is CN201610106233.9, and the name is "A System and Device for Integrated Control of Drilling Operation Processes". In its Embodiment 3, "Establishing the Root Mode under the Master Driller Control Mode", it describes the process of how the master driller controls the transmission of each electrical signal among control devices such as the master and assistant drillers, disc brake handle, elevator, power mousehole device and catwalk. At the same time, it is limited to the process of establishing the root by the operation control of the master and assistant drillers after the drill pipe is prepared by the drill pipe conveying device (such as the catwalk). Therefore, this document does not mention the process of the single or double driller controlling other tools to cooperate with the catwalk to achieve the process flow, multi-device linkage (parallel action) and safety interlock operation process among multiple devices of the upper drill pipe throwing, and there are certain limitations. Summary of the Invention

[0004] The purpose of the automated upper drill pipe throwing control system provided by the present invention is to overcome the problems of poor safety and low efficiency in the prior art of using the method of manual cooperation between the driller and the drill floor to complete the upper drill pipe throwing operation.

[0005] To this end, the present invention provides an automated upper drill pipe throwing control system, including a drill floor and a monkey board. The monkey board is connected above the drill floor. The automated upper drill pipe throwing control system further includes a surface pipe string conveying device, a drill floor pipe string handling device, a monkey board pipe string discharging device and an intelligent centralized control device; the surface pipe string conveying device includes a catwalk, the drill floor pipe string handling device includes a drill floor manipulator, slips and an iron roughneck, the monkey board pipe string discharging device includes a monkey board manipulator and an elevator; the pipe string output end of the catwalk is connected to the drill floor, the drill floor is respectively connected to the drill floor manipulator, slips and an iron roughneck, the monkey board is respectively connected to the monkey board manipulator and an elevator, and the intelligent centralized control device is electrically connected to the catwalk, drill floor manipulator, slips, iron roughneck, monkey board manipulator and elevator respectively.

[0006] Preferably, the catwalk is a hydraulic power catwalk.

[0007] Preferably, the drill floor manipulator is a pipe-lifting type drill floor manipulator.

[0008] Preferably, the slips are hydraulic slips.

[0009] Preferably, the iron roughneck is a jib-type iron roughneck.

[0010] Preferably, the elevating bail is a hydraulic elevating bail.

[0011] Preferably, the pipe-lifting type drill floor manipulator comprises a track, a lifting mechanism, a jib and a gripper. The lifting mechanism is connected above the track, and the lifting mechanism is connected to the gripper through the jib.

[0012] Preferably, the jib-type iron roughneck comprises a tong body suspension structure which adopts a parallel four-bar linkage structure.

[0013] Preferably, the track comprises an upper track and a lower track, and the lifting mechanism, the upper track and the lower track are connected in sequence from top to bottom.

[0014] Preferably, the track is an L-shaped track.

[0015] Advantages of the present invention:

[0016] 1. The automatic pipe handling and drilling control system provided by the present invention electrically connects the catwalk, the drill floor manipulator, the slips, the iron roughneck, the mast climber and the elevating bail respectively through an intelligent centralized control device to ensure communication between devices, and realizes the linkage (parallel action) between devices through communication, so that according to the process of pipe handling and drilling, the action of one device automatically triggers the action of the next device, ensuring the integrity of information interaction between devices, improving the overall efficiency of the system, reducing manual operation and enhancing safety.

[0017] 2. The automatic pipe handling and drilling control system provided by the present invention realizes the safety interlock between devices in the process of pipe handling and drilling through an intelligent centralized control device by establishing an interlock table between devices, improving the safety of the whole system.

[0018] 3. The automatic pipe handling and drilling control system provided by the present invention, the jib-type iron roughneck comprises a tong body suspension structure which adopts a parallel four-bar linkage structure and has three telescopic oil cylinders, enabling three-degree-of-freedom adjustment and increasing the degrees of freedom of the tong body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described in detail below with reference to the drawings.

[0020] Figure 1 is a schematic structural diagram of the automatic pipe handling and drilling control system;

[0021] Figure 2It is a three-dimensional structure diagram of the iron roughneck;

[0022] Figure 3 It is Figure 2 the front view of;

[0023] Figure 4 It is a structure diagram of the drill floor manipulator (single-layer track);

[0024] Figure 5 It is a structure diagram of the drill floor manipulator (double-layer track).

[0025] Explanation of reference numerals in the drawings: 1, drill floor; 2, monkey board; 3, intelligent centralized control device; 4, catwalk; 5, drill floor manipulator; 6, slips; 7, iron roughneck; 8, monkey board manipulator; 9, elevators; 10, mousehole; 11, stand; 51, track; 52, lifting mechanism; 53, boom; 54, gripper; 511, upper track; 512, lower track. Detailed implementation manners

[0026] The principles and features of the present invention will be described below in conjunction with the accompanying drawings.

[0027] Embodiment 1:

[0028] As Figure 1 shown, an automated top drive control system includes a drill floor 1 and a monkey board 2. The monkey board 2 is connected above the drill floor 1. The automated top drive control system further includes a surface pipe string conveying device, a drill floor pipe string handling device, a monkey board pipe string discharging device, and an intelligent centralized control device 3; the surface pipe string conveying device includes a catwalk 4, the drill floor pipe string handling device includes a drill floor manipulator 5, slips 6, and an iron roughneck 7, and the monkey board pipe string discharging device includes a monkey board manipulator 8 and elevators 9; the pipe string output end of the catwalk 4 is connected to the drill floor 1, the drill floor is respectively connected to the drill floor manipulator 5, slips 6, and the iron roughneck 7, the monkey board is respectively connected to the monkey board manipulator 8 and elevators 9, and the intelligent centralized control device is electrically connected to the catwalk 4, drill floor manipulator 5, slips 6, iron roughneck 7, monkey board manipulator 8, and elevators 9 respectively.

[0029] Specifically, the surface pipe string conveying device realizes the automatic conveying of the pipe string between the surface and the drill floor; the drill floor pipe string handling device realizes the automation of the operations on the drill floor and at the wellhead, such as automatically grasping and discharging drill pipes, automatically screwing on and unscrewing; the monkey board pipe string discharging device realizes the automatic discharging of stands and drill collars; the intelligent centralized control device realizes the Internet of Things intelligent control of the surface pipe string conveying device, drill floor pipe string handling device, monkey board pipe string discharging device, and drilling parameters.

[0030] The automated upper pipe handling control system provided by the present invention electrically connects the catwalk 4, the drill floor manipulator 5, the slips 6, the iron roughneck 7, the monkey board manipulator 8, and the elevators 9 respectively through an intelligent centralized control device to ensure communication between the devices, and realizes the linkage (parallel operation) between the devices through communication, so that according to the process of upper pipe handling, the action of one device completes the information to automatically trigger the action of the next device, ensuring the integrity of the information interaction of the devices, improving the overall efficiency of the system, reducing manual operation, and enhancing safety. Each device can achieve distributed one-key operation.

[0031] Through the intelligent centralized control device, the present invention enables the automated equipment to work together to realize the integrated automatic handling, connection of single joints, and make-up and break-out of the pipe string from the ground, the drill floor 1, and the monkey board 2, optimizes the traditional manual operation process, improves the working environment, enhances the efficiency and safety, realizes fewer people and unmanned operation in the well site operation, and at the same time reduces the operation cost and enhances the market competitiveness goal.

[0032] Specifically, regarding the change situation of the well site operation personnel: When making up and discharging pipes, there is 1 person on the ground per shift, 1 person on the drill floor per shift, and 2 people for the main and assistant driller per shift; during normal drilling, there is 1 person on the drill floor per shift and 2 people for the main and assistant driller per shift. The drill floor manipulator 5 replaces manual operation, reducing 1 person. Cooperating with the automatic thread compound device, it realizes unmanned operation on the drill floor working surface; the iron roughneck 7 replaces the drill floor fitter to make up and break out the joints, reducing the labor intensity and can reduce 2 workers. The efficiency of pipe string handling: When making up and discharging pipes, it takes 8 minutes for one joint; during normal drilling, 16 joints can be tripped in and out per hour.

[0033] Embodiment 2:

[0034] Based on Embodiment 1, the catwalk 4 is a hydraulic power catwalk.

[0035] Specifically, the hydraulic power catwalk automatically transports the pipe string from the ground to the drill floor or safely transports it from the drill floor to the ground, canceling manual operation. It realizes the one-key operation of the hydraulic pipe rack automatically tilting to send the drill pipe into the catwalk cloud beam and the cloud beam automatically lifting to send the drill pipe to the drill floor surface. After manual confirmation, the drill pipe is then sent to the wellhead position. It replaces the yard worker to complete the storage and transportation of drill pipes and automatically go up and down the drill floor, reducing 2 workers, and fundamentally eliminating the factors such as large labor intensity, long cycle, and unsafe operation in manual pipe string handling. It has a remote control function, and various pipe string transportation operations can be carried out on the drill floor and the ground using a remote controller. The hydraulic power catwalk is an existing device, including a hydraulic station, a catwalk base, a pipe rack, a ramp, a trolley, a valve group, an electric control system, a flap mechanism, and a turning mechanism.

[0036] Embodiment 3:

[0037] Based on Embodiment 2, the drill floor manipulator 5 is a pipe lifting type drill floor manipulator.

[0038] The pipe-lifting type drill floor manipulator is accurately positioned, and the single driller can perform one-key operations for discharging, feeding drill pipes, drill collars and casings, improving the operation efficiency. The effective operation time of the pipe-lifting type drill floor manipulator participating in the operation is 30S, which is 57.1% higher than that of the independent type or the first-generation drill floor manipulator (70s).

[0039] The working principle of the drill floor manipulator 5 is as follows: through remote control and in cooperation with the traveling block and the mast manipulator, the automatic extraction and placement of drill pipes or drill collars are realized; the drill floor manipulator, the traveling block and the power elevating slip are interlocked to prevent collision from above and below, ensuring construction safety to the greatest extent.

[0040] Preferably, as Figure 4 shown, the pipe-lifting type drill floor manipulator includes a track 51, a lifting mechanism 52, a boom 53 and a gripper 54. The lifting mechanism 52 is connected above the track 51, and the lifting mechanism 52 is connected to the gripper 54 through the boom 53.

[0041] Specifically, compared with the first-generation pushing drill floor manipulator, the gripper 54 of the pipe-lifting type drill floor manipulator can clamp the drill pipe stands and is equipped with an additional lifting mechanism 52. The pipe-lifting type drill floor manipulator can lift the clamped drill pipe stands off the ground and cooperate with the mast manipulator 8 for synchronous operation, enabling the vertical movement of the drill pipe stands between the wellhead and the stand area, simplifying the tripping process at the wellhead and the stand area and improving the tripping efficiency.

[0042] Preferably, as Figure 5 shown, the track 51 includes an upper track 511 and a lower track 512, and the lifting mechanism 52, the upper track 511 and the lower track 512 are connected in sequence from top to bottom.

[0043] The upper track 511 and the lower track 512 enable the lifting mechanism 52 to travel within the established track, meeting the usage requirements.

[0044] Preferably, the track 51 is an L-shaped track. The optimized track has a simple structure and meets the requirements.

[0045] Example 4:

[0046] On the basis of Example 3, the slips 6 are hydraulic slips.

[0047] The hydraulic slips have functions such as being flush with the drill floor, anti-wear and deviation correction, automatic mud hanging and being used throughout the well section, and can meet the setting and placement of 27 / 8″ - 13 3 / 8″ pipe strings at the wellhead. Two operators are reduced; the safety risk and labor intensity of personnel are reduced; and the work efficiency is improved.

[0048] Example 5:

[0049] On the basis of Example 4, as shown in 2 and Figure 3 shown, the iron roughneck 7 is a boom-type iron roughneck.

[0050] The arm-type iron driller has a wide range of pipe diameters and can meet the needs of single-pipe connection in small mouse holes. It can be operated with one button and automatically and accurately fastened.

[0051] Preferably, the boom-type iron roughneck comprises a tongs body suspension structure, and the tongs body suspension structure adopts a parallel four-bar structure.

[0052] Specifically, the parallel four-link structure includes four links, and the four links are connected in parallel, wherein three links are connected to the telescopic cylinder, so that three degrees of freedom can be adjusted, thereby increasing the freedom of the clamp body.

[0053] Embodiment 6:

[0054] On the basis of Embodiment 5, the elevator 9 is a hydraulic elevator.

[0055] Specifically, the hydraulic elevator is a hydraulic flip elevator; the hydraulic flip elevator is used to replace the existing ordinary mechanical elevator; the hydraulic elevator is suspended on the lifting ring and is used to lift the pipe column; it includes two hinged doors, a flip mechanism driven by an oil cylinder, a sensor group and a hydraulic valve group; in terms of adapting to the pipe diameter, the requirements of drill pipes of different specifications can be met by replacing the nested body; the hydraulic pipeline needs to be fixed on the derrick, and the connection of quick connectors at the connection of multiple sections of the derrick is convenient for quick disassembly and assembly.

[0056] Embodiment 7:

[0057] On the basis of Example 6, the intelligent centralized control device 3 includes a monitoring module, a driller integrated control module and a data acquisition module; the driller integrated control module is electrically connected to the monitoring module and the data acquisition module respectively.

[0058] Specifically, the catwalk 4, drilling platform manipulator 5, slips 6, iron roughneck 7, second-level platform manipulator 8 and elevator 9 are integrated into the driller's integrated control module, and the corresponding spare control interfaces are reserved; an industrial computer with a 15-inch or above touch screen is configured to control a full set of automation equipment and display equipment status information in real-time animation; a video monitoring device (monitoring module) is configured, and the signal is integrated into the original video monitoring system of the drilling rig; and interlocking protection is provided for each automation equipment and the big hook, elevator and top drive when they are in linkage operation.

[0059] Preferably, the driller integrated control module adopts multiple interlocking technology.

[0060] Specifically, dozens of interlocking areas and authority management are set up to achieve equipment anti-collision interlocking and equipment handover interlocking. Equipment using interlocking technology is shown in Table 1

[0061] Table 1

[0062]

[0063] The present invention realizes the integrated intelligent control of a single driller for the drilling host operation and the drilling rig pipe string processing equipment (ground pipe string conveying device, drilling platform pipe string processing device, second-floor platform pipe string discharge device), reducing the number of operating stations. It realizes the "one-button" intelligent operation of the drilling host operation and the drilling rig pipe string processing equipment, simplifies the operation process, and makes the operation simple, so that the driller can focus more on the safety of the operation; it realizes the process operation of the tripping and drilling process, so that the equipment can be cross-operated in an orderly manner and the efficiency can be improved.

[0064] The drilling operation process of the present invention is as follows:

[0065] 1. The second-level manipulator delivers the stand to the wellhead;

[0066] The specific operation is: start the second-floor platform manipulator - the second-floor platform manipulator goes to the finger beam area to grab the root stand 11 - the second-floor platform manipulator rotates to the wellhead - the second-floor platform manipulator sends the root stand into the elevator - the elevator is closed - trigger the drilling floor manipulator to start - the second-floor platform manipulator fingers open - the second-floor platform manipulator returns to the finger beam area, and the drilling table manipulator grabs the root stand;

[0067] 2. The drilling platform manipulator delivers the stand to the wellhead;

[0068] The specific operation is as follows: the traveling carriage moves up to position one - the drilling platform manipulator delivers the stand to the wellhead - the traveling carriage moves down to position two - the drilling platform manipulator gripper opens, triggering the start of the iron roughneck;

[0069] 3. The iron roughneck shackles the first pipe string;

[0070] The specific operation is: the iron roughneck rotates to face the wellhead - the iron roughneck boom extends to the wellhead - the iron roughneck punches the buckle + spins the buckle - the iron roughneck boom retracts + rotates to the standby position, triggering the buffer manipulator to start;

[0071] 4. The buffer manipulator buffers the second and third pipe strings to the rat hole 10;

[0072] The specific operation is: the buffer manipulator extends to the wellhead - the traveling carriage moves up to position three - the buffer manipulator extends to the rat hole, the lifting ring tilts to the rat hole - the traveling carriage moves down to position four - the rat hole slips are closed, the buffer manipulator returns, and the iron roughneck is triggered to start.

[0073] 5. The iron driller removes the second and third pipe strings - the buffer manipulator buffers the third pipe string from the rat hole to the catwalk;

[0074] The specific operation is: the iron roughneck rotates to face the wellhead - the iron roughneck boom extends to the rathole - the iron roughneck punches the buckle + spins the buckle - the iron roughneck boom retracts + rotates to the standby position, triggering the buffer manipulator to start;

[0075] 6. The catwalk throws the third pipe column;

[0076] The specific operations are as follows: the buffer manipulator extends to the mouse hole - the traveling block moves up to position five - the buffer manipulator extends to the catwalk, triggering the start of the catwalk - the traveling block moves down to position six, and the catwalk rises to the drill floor position - the buffer manipulator returns;

[0077] 7. The catwalk discards the first pipe string;

[0078] The specific operations are as follows: the traveling block moves down to position seven, the elevator is vertical - the elevator opens - the traveling block moves down to position eight - the catwalk carriage moves backward - the main hoist moves backward to the ground - the catwalk push plate extends + the gripper turns outward - the catwalk push plate returns + the gripper returns;

[0079] 8. The buffer manipulator buffers the second pipe from the mouse hole to the catwalk - the catwalk discards the second pipe string;

[0080] The specific operations are as follows: the traveling block moves down to position seven, the elevator is vertical - the elevator opens - the traveling block moves down to position nine

[0081] The catwalk carriage moves backward - the main hoist moves backward to the ground - the catwalk push plate extends + the gripper turns outward - the catwalk push plate returns + the gripper returns;

[0082] And so on to complete all pipe string discarding.

[0083] In the description of the present invention, it should be understood that if there are terms indicating an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation of the present invention.

[0084] The above examples are only illustrative of the present invention and do not constitute a limitation on the protection scope of the present invention. Any design identical or similar to the present invention falls within the protection scope of the present invention.

Claims

1. An automated upward flushing drill control system, comprising a drill floor (1) and a monkey board (2), the drill floor (1) being connected above to the monkey board (2), characterized in that: The automated uphole drilling control system further includes a surface pipe string conveying device, a drill floor pipe string handling device, a derrick pipe string discharging device, and an intelligent centralized control device (3); the surface pipe string conveying device includes a catwalk (4), the drill floor pipe string handling device includes a drill floor manipulator (5), a slip (6), and an iron roughneck (7), and the derrick pipe string discharging device includes a derrick manipulator (8) and a elevating link (9); the pipe string output end of the catwalk (4) is connected to the drill floor (1), the drill floor is respectively connected to the drill floor manipulator (5), the slip (6), and the iron roughneck (7), the derrick is respectively connected to the derrick manipulator (8) and the elevating link (9), and the intelligent centralized control device is electrically connected to the catwalk (4), the drill floor manipulator (5), the slip (6), the iron roughneck (7), the derrick manipulator (8), and the elevating link (9).

2. The automated upper swing drill control system according to claim 1, wherein: The catwalk (4) is a hydraulically powered catwalk.

3. The automated upward drilling control system according to claim 1, characterized in that: The drill floor manipulator (5) is a pipe-lifting type drill floor manipulator.

4. The automated upward swing drill control system according to claim 1, characterized in that: The slip (6) is a hydraulic slip.

5. The automated upward drilling control system according to claim 1, characterized in that: The iron roughneck (7) is a boom type iron roughneck.

6. The automated upward swing drill control system according to claim 1, wherein: The elevating link (9) is a hydraulic elevating link.

7. The automated upper swing drill control system according to claim 3, characterized in that: The pipe-lifting type drill floor manipulator includes a track (51), a lifting mechanism (52), a boom (53), and a gripper (54), the track (51) is connected to the lifting mechanism (52) above, and the lifting mechanism (52) is connected to the gripper (54) through the boom (53).

8. The automated upper swing drill control system according to claim 5, wherein: The boom type iron roughneck includes a tong suspension structure, and the tong suspension structure adopts a parallel four-bar linkage structure.

9. The automated upward drilling control system according to claim 7, wherein: The track (51) includes an upper track (511) and a lower track (512), and the lifting mechanism (52), the upper track (511), and the lower track (512) are connected in sequence from top to bottom.

10. The automated upward drilling control system according to claim 7, wherein: The track (51) is an L-shaped track.

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